diff --git a/Assets/Obi.meta b/Assets/Obi.meta
new file mode 100644
index 000000000..ca3faab2e
--- /dev/null
+++ b/Assets/Obi.meta
@@ -0,0 +1,8 @@
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+guid: 0254f5089d8c44d438ed11541da61727
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/CHANGELOG_rope.txt b/Assets/Obi/CHANGELOG_rope.txt
new file mode 100644
index 000000000..8183430e4
--- /dev/null
+++ b/Assets/Obi/CHANGELOG_rope.txt
@@ -0,0 +1,497 @@
+# Change Log
+All notable changes to “Obi - Advanced ropes for Unity” will be documented in this file.
+
+## [6.5.4]
+
+### Fixed
+- Workaround for kinematic rigidbody velocities not writable in Unity 2022.1 and above.
+
+## [6.5.3]
+
+### Changed
+- Updated UnsafeList with its generic version for supporting newer versions of the Collections package.
+
+## [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.
+
+## [6.5.1]
+
+### Added
+- Support for holes in terrain colliders.
+
+## [6.5]
+
+### Added
+- Improved constraint coloring, which results in much faster blueprint generation.
+
+### Fixed
+- Memory leak when using collision constraints in the Burst backend.
+- Performance drop when using collision constraints in Burst >1.7
+- Incorrect lighting on particles in the blueprint editor, when opening the editor without having previously opened any scene.
+
+## [6.4]
+
+### Added
+- Support for configurable enter play mode (domain and scene reload disabling).
+- Support for in-editor hot reloading.
+- Numerical fields to edit control point position and tangents added to the path editor.
+
+### Changed
+- Better path editor integration using Unity's editor custom tool API.
+- GrapplingHook sample scene now features a hook rope that extends over time, instead of extending instantly.
+- Reduced memory allocation in ObiPathSmoother Decimate() method.
+- Introduced a job handle pool to avoid runtime allocation of handles by both Burst and Oni backends.
+- Constraint padding array in Burst solver has been turned into a member variable instead of allocating anew it every frame.
+- Collision and friction batches are pooled instead of allocated every frame.
+
+### Fixed
+- InvalidOperationException when performing certain spatial queries with jobs debugger enabled in the Burst backend.
+- ObiBone collision category was internally resetting to zero upon pressing play.
+- Particle render mode in blueprint editor wasn't updated every frame under specific circumstances.
+
+## [6.3]
+
+### Added
+- New ObiBone actor, creates a particle-based representation of a bone hierarchy and simulates it using rod constraints.
+- Built-in support for applying solver gravity in world-space.
+
+### Fixed
+- Bug in attachments: prefab modifications were not being applied to the component.
+- Slight reduction in solver memory allocation.
+- Object disposed exception when using contact callbacks with a non-visible solver.
+
+## [6.2]
+
+#IMPORTANT: If updating from an older version, you’ll need to readjust collision filtering in your scenes.
+Phase-based collision filtering has been replaced by mask/categroy based system.
+
+### Added
+- New spatial query API, that allows to perform efficient distance, overlap and raycast queries.
+
+### Changed
+- Collision phase filtering has been replaced by a category/mask system. If you upgrade existing projects to Obi 6.2, you will have to set up categories and masks appropiately.
+
+
+## [6.1]
+
+### Added
+- RopeCutting sample scene, where screen-space line dragged by the user is used to cut multiple 3D ropes.
+- Snake sample scene, where a snake-like character implemented using a rope can be controlled by the user.
+
+### Changed
+- Decreased minimum error in distance fields to 1e-07
+
+### Fixed
+- Bug in Oni backend: collision stickiness resulted in rapid particle separation from the collision surface.
+- Bug that caused NaN velocity assignments to rigidbodies after removing all actors from a solver.
+
+## [6.0.1]
+
+### Fixed
+- Bug in Burst backend, resulting in InvalidOperationException when enabling Burst safety checks.
+- Bug in ObiSolver that caused particleToActor array entries to be null.
+
+## [6.0]
+
+### Added
+- Optional simplex-based surface collion pipeline for more accurate collision detection/response.
+- Predictive variable-step constraint solving that makes syncing Unity's physics no longer necessary when using substeps.
+- Amount of CCD is now adjustable per-solver.
+- Collision margin is now adjustable per-solver.
+- Bend and bend/twist constraints now support plasticity.
+- One-sided collision detection between particles. Particles with one-sided collision detection will always project penetrating particles to the side defined by their associated normal.
+
+### Fixed
+- Bug in dynamic particle attachments that would case colliders parented under a solver to lose their attachments upon enabling/reenabling a solver. 
+
+### Changed
+- Contacts "particle" and "other" have been renamed to "bodyA" and "bodyB". bodyB might be a simplex or collider index, depending on the contact type.To access
+particle indices from simplex indices, use the solver.simplices array.
+
+## [5.6.2]
+
+### Fixed
+- Missed collisions using certain meshes for MeshColliders, due to a bug in bounding interval hierarchy generation.
+- Corrected orientation error in the first particle of rods, when there's multiple rods in a solver.
+- Corrected rendering error in rods, when there's multiple rods in a solver.
+
+## [5.6.1]
+
+### Fixed
+- Bug in Burst backend: solver bounding box size was typically underestimated.
+- Bug in Burst backend: when using volume constraints: "InvalidOperationException: The NativeContainer ApplyVolumeConstraintsBatchJob.particleIndices has not been assigned or constructed"
+- Bug in Burst backend: not releasing native arrays when empty solvers -with zero actors in them- are present in the scene.
+- Bug in Oni backend: volume constraints not working properly when multiple actors are present in the solver.
+- Fixed crash when using ObiLateUpdater or ObiLateFixedUpdater with the Burst backend.
+- Reduced GC allocation in dynamic particle attachments.
+- Fixed bug in Skin constraints, that caused them to fail restricting particle movement in certain circumstances.
+
+### Changed
+- Updated Oni iOS library to XCode 12.1. Make sure to use XCode 12.1 or up to build for iOS when using the Oni backend.
+- ObiKinematicVelocities component has been removed. Its functionality is now built into the engine, and automatically used for kinematic rigidbodies.
+
+### Added
+- Sample ObiContactDispatcher component, that will call custom enter/stay/exit contact events.
+- Support for multiple solvers in sample script in ObiContactGrabber.
+- Added util LookAroundCamera component.
+
+## [5.6]
+
+### Added
+- Faster SDF generation.
+- New sample scene.
+
+### Fixed
+- Bug that causes out of bounds access when dinamically adding/removing colliders at runtime.
+- Bug that prevented stitch constraints from working first time they were enabled.
+- Offset in particle selection brush on high density screens.
+
+### Changed
+- Constraint batches of multiple actors are now merged together. This greatly reduces the amount of dispatched jobs and improves performance on both backends.
+- Colliders no longer have a "use distance fields" boolean value, they will always use the SDF as long as they have one.
+
+## [5.5]
+
+### Added
+- Backend system: abstracts the underlying particle-based physics engine used. To the native, built-in engine (Oni), we have added a Burst-based implementation that
+will run on all platforms supported by Burst.
+
+### Changed
+- Improved path smoother, line and extruded renderer performance.
+
+## [5.4]
+
+### Fixed
+- Bug that caused a crash when using Obi in conjunction with Mirror networking system (NetworkIdentity component).
+- Bug that could cause a crash when disabling an actor under a disabled solver.
+- Bug that prevented self-collisions to work correctly between particles created at runtime by a ObiRopeCursor.
+
+### Changed
+- Recompiled iOS libraries using XCode 11.3.1, to circumvent bitcode compatibility issues now that XCode 11.4 and up have a bug that cause linking against Obi to fail. 
+
+
+## [5.3]
+
+### Added
+- Added adaptive rendering decimation to ObiPathSmoother, controllable using a curvature threshold.
+- Greatly increased numerical precision for rigidbody interaction when solvers are far away from the origin.
+- 2D colliders now span infinitely in the Z axis.
+
+### Fixed
+- Issue in the ObiStitcher editor that picked up incorrect particles when adding stitches.
+- Issue that caused a 1-frame delay for collider geometry parented inside a solver.
+- Issue in ObiParticleDragger that caused incorrect behavior with multiple solvers.
+- Bug in particle advection, that assumed diffuse particle positions to be expreseed in world space. Now advection works correctly
+for solvers not positioned at 0,0,0.
+
+## [5.2]
+
+### Added
+- Rope tear callback (cloth.OnRopeTorn)
+- Function to reset particle positions orientations and and velocities in an actor (actor.ResetParticles())
+- Added support for ObiRopeLineRenderer in SRPs.
+
+### Fixed
+- Issue with inertia rotations, that caused wrong inertia tensors for complex compound colliders.
+- Issue in particle attachments, that forced to call Bind() manually after changing their target or particle group at runtime.
+
+
+## [5.1]
+
+### Added
+-Smooth initial overlap resolution by using clamped depenetration velocity.
+-Actors now automatically create a solver root when editing them in prefab mode.
+-Brought back rope mesh baking.
+
+### Fixed
+- Bug that caused solvers with no actors in their hierarchy to freeze Unity when updated by a fixed updater.
+- Bug that prevented multiple colliders in the same object to be notified of transform changes.
+
+### Fixed
+-Fixed bug that caused null ref when attempting to edit a rope with no blueprint.
+
+## [5.0]
+
+#IMPORTANT: You’ll need to re-create all your 4.x ObiRope components. Data serialization and workflows are significantly different from previous versions.
+
+### Changed
+- Introduced blueprints: particle/constraint object representations are now stored in assets called "blueprints" (as opposed to being stored in the actor itself, as in previous versions). This improves
+memory consumption, editor performance, completely separates data from the runtime components that operate on it, and enables easier and faster workflow.
+- Non-linear, non-destructive rope editing with instant feedback.
+- Simplified underlying engine, constraints are grouped in batches using graph coloring for optimal parallelism.
+- Unified handles and pin constraints as "attachments".
+- Pin and distance constraints now correctly report forces in Newtons.
+- Unitless "Stiffness" parameters have been replaced by "Compliance" parameters in most constraint types, expressed in Newtons/meter.
+
+### Added
+- Support for multiple cursors in a single rope.
+
+### Removed
+- World space/local space simulation. Simulation is now always performed in solver space.
+- Solvers no longer have a maxParticles attribute. They dynamically change their capacity at runtime.
+
+### Fixed
+- Crash in certain iOS devices using the A12 cpu.
+
+## [4.2]
+
+### Added
+- Remade all sample scenes to work in Unity 2019.1 and above.
+
+
+## [4.1]
+
+#IMPORTANT: You’ll need to re-create all your 3.x ObiRope components, as internal data layout of previous versions as well as serialized GameObject data from previous versions is not compatible with 4.x.
+
+### Added
+- Now you can bake the rope mesh anytime, saving it as a new mesh asset in your project. Useful for set dressing and generating static geometry. Only works for ObiRopeExtrudedMeshRederer and ObiRopeMeshRenderer.
+- More accurate collision/contact model, using staggered projections.
+- Approximate shock propagation for particle contacts. This makes particle stacking easier and stabler. A new parameter has been added to the solver that controls the amount of shock propagation.
+- Split material friction into static and dynamic friction.
+- Added rolling contacts w/ rolling friction. These are slightly more expensive than regular contacts. Can be controlled on a per-collision material basis.
+- Added ObiInstancedParticleRenderer, allows to draw particles as instances of an arbitrary mesh (requires GPU instancing).
+- Particle-particle collision callbacks (solver.OnParticleCollision)
+
+### Fixed
+- Bug that caused mesh colliders with negative thickness to crash.
+
+### Changed
+- More reliable, higher precision algorithm for distance field generation. Specially noticeable in sharp corners/crevices.
+
+## [4.0.2]
+
+#IMPORTANT: You’ll need to re-create all your 3.x ObiRope components, as internal data layout of previous versions as well as serialized GameObject data from previous versions is not compatible with 4.x.
+
+### Changed
+- Switched the Windows compiler to Clang/LLVM, resulting in a huge performance improvement.
+
+### Fixed
+- Null ref exception when copying a ObiCloth component.
+- Issue with pin constraints overshooting when solver set to world space mode.
+- Issue that prevented pin constraints being torn.
+
+## [4.0]
+
+#IMPORTANT: You’ll need to re-create all your ObiRope components, as internal data layout of previous versions as well as serialized GameObject data from previous versions is not compatible with 4.x.
+
+### Added
+- New ObiRod actor: advanced rope that models torsion, as well as anisotropic bending and shearing.
+- Added 3 new constraint types: Shear/Stretch, Bend/Twist and Chain.
+- Achieved zero garbage generation trough the use of new Unity API for camera frustum planes.
+
+### Changed
+- All particle buffers (positions, velocities, etc). are now shared between C++/C# using pointers to aligned memory. This completely eliminates the need for copying data back and forth, simplifies the API
+  and improves performance. The entire Oni.Get/SetParticle* family of methods has disappeared, now you can work with the particle buffers directly.
+- Rope rendering modes have been replaced by ObiRopeRenderer components.
+
+### Fixed
+- Null ref exception when initializing a disabled actor.
+- Bug that caused XPBD to be time step dependent.
+
+## [3.5]
+
+### Added
+- Support for 32 and 64 bit Linux architectures.
+- Two-way rigidbody interaction for local-space solvers.
+- Added world inertia scale.
+- ObiCollider now takes a reference to a Collider, enabling the use of multiple colliders in the same GameObject.
+
+### Changed
+- Separated world velocity scale into linear and angular components.
+- World velocity scale is no longer specified per-actor, but per-solver.
+- Better ObiProfiler: it now shows a per-thread pyramid diagram of internal jobs, with more human-readable names.
+
+### Removed
+- Solvers no longer have a Collision Layers property. All solvers share the same colliders. Note that you can still use phases to ignore collisions with certain colliders.
+- Local space solvers no longer need their own copy of each ObiCollider in the scene, they can all share the same colliders. This results in much higher performance for multiple local-space solvers.
+
+### Fixed
+- Added (float3x3) typecast to particle shaders, to be GLES friendly.
+
+## [3.4.1]
+
+### Added
+- "Thickness from particles" now works in Custom Mesh render mode.
+- Custom Mesh mode now has a "volume scaling" parameter that squashes and stretches the mesh together with the rope.
+
+## [3.4]
+
+### Added
+- Perspective-correct particle rendering.
+- ObiParticleRenderer now supports custom shaders for rendering.
+
+### Fixed
+- Bug that required to disable and re-enable ObiParticleRenderer when moving the actor to a new solver.
+- Bug that caused twitching when performing more than 1 physics step per frame when using handles.
+
+## [3.3.1]
+
+### Fixed
+- Removed unused variable warnings introduced in 3.3
+- Fixed null ref exception when creating a new distance field asset.
+- Fixed crash when using multiple solvers in different update modes.
+- Fixed some sample scenes lacking collision due to missing distance field.
+
+## [3.3]
+
+### Added
+- Support for 2D rigidbody coupling has been brought back.
+- Added substepping to the core solver. This allows to update each solver at a different effective frequency, and decouple the Obi 
+  physics loop from Unity’s.
+- New implementation of fine-grained parallel tasks in core solver, that boosts performance up to x1.5.
+- Support for a new type of rope rendering, that can deform any mesh to follow the rope curve.
+- Support for a new collision primitive: distance fields.
+- Support for per-particle coloring of rope.
+- ObiCollider automatically creates ObiRigidbody component if needed when reparenting it.
+- Helper script (ObiKinematicVelocities) that calculates angular and linear velocities for kinematic rigidbodies that are transformed around. Useful for continuous collision detection and friction effects against objects that are being moved around using their transform instead of forces.
+
+### Changed
+- Near-zero garbage generation for OnCollision and ObFluidUpdated solver events.
+- Near-zero garbage generation for rope rendering.
+- Constraints.GetBatches() now returns an IEnumerable. This means it cannot be accesed by index. There’s a helper method GetFirstBatch() that returns
+the correctly typed first batch, or null if there’s none.
+
+### Fixed
+- Null reference exception in pin constraints when visualization is enabled.
+- Bug that caused asleep particles to miss collisions upon reactivation.
+- Bug that caused copying a rope to “steal“ the mesh from the original one.
+
+## [3.2]
+### Added
+- Support for CapsuleCollider2D.
+
+### Changed
+- Rope is still rendered (though not simulated) when the ObiRope component is disabled.
+- Colliders/rigidbodies are no longer copied over to the C++ library each frame. Instead, only colliders that have their transform or any collision-related property altered are copied to the solver. This greatly improves performance when many colliders are present, and greatly reduces memory allocation and GC activity.
+- AllocateParticles() and FreeParticles() have been merged with AddActor() and RemoveActor() respectively. A new per-particle array “particleToActor” makes it faster and easier to know which actor a particle belongs to.
+
+### Removed
+- ObiCollisionGroup has disappeared. It is no longer necessary to manually add colliders to a group, instead each ObiSolver automatically picks up all ObiColliders in a given layer.
+- MeshColliders are now always treated as two-sided thin concave meshes. Solid and one-sided modes have disappeared.
+
+### Fixed
+- Android issue that prevented some devices from finding the Oni library.
+- Removed redundant menu items.
+
+## [3.1.1]
+### Added
+- New “Line” rendering mode for ropes. This will render the rope as a camera-oriented quad strip, similar to what Unity’s LineRenderer does. This is useful for lightweight rendering and 2D games.
+- Particle renderer is now much faster and also allocates less memory.
+- New “hierarchical” method to generate tether constraints: this method generates more constraints than the traditional “anchor to fixed” approach, but works in the general case even if there are no fixed particles.
+
+### Changed
+- Installation is no longer required. Obi now works right out of the box, so the installation window has been removed, and the “Editor default resources” and “Gizmos” folders removed.
+
+## [3.1]
+### Added
+- You can now choose where should the solver be updated: FixedUpdate, AfterFixedUpdate, or LateUpdate.
+- Rope rendering now supports variable thickness, based on particle radii. Enabled by default, disable “thickness from particles” to get uniform thickness regardless of particle radii variations.
+- Edit-time preview of “smoothness” rope parameter.
+- Utility method to calculate actual rope length.
+- Support for triggers. A trigger collider will generate contact constraints, but won´t enforce them.
+- Contact structs returned by the OnCollision event now include the contact tangent and bitangent vectors.
+- Added per-particle layer properties, for finer collision control.
+
+### Changed
+- Faster and more accurate rigidbody impulse application, which results in better collision resolution.
+- Greatly improved pin constraint stability for large mass ratios.
+- ObiColliderGroup’s Colliders and Colliders2D properties are now plain arrays: “colliders” and “colliders2D”.
+- Memory allocation for rope mesh generation has been reduced by 90%.
+- ObiParticleRenderer memory allocation has been greatly reduced, and its performance improved.
+- Pin constraints are now always drawn in particle edit mode, not only when the particles are selected.
+
+### Fixed
+- Got rid of warnings related to obsolete platform enums in sample scripts.
+- Potential bug in GCHandle deallocation affecting upcoming Unity versions (thanks to the guys at Unity for pointing me at this)
+- Tearable pin constraints now work correctly.
+
+## [3.0.1]
+### Added
+- Support for iOS simulator.
+- Faster collision contact generation.
+
+### Fixed
+- Crash in Crane scene due to a bug in pin constraints.
+
+## [3.0]
+
+#IMPORTANT: You’ll need to re-generate all your ropes as internal data layout of previous versions is not compatible with this update.
+### Added 
+- Welcome window with automatic installer.
+- Upgraded constraint projection to XPBD (extended position-based dynamics). This decouples stiffness and damping from the amount of iterations, resulting in more realistic simulation.
+- Solver constraint enforcement order can now be changed. This allows to change the relative importance of constraints.
+- The solver now uses a task-based threading system which allows to exploit parallelism between multiple solvers.
+- Custom multithreading profiler, that allows to fine-tune performance.
+- Optional local-space simulation, for better numerical accuracy in large-scale worlds and greater control.
+- ObiStitcher component allows to stitch together separate ropes.
+- Added pencil paint mode to particle editor.
+- Automatic self-collisions disabling for particles that intersect in rest pose. This allows to set larger particle radii 
+  to ensure better self-collisions, without worrying about constraint fighting.
+- Breakable pin constraints.
+- Ropes are now tearable, and custom prefabs can be instantiated at both sides of the tear.
+- Rope length can be changed at runtime, using the ObiRopeCursor component.
+- Procedural curve geometry smoothing.
+
+### Changed
+- Actor particle limit is no longer 16384 but 65536, matching Unity’s own vertex limit.
+- Particle editor paint brush falloff has ben changed from linear to gaussian.
+- Distance constraints’ compression stiffness has been replaced by a slack percentage.
+- Performance improvement in mesh colliders and edge colliders.
+
+### Fixed
+- Bug in collision detection against terrains.
+- Crash in 32-bit windows systems due to memory misalignment.
+- Bug that caused slow convergence and excessive jittering for particle-particle sequential contact resolution.
+- Bug in hierarchical grid update that caused a crash in some cases when a hash key collision happened.
+- Bug in continuous collision detection that caused particles to be pushed to the other side of very thin objects.
+- Bug in ray/bounding box intersection test caused by non-IEEE754 compliant SSE division by zero.
+- Bug that caused ObiParticleRenderer to ignore camera culling mask, and render in all cameras.
+- Bug that caused a crash under certain conditions in 32 bit systems.
+- Bug that caused particle property value field to reset to the value of the last particle when painting.
+- Fixed collision stabilization bug that caused particles to sink slightly when over a dynamic rigidbody.
+
+## [1.2]
+
+### Added
+- Android support.
+- Upgraded constraint projection to XPBD (extended position-based dynamics). This decouples stiffness and damping from the amount of iterations.
+- Solver constraint enforcement order can now be changed. This allows to change the relative importance of constraints.
+- Welcome window with automatic installer.
+- Resolution-preserving method to change rope length dynamically.
+- Added pencil paint mode to particle editor.
+- Optional local-space simulation, for better numerical accuracy in large-scale worlds and greater control.
+- Custom multithreading profiler, that allows to fine-tune performance.
+- Better particle visualization in editor.
+- Breakable pin constraints.
+
+### Changed
+- Actor particle limit is no longer 16384 but 65536, matching Unity’s own vertex limit.
+- Particle editor paint brush falloff has ben changed from linear to gaussian.
+- Distance constraints’ compression stiffness has been replaced by a slack percentage.
+
+### Fixed
+- Bug that caused an index out of bounds exception when initializing rope with zero resolution.
+- Bug that caused an error message regarding MeshFilter destruction when entering play mode with a rope selected in the hierarchy.
+- Bug that prevented the particle editor window from appearing on retina displays.
+- 1-frame delay between particle and rigid body physics, which affected pin and collision constraints.
+
+## [1.1]
+
+### Added
+- MeshColliders are now fully supported.
+- Support for 2D physics, Box2D, Circle2D and Edge2D colliders.
+- Chain rendering.
+- Sleep threshold that keeps particles fixed in place when their kinetic energy is low.
+- Chain constraints, that allow for 100% inextensible ropes.
+- Rope thickness, twist, cap sections and section shape can now be changed without the need to re-initialize the rope.
+- Required constraint components are automatically removed from the object when removing the rope component in editor.
+
+### Fixed
+- Issue with box colliders, that caused incorrect contact generation in corners when using contactOffset.
+
+## [1.0.0] - 2015-07-16
+- Initial release.
diff --git a/Assets/Obi/CHANGELOG_rope.txt.meta b/Assets/Obi/CHANGELOG_rope.txt.meta
new file mode 100644
index 000000000..7cc321af1
--- /dev/null
+++ b/Assets/Obi/CHANGELOG_rope.txt.meta
@@ -0,0 +1,9 @@
+fileFormatVersion: 2
+guid: 8d9d04260bc994f1b9d444b675212dc6
+labels:
+- ObiRope
+TextScriptImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Editor.meta b/Assets/Obi/Editor.meta
new file mode 100644
index 000000000..ec618e6c7
--- /dev/null
+++ b/Assets/Obi/Editor.meta
@@ -0,0 +1,9 @@
+fileFormatVersion: 2
+guid: d6a0c47fa0afb4e1fb441061faa32d50
+folderAsset: yes
+timeCreated: 1435569421
+licenseType: Store
+DefaultImporter:
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Editor/Common.meta b/Assets/Obi/Editor/Common.meta
new file mode 100644
index 000000000..5684f1cf4
--- /dev/null
+++ b/Assets/Obi/Editor/Common.meta
@@ -0,0 +1,8 @@
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+guid: 3d5722720e25b4db69e767c6920cf081
+folderAsset: yes
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diff --git a/Assets/Obi/Editor/Common/Blueprints.meta b/Assets/Obi/Editor/Common/Blueprints.meta
new file mode 100644
index 000000000..5576b9554
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints.meta
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diff --git a/Assets/Obi/Editor/Common/Blueprints/BlueprintEditorTools.meta b/Assets/Obi/Editor/Common/Blueprints/BlueprintEditorTools.meta
new file mode 100644
index 000000000..6737bc72c
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/BlueprintEditorTools.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: aa63386a67f904b399175c9931270250
+folderAsset: yes
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diff --git a/Assets/Obi/Editor/Common/Blueprints/BlueprintEditorTools/ObiBlueprintEditorTool.cs b/Assets/Obi/Editor/Common/Blueprints/BlueprintEditorTools/ObiBlueprintEditorTool.cs
new file mode 100644
index 000000000..54dcca92d
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/BlueprintEditorTools/ObiBlueprintEditorTool.cs
@@ -0,0 +1,40 @@
+using UnityEngine;
+using UnityEditor;
+
+namespace Obi
+{
+    public abstract class ObiBlueprintEditorTool
+    {
+        protected ObiActorBlueprintEditor editor;
+        protected string m_Name;
+        protected Texture m_Icon;
+
+        public string name
+        {
+            get { return m_Name; }
+        }
+
+        public Texture icon
+        {
+            get
+            {
+                return m_Icon;
+            }
+        }
+
+        public ObiBlueprintEditorTool(ObiActorBlueprintEditor editor)
+        {
+            this.editor = editor;
+        }
+
+        public virtual void OnEnable(){}
+        public virtual void OnDisable(){}
+        public virtual void OnDestroy(){}
+        public virtual string GetHelpString() { return string.Empty; }
+
+        public abstract void OnInspectorGUI();
+        public virtual void OnSceneGUI(SceneView sceneView){}
+
+        public virtual bool Editable(int index) { return editor.visible[index]; }
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Editor/Common/Blueprints/BlueprintEditorTools/ObiBlueprintEditorTool.cs.meta b/Assets/Obi/Editor/Common/Blueprints/BlueprintEditorTools/ObiBlueprintEditorTool.cs.meta
new file mode 100644
index 000000000..95c9d3dd5
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/BlueprintEditorTools/ObiBlueprintEditorTool.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: ca0c1c4cbbd024d49b15bf3439506500
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Editor/Common/Blueprints/BlueprintEditorTools/ObiPaintBrushEditorTool.cs b/Assets/Obi/Editor/Common/Blueprints/BlueprintEditorTools/ObiPaintBrushEditorTool.cs
new file mode 100644
index 000000000..0676df0d8
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/BlueprintEditorTools/ObiPaintBrushEditorTool.cs
@@ -0,0 +1,127 @@
+using UnityEngine;
+using UnityEditor;
+
+namespace Obi
+{
+    public class ObiPaintBrushEditorTool : ObiBlueprintEditorTool
+    {
+        public ObiRaycastBrush paintBrush;
+        public bool selectionMask = false;
+        public int sourcePropertyIndex = 0; /**<index of the property to copy from*/
+
+        public ObiMeshBasedActorBlueprintEditor meshBasedEditor
+        {
+            get { return editor as ObiMeshBasedActorBlueprintEditor; }
+        }
+
+        public ObiPaintBrushEditorTool(ObiMeshBasedActorBlueprintEditor editor) : base(editor)
+        {
+
+            m_Icon = Resources.Load<Texture2D>("BrushIcon");
+            m_Name = "Property painting";
+
+            paintBrush = new ObiRaycastBrush(editor.sourceMesh,
+                                     () =>
+                                     {
+                                         // As RecordObject diffs with the end of the current frame,
+                                         // and this is a multi-frame operation, we need to use RegisterCompleteObjectUndo instead.
+                                         Undo.RegisterCompleteObjectUndo(editor.blueprint, "Paint particles");
+                                     },
+                                     () =>
+                                     {
+                                         editor.Refresh();
+                                     },
+                                     () =>
+                                     {
+                                         EditorUtility.SetDirty(editor.blueprint);
+                                     });
+
+        }
+
+        public override string GetHelpString()
+        {
+            return "Paint particle properties directly on the mesh. Most brushes have an alternate mode, accesed by holding 'shift' while painting.";
+        }
+
+        public override void OnInspectorGUI()
+        {
+            EditorGUILayout.BeginVertical(EditorStyles.inspectorDefaultMargins);
+            EditorGUILayout.Space();
+
+            // toolbar with available brush modes  for the current property:
+            editor.currentProperty.BrushModes(paintBrush);
+
+            EditorGUILayout.Space();
+
+            EditorGUI.BeginChangeCheck();
+            editor.currentPropertyIndex = editor.PropertySelector(editor.currentPropertyIndex);
+            if (EditorGUI.EndChangeCheck())
+            {
+                editor.Refresh();
+                editor.currentProperty.OnSelect(paintBrush);
+            }
+
+            if (paintBrush.brushMode is ObiFloatCopyBrushMode)
+            {
+                EditorGUI.BeginChangeCheck();
+                sourcePropertyIndex = editor.PropertySelector(sourcePropertyIndex, "Copy from");
+                var sourceProperty = editor.GetProperty(sourcePropertyIndex) as ObiBlueprintFloatProperty; 
+                if (EditorGUI.EndChangeCheck())
+                {
+                    (paintBrush.brushMode as ObiFloatCopyBrushMode).source = sourceProperty;
+                }
+                if (sourceProperty == null)
+                    EditorGUILayout.HelpBox("You can't copy value from this property.", MessageType.Error);
+            }
+
+            if (paintBrush.brushMode.needsInputValue)
+                editor.currentProperty.PropertyField();
+
+            paintBrush.radius = EditorGUILayout.Slider("Brush size", paintBrush.radius, 0.0001f, 0.5f);
+            paintBrush.innerRadius = EditorGUILayout.Slider("Brush inner size", paintBrush.innerRadius, 0, 1);
+            paintBrush.opacity = EditorGUILayout.Slider("Brush opacity", paintBrush.opacity, 0, 1);
+            paintBrush.mirror.axis = (ObiBrushMirrorSettings.MirrorAxis)EditorGUILayout.EnumPopup("Brush mirror axis", paintBrush.mirror.axis);
+            paintBrush.mirror.space = (ObiBrushMirrorSettings.MirrorSpace)EditorGUILayout.EnumPopup("Brush mirror space", paintBrush.mirror.space);
+
+            EditorGUI.BeginChangeCheck();
+            meshBasedEditor.particleCulling = (ObiMeshBasedActorBlueprintEditor.ParticleCulling)EditorGUILayout.EnumPopup("Culling", meshBasedEditor.particleCulling);
+            if (editor.selectedCount == 0)
+            {
+                EditorGUILayout.HelpBox("Select at least one particle to use selection mask.", MessageType.Info);
+                selectionMask = false;
+                GUI.enabled = false;
+            }
+            selectionMask = EditorGUILayout.Toggle("Selection mask", selectionMask);
+            if (EditorGUI.EndChangeCheck())
+                SceneView.RepaintAll();
+            GUI.enabled = true;
+
+            EditorGUILayout.EndVertical();
+
+            EditorGUILayout.Space();
+            GUILayout.Box(GUIContent.none, ObiEditorUtils.GetSeparatorLineStyle());
+
+            EditorGUILayout.BeginVertical(EditorStyles.inspectorDefaultMargins);
+
+                editor.RenderModeSelector();
+                editor.currentProperty.VisualizationOptions();
+           
+            EditorGUILayout.EndVertical();
+        }
+
+        public override bool Editable(int index)
+        {
+            return editor.visible[index] && (!selectionMask || editor.selectionStatus[index]);
+        }
+
+        public override void OnSceneGUI(SceneView view)
+        {
+            if (Camera.current != null)
+            {
+                paintBrush.raycastTarget = meshBasedEditor.sourceMesh;
+                paintBrush.DoBrush(editor.blueprint.positions);
+            }
+        }
+
+    }
+}
diff --git a/Assets/Obi/Editor/Common/Blueprints/BlueprintEditorTools/ObiPaintBrushEditorTool.cs.meta b/Assets/Obi/Editor/Common/Blueprints/BlueprintEditorTools/ObiPaintBrushEditorTool.cs.meta
new file mode 100644
index 000000000..b0abbdf5a
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/BlueprintEditorTools/ObiPaintBrushEditorTool.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 332bb5fc94a774291b4c4ebe50f61205
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Editor/Common/Blueprints/BlueprintEditorTools/ObiParticleSelectionEditorTool.cs b/Assets/Obi/Editor/Common/Blueprints/BlueprintEditorTools/ObiParticleSelectionEditorTool.cs
new file mode 100644
index 000000000..99ff3bcdc
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/BlueprintEditorTools/ObiParticleSelectionEditorTool.cs
@@ -0,0 +1,336 @@
+using UnityEngine;
+using UnityEditor;
+using UnityEditorInternal;
+
+namespace Obi
+{
+    public class ObiParticleSelectionEditorTool : ObiBlueprintEditorTool
+    {
+        ObiScreenSpaceBrush selectionBrush;
+        ObiSelectBrushMode selectMode;
+        ObiTethersTool tethersTool;
+
+        protected ReorderableList particleGroupList;
+        protected bool mixedPropertyValue = false;
+        protected float minSelectionValue;
+        protected float maxSelectionValue;
+
+        public ObiParticleSelectionEditorTool(ObiActorBlueprintEditor editor) : base(editor)
+        {
+            m_Icon = Resources.Load<Texture2D>("SelectIcon");
+            m_Name = "Particle selection";
+
+            selectionBrush = new ObiScreenSpaceBrush(null, UpdateSelection, null);
+            selectMode = new ObiSelectBrushMode(new ObiBlueprintSelected(editor));
+
+            selectionBrush.brushMode = selectMode;
+            tethersTool = new ObiTethersTool();
+
+            InitializeGroupsList();
+        }
+
+
+        public override string GetHelpString()
+        {
+            if (editor.selectedCount > 0)
+                return "" + editor.selectedCount + " selected particles.";
+            else
+                return "No particles selected. Click and drag over particles to select them.";
+        }
+
+        private void InitializeGroupsList()
+        {
+            particleGroupList = new ReorderableList(editor.serializedObject,
+                                                    editor.serializedObject.FindProperty("groups"),
+                              false, true, true, true);
+
+            particleGroupList.drawHeaderCallback = (Rect rect) =>
+            {
+                EditorGUI.LabelField(rect, "Groups");
+            };
+
+            particleGroupList.drawElementCallback = (Rect rect, int index, bool isActive, bool isFocused) =>
+            {
+                var element = particleGroupList.serializedProperty.GetArrayElementAtIndex(index);
+                rect.y += 4;
+
+                SerializedObject obj = new SerializedObject(element.objectReferenceValue);
+                ObiParticleGroup group = obj.targetObject as ObiParticleGroup;
+
+                EditorGUI.PropertyField(new Rect(rect.x, rect.y, rect.width, EditorGUIUtility.singleLineHeight),
+                                        obj.FindProperty("m_Name"), new GUIContent("Name"));
+                rect.y += EditorGUIUtility.singleLineHeight + 2;
+
+                if (GUI.Button(new Rect(rect.x, rect.y, rect.width * 0.5f, EditorGUIUtility.singleLineHeight), "Select", EditorStyles.miniButtonLeft))
+                {
+                    if ((Event.current.modifiers & EventModifiers.Shift) == 0)
+                    {
+                        for (int p = 0; p < editor.selectionStatus.Length; p++)
+                            editor.selectionStatus[p] = false;
+                    }
+
+                    foreach (int p in group.particleIndices)
+                        editor.selectionStatus[p] = true;
+
+                    UpdateSelection();
+                }
+
+                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++)
+                    {
+                        if (editor.selectionStatus[p])
+                            group.particleIndices.Add(p);
+                    }
+                }
+
+                obj.ApplyModifiedProperties();
+            };
+
+            particleGroupList.elementHeight = (EditorGUIUtility.singleLineHeight + 2) * 2 + 8;
+
+            particleGroupList.onAddCallback = (ReorderableList list) =>
+            {
+
+                var group = editor.blueprint.AppendNewParticleGroup("new group");
+
+                for (int i = 0; i < editor.selectionStatus.Length; i++)
+                {
+                    if (editor.selectionStatus[i])
+                        group.particleIndices.Add(i);
+                }
+
+                AssetDatabase.SaveAssets();
+            };
+
+            particleGroupList.onRemoveCallback = (ReorderableList list) =>
+            {
+                editor.blueprint.RemoveParticleGroupAt(list.index);
+            };
+        }
+
+        private void SelectionTools()
+        {
+            EditorGUILayout.BeginHorizontal();
+            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++)
+                {
+                    if (editor.blueprint.IsParticleActive(i))
+                        editor.selectionStatus[i] = !editor.selectionStatus[i];
+                }
+                UpdateSelection();
+            }
+
+            GUI.enabled = editor.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;
+                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.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.Refresh();
+            }
+            GUI.enabled = true;
+
+            if (GUILayout.Button(new GUIContent(Resources.Load<Texture2D>("RestoreButton"), "Restore removed particles"), GUILayout.MaxHeight(24), GUILayout.MaxWidth(48)))
+            {
+                Undo.RecordObject(editor.blueprint, "Restore removed particles");
+                editor.blueprint.RestoreRemovedParticles();
+                editor.Refresh();
+            }
+
+            GUILayout.FlexibleSpace();
+            EditorGUILayout.EndHorizontal();
+
+            EditorGUILayout.Space();
+            EditorGUILayout.LabelField("Property-based selection", EditorStyles.boldLabel);
+            var property = editor.currentProperty as ObiBlueprintFloatProperty;
+            if (property != null)
+            {
+                if (!Mathf.Approximately(property.minVisualizationValue,property.maxVisualizationValue))
+                {
+                    EditorGUILayout.HelpBox("Drag the slider to select based on " + property.name + ". You can choose a different property in the \"Property\" dropdown below.", MessageType.None);
+                    minSelectionValue = Mathf.Max(minSelectionValue, property.minVisualizationValue);
+                    maxSelectionValue = Mathf.Min(maxSelectionValue, property.maxVisualizationValue);
+                    maxSelectionValue = Mathf.Max(maxSelectionValue, minSelectionValue);
+
+                    EditorGUI.BeginChangeCheck();
+                    EditorGUILayout.MinMaxSlider("Select by " + property.name, ref minSelectionValue, ref maxSelectionValue, property.minVisualizationValue, property.maxVisualizationValue);
+                    minSelectionValue = EditorGUILayout.FloatField("Minimum " + property.name, minSelectionValue);
+                    maxSelectionValue = EditorGUILayout.FloatField("Maximum " + property.name, maxSelectionValue);
+                    if (EditorGUI.EndChangeCheck())
+                    {
+                        for (int i = 0; i < editor.selectionStatus.Length; i++)
+                        {
+                            if (editor.blueprint.IsParticleActive(i))
+                            {
+                                var value = property.Get(i);
+                                editor.selectionStatus[i] = value >= minSelectionValue && value <= maxSelectionValue;
+                            }
+                        }
+                        UpdateSelection();
+                    }
+                }
+                else
+                {
+                    EditorGUILayout.HelpBox("All particles have the same " + property.name + " value.", MessageType.Info);
+                }
+            }
+            else
+            {
+                EditorGUILayout.HelpBox("Property-based selection only works with scalar properties.",MessageType.Info);
+            }
+        }
+
+        public override void OnInspectorGUI()
+        {
+            // Selection tools:
+            EditorGUILayout.BeginVertical(EditorStyles.inspectorDefaultMargins);
+            EditorGUILayout.Space();
+
+            selectionBrush.radius = EditorGUILayout.Slider("Brush size", selectionBrush.radius, 5, 200);
+
+            if (editor is ObiMeshBasedActorBlueprintEditor)
+            {
+                EditorGUI.BeginChangeCheck();
+                (editor as ObiMeshBasedActorBlueprintEditor).particleCulling = (ObiMeshBasedActorBlueprintEditor.ParticleCulling)EditorGUILayout.EnumPopup("Culling", (editor as ObiMeshBasedActorBlueprintEditor).particleCulling);
+                if (EditorGUI.EndChangeCheck())
+                    SceneView.RepaintAll();
+            }
+
+
+            EditorGUILayout.Space();
+            SelectionTools();
+
+            EditorGUILayout.EndVertical();
+
+
+            // Properties:
+            EditorGUILayout.Space();
+            GUILayout.Box(GUIContent.none, ObiEditorUtils.GetSeparatorLineStyle());
+
+            EditorGUILayout.BeginVertical(EditorStyles.inspectorDefaultMargins);
+            EditorGUILayout.Space();
+            EditorGUILayout.LabelField("Properties", EditorStyles.boldLabel);
+            EditorGUILayout.HelpBox("Select a property to view and edit. Currently editing " + editor.currentProperty.name+".", MessageType.None);
+
+            EditorGUI.BeginChangeCheck();
+            editor.currentPropertyIndex = editor.PropertySelector(editor.currentPropertyIndex);
+            if (EditorGUI.EndChangeCheck())
+            {
+                editor.Refresh();
+                UpdateSelection();
+            }
+
+            // Property value:
+            EditorGUI.showMixedValue = mixedPropertyValue;
+            EditorGUI.BeginChangeCheck();
+            editor.currentProperty.PropertyField();
+            if (EditorGUI.EndChangeCheck())
+            {
+                Undo.RecordObject(editor.blueprint, "Set particle property");
+                for (int i = 0; i < editor.selectionStatus.Length; i++)
+                {
+                    if (!editor.selectionStatus[i]) continue;
+                    editor.currentProperty.SetDefaultToIndex(i);
+                }
+                editor.Refresh();
+            }
+
+            EditorGUI.showMixedValue = false;
+
+            EditorGUILayout.EndVertical();
+
+
+            // Particle groups:
+            EditorGUILayout.Space();
+            GUILayout.Box(GUIContent.none, ObiEditorUtils.GetSeparatorLineStyle());
+
+            EditorGUILayout.BeginVertical(EditorStyles.inspectorDefaultMargins);
+
+            EditorGUILayout.Space();
+            EditorGUILayout.LabelField("Particle groups", EditorStyles.boldLabel);
+            particleGroupList.DoLayoutList();
+
+            EditorGUILayout.EndVertical();
+
+
+
+            if (editor.blueprint.usesTethers)
+            {
+                EditorGUILayout.Space();
+                GUILayout.Box(GUIContent.none, ObiEditorUtils.GetSeparatorLineStyle());
+                EditorGUILayout.BeginVertical(EditorStyles.inspectorDefaultMargins);
+                EditorGUILayout.Space();
+                tethersTool.DoTethers(editor);
+                EditorGUILayout.EndVertical();
+            }
+
+            EditorGUILayout.Space();
+            GUILayout.Box(GUIContent.none, ObiEditorUtils.GetSeparatorLineStyle());
+
+            EditorGUILayout.BeginVertical(EditorStyles.inspectorDefaultMargins);
+
+                editor.RenderModeSelector();
+                editor.dotRadiusScale = EditorGUILayout.Slider(new GUIContent("Particle dot size"), editor.dotRadiusScale, 0, 5);
+                editor.currentProperty.VisualizationOptions();
+           
+            EditorGUILayout.EndVertical();
+        }
+
+        public override void OnSceneGUI(SceneView sceneView)
+        {
+            if (Camera.current != null)
+                selectionBrush.DoBrush(editor.blueprint.positions);
+        }
+
+        protected void UpdateSelection()
+        {
+            editor.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++)
+            {
+                if (editor.blueprint.IsParticleActive(i) && editor.selectionStatus[i])
+                {
+                    editor.selectedCount++;
+
+                    if (editor.activeParticle >= 0)
+                    {
+                        if (!editor.currentProperty.Equals(editor.activeParticle, i))
+                            mixedPropertyValue = true;
+                    }
+                    else
+                        editor.activeParticle = i;
+                }
+                else if (editor.activeParticle == i)
+                    editor.activeParticle = -1;
+            }
+
+            // Set initial property value:
+            if (!mixedPropertyValue && editor.activeParticle >= 0)
+                editor.currentProperty.GetDefaultFromIndex(editor.activeParticle);
+
+            editor.Repaint();
+            SceneView.RepaintAll();
+
+        }
+
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Editor/Common/Blueprints/BlueprintEditorTools/ObiParticleSelectionEditorTool.cs.meta b/Assets/Obi/Editor/Common/Blueprints/BlueprintEditorTools/ObiParticleSelectionEditorTool.cs.meta
new file mode 100644
index 000000000..774ebafc2
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/BlueprintEditorTools/ObiParticleSelectionEditorTool.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: b3940c62f9ffe4808afc4d2d70ae5e28
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Editor/Common/Blueprints/BlueprintEditorTools/ObiPropertyTextureEditorTool.cs b/Assets/Obi/Editor/Common/Blueprints/BlueprintEditorTools/ObiPropertyTextureEditorTool.cs
new file mode 100644
index 000000000..2eb81ee9d
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/BlueprintEditorTools/ObiPropertyTextureEditorTool.cs
@@ -0,0 +1,166 @@
+using UnityEngine;
+using UnityEditor;
+using UnityEditorInternal;
+using System.Collections;
+using System;
+
+namespace Obi
+{
+    public class ObiPropertyTextureEditorTool : ObiBlueprintEditorTool
+    {
+        public enum TextureChannel
+        {
+            Red = 0,
+            Green = 1,
+            Blue = 2,
+            Alpha = 3,
+        }
+
+        protected bool selectionMask = false;
+        protected bool import = true;
+        protected bool export = true;
+
+        protected float minPropertyValue = 0;
+        protected float maxPropertyValue = 10;
+
+        protected int exportWidth = 512;
+        protected int exportHeight = 512;
+        protected int padding = 64;
+
+        protected Texture2D propertyTexture;
+        protected TextureChannel textureChannel;
+
+        protected ObiBlueprintFloatProperty floatProperty;
+        protected ObiBlueprintColorProperty colorProperty;
+        protected Action<int, Color> textureReadCallback;
+
+        public ObiMeshBasedActorBlueprintEditor meshBasedEditor
+        {
+            get { return editor as ObiMeshBasedActorBlueprintEditor; }
+        }
+
+        public ObiPropertyTextureEditorTool(ObiMeshBasedActorBlueprintEditor editor) : base(editor)
+        {
+            m_Icon = Resources.Load<Texture2D>("TextureIcon");
+            m_Name = "Texture import/export";
+        }
+
+        public override string GetHelpString()
+        {
+            return "Import/export particle properties to textures. Assumes that your mesh has non-overlapping UVs.";
+        }
+
+        private void FloatFromTexture(int i, Color color)
+        {
+            if (!selectionMask || editor.selectionStatus[i])
+            {
+                float value = minPropertyValue + color[(int)textureChannel] * (maxPropertyValue - minPropertyValue);
+                floatProperty.Set(i, value);
+            }
+        }
+
+        private void ColorFromTexture(int i, Color color)
+        {
+            if (!selectionMask || editor.selectionStatus[i])
+                colorProperty.Set(i, color);
+        }
+
+        public override void OnInspectorGUI()
+        {
+            EditorGUILayout.BeginVertical(EditorStyles.inspectorDefaultMargins);
+            EditorGUILayout.Space();
+
+            EditorGUI.BeginChangeCheck();
+            editor.currentPropertyIndex = editor.PropertySelector(editor.currentPropertyIndex);
+            if (EditorGUI.EndChangeCheck())
+                editor.Refresh();
+
+            EditorGUILayout.EndVertical();
+
+            EditorGUILayout.Space();
+            GUILayout.Box(GUIContent.none, ObiEditorUtils.GetSeparatorLineStyle());
+
+            EditorGUILayout.BeginVertical(EditorStyles.inspectorDefaultMargins);
+            import = EditorGUILayout.BeginFoldoutHeaderGroup(import, "Import texture");
+
+            if (import)
+            {
+                propertyTexture = (Texture2D)EditorGUILayout.ObjectField("Source", propertyTexture, typeof(Texture2D), false);
+
+                floatProperty = editor.currentProperty as ObiBlueprintFloatProperty;
+                colorProperty = editor.currentProperty as ObiBlueprintColorProperty;
+
+                if (floatProperty != null)
+                {
+                    textureReadCallback = FloatFromTexture;
+                    textureChannel = (TextureChannel)EditorGUILayout.EnumPopup("Source channel", textureChannel);
+                    minPropertyValue = EditorGUILayout.FloatField("Min value", minPropertyValue);
+                    maxPropertyValue = EditorGUILayout.FloatField("Max value", maxPropertyValue);
+                }
+                else if (colorProperty != null)
+                {
+                    textureReadCallback = ColorFromTexture;
+                }
+
+                if (GUILayout.Button("Import"))
+                {
+                    Undo.RecordObject(editor.blueprint, "Import particle property");
+                    if (!meshBasedEditor.ReadParticlePropertyFromTexture(propertyTexture, textureReadCallback))
+                    {
+                        EditorUtility.DisplayDialog("Invalid texture", "The texture is either null or not readable.", "Ok");
+                    }
+
+                    // force automatic range calculation for floating point properties.
+                    if (floatProperty != null)
+                        floatProperty.autoRange = true;
+                    editor.Refresh();
+                }
+            }
+            EditorGUILayout.EndFoldoutHeaderGroup();
+            EditorGUILayout.EndVertical();
+
+            EditorGUILayout.Space();
+            GUILayout.Box(GUIContent.none, ObiEditorUtils.GetSeparatorLineStyle());
+
+            EditorGUILayout.BeginVertical(EditorStyles.inspectorDefaultMargins);
+            export = EditorGUILayout.BeginFoldoutHeaderGroup(export, "Export texture");
+
+            if (export)
+            {
+                exportWidth = EditorGUILayout.IntField("Texture width", exportWidth);
+                exportHeight = EditorGUILayout.IntField("Texture height", exportHeight);
+                padding = EditorGUILayout.IntField("Padding", padding);
+                if (GUILayout.Button("Export"))
+                {
+                    var path = EditorUtility.SaveFilePanel("Save texture as PNG",
+                                                            "",
+                                                            "property.png",
+                                                            "png");
+                    if (path.Length > 0)
+                    {
+                        // force automatic range calculation for floating point properties.
+                        if (floatProperty != null)
+                            floatProperty.autoRange = true;
+                        editor.Refresh();
+
+                        if (!meshBasedEditor.WriteParticlePropertyToTexture(path, exportWidth, exportHeight, padding))
+                        {
+                            EditorUtility.DisplayDialog("Invalid path", "Could not write a texture to that location.", "Ok");
+                        }
+                    }
+                }
+            }
+
+            EditorGUILayout.EndFoldoutHeaderGroup();
+            EditorGUILayout.EndVertical();
+
+            EditorGUILayout.Space();
+            GUILayout.Box(GUIContent.none, ObiEditorUtils.GetSeparatorLineStyle());
+
+            EditorGUILayout.BeginVertical(EditorStyles.inspectorDefaultMargins);
+            editor.RenderModeSelector();
+            EditorGUILayout.EndVertical();
+        }
+
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Editor/Common/Blueprints/BlueprintEditorTools/ObiPropertyTextureEditorTool.cs.meta b/Assets/Obi/Editor/Common/Blueprints/BlueprintEditorTools/ObiPropertyTextureEditorTool.cs.meta
new file mode 100644
index 000000000..0655a7673
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/BlueprintEditorTools/ObiPropertyTextureEditorTool.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 7727285b07aa44d6e8f65a8bc1f5d972
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Editor/Common/Blueprints/BlueprintEditorTools/ObiTethersTool.cs b/Assets/Obi/Editor/Common/Blueprints/BlueprintEditorTools/ObiTethersTool.cs
new file mode 100644
index 000000000..f89078b36
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/BlueprintEditorTools/ObiTethersTool.cs
@@ -0,0 +1,86 @@
+using UnityEngine;
+using UnityEditor;
+using System;
+            
+
+namespace Obi
+{
+    public class ObiTethersTool
+    {
+        protected Rect tetherDropdownRect;
+        protected bool[] tetheredGroups = new bool[0];
+
+        // the GenericMenu.MenuFunction2 event handler for when a menu item is selected
+        void OnTetherGroupSelected(object index)
+        {
+            int i = (int)index;
+            tetheredGroups[i] = !tetheredGroups[i];
+        }
+
+        public void DoTethers(ObiActorBlueprintEditor editor)
+        {
+            EditorGUILayout.LabelField("Tethers", EditorStyles.boldLabel);
+
+            var tethers = editor.blueprint.GetConstraintsByType(Oni.ConstraintType.Tether);
+            int tetherCount = 0;
+            if (tethers != null)
+                tetherCount = tethers.GetConstraintCount();
+            
+            if (tetherCount > 0)
+                EditorGUILayout.LabelField("" + tetherCount + " tether constraints.", EditorStyles.helpBox);
+            else
+                EditorGUILayout.LabelField("No tether constraints. Select at least one particle group in the dropdown, then click 'Generate Tethers'.", EditorStyles.helpBox);
+
+            Array.Resize(ref tetheredGroups, editor.blueprint.groups.Count);
+
+            // display the GenericMenu when pressing a button
+            if (GUILayout.Button("Tethered groups", EditorStyles.popup))
+            {
+                // create the menu and add items to it
+                GenericMenu menu = new GenericMenu();
+
+                // forward slashes nest menu items under submenus
+                for (int i = 0; i < editor.blueprint.groups.Count; ++i)
+                {
+                    menu.AddItem(new GUIContent(editor.blueprint.groups[i].name), tetheredGroups[i], OnTetherGroupSelected, i);
+                }
+
+                // display the menu
+                menu.DropDown(tetherDropdownRect);
+            }
+
+            if (Event.current.type == EventType.Repaint)
+                tetherDropdownRect = GUILayoutUtility.GetLastRect();
+
+
+            EditorGUILayout.BeginHorizontal();
+            if (GUILayout.Button("Generate tethers",GUILayout.MinHeight(32)))
+            {
+                // Select all particles in the tethered groups:
+                for (int i = 0; i < editor.selectionStatus.Length; ++i)
+                {
+                    editor.selectionStatus[i] = false;
+                    for (int j = 0; j < tetheredGroups.Length; ++j)
+                    {
+                        if (tetheredGroups[j] && editor.blueprint.groups[j].ContainsParticle(i))
+                        {
+                            editor.selectionStatus[i] = true;
+                            break;
+                        }
+                    }
+                }
+
+                editor.blueprint.GenerateTethers(editor.selectionStatus);
+                editor.Refresh();
+            }
+
+            if (GUILayout.Button("Clear tethers",GUILayout.MinHeight(32)))
+            {
+                editor.blueprint.ClearTethers();
+                editor.Refresh();
+            }
+            EditorGUILayout.EndHorizontal();
+
+        }
+    }
+}
diff --git a/Assets/Obi/Editor/Common/Blueprints/BlueprintEditorTools/ObiTethersTool.cs.meta b/Assets/Obi/Editor/Common/Blueprints/BlueprintEditorTools/ObiTethersTool.cs.meta
new file mode 100644
index 000000000..fd2ba16fb
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/BlueprintEditorTools/ObiTethersTool.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 6aefc9e7e74be461e93ee58f15c5a1dd
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Editor/Common/Blueprints/Brushes.meta b/Assets/Obi/Editor/Common/Blueprints/Brushes.meta
new file mode 100644
index 000000000..23624c350
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/Brushes.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 625a6e0c1ba72483190830373b7b45fe
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes.meta b/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes.meta
new file mode 100644
index 000000000..9bdbd1de6
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 4fc4d44dc6d334c2985875fc6f7b8cb1
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/IObiBrushMode.cs b/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/IObiBrushMode.cs
new file mode 100644
index 000000000..4257fe690
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/IObiBrushMode.cs
@@ -0,0 +1,9 @@
+namespace Obi
+{
+    public interface IObiBrushMode
+    {
+        string name{get;}
+        bool needsInputValue{ get; }
+        void ApplyStamps(ObiBrushBase brush, bool modified);
+    }
+}
diff --git a/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/IObiBrushMode.cs.meta b/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/IObiBrushMode.cs.meta
new file mode 100644
index 000000000..ab2580d12
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/IObiBrushMode.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 4c46364da0f1641c7ab84e12348a6a4b
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiColorPaintBrushMode.cs b/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiColorPaintBrushMode.cs
new file mode 100644
index 000000000..e094e7c17
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiColorPaintBrushMode.cs
@@ -0,0 +1,38 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public class ObiColorPaintBrushMode : IObiBrushMode
+    {
+        ObiBlueprintColorProperty property;
+
+        public ObiColorPaintBrushMode(ObiBlueprintColorProperty property)
+        {
+            this.property = property;
+        }
+
+        public string name
+        {
+            get { return "Paint"; }
+        }
+
+        public bool needsInputValue
+        {
+            get { return true; }
+        }
+
+        public void ApplyStamps(ObiBrushBase brush, bool modified)
+        {
+            for (int i = 0; i < brush.weights.Length; ++i)
+            {
+                if (!property.Masked(i) && brush.weights[i] > 0)
+                {
+                    Color currentValue = property.Get(i);
+                    Color delta = brush.weights[i] * brush.opacity * brush.speed * (property.GetDefault() - currentValue);
+
+                    property.Set(i, currentValue + delta * (modified ? -1 : 1));
+                }
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiColorPaintBrushMode.cs.meta b/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiColorPaintBrushMode.cs.meta
new file mode 100644
index 000000000..d9fe60146
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiColorPaintBrushMode.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 1fd033c8f79b1494d8b8de5c8311f8c1
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiColorSmoothBrushMode.cs b/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiColorSmoothBrushMode.cs
new file mode 100644
index 000000000..a5fd9c632
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiColorSmoothBrushMode.cs
@@ -0,0 +1,53 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public class ObiColorSmoothBrushMode : IObiBrushMode
+    {
+        ObiBlueprintColorProperty property;
+
+        public ObiColorSmoothBrushMode(ObiBlueprintColorProperty property)
+        {
+            this.property = property;
+        }
+
+        public string name
+        {
+            get { return "Smooth"; }
+        }
+
+        public bool needsInputValue
+        {
+            get { return false; }
+        }
+
+        public void ApplyStamps(ObiBrushBase brush, bool modified)
+        {
+            Color averageValue = Color.black;
+            float totalWeight = 0;
+
+            for (int i = 0; i < brush.weights.Length; ++i)
+            {
+                if (!property.Masked(i) && brush.weights[i] > 0)
+                {
+                    averageValue += property.Get(i) * brush.weights[i];
+                    totalWeight += brush.weights[i];
+                }
+
+            }
+            averageValue /= totalWeight;
+
+            for (int i = 0; i < brush.weights.Length; ++i)
+            {
+                if (!property.Masked(i) && brush.weights[i] > 0)
+                {
+                    Color currentValue = property.Get(i);
+                    Color delta = brush.opacity * brush.speed * (Color.Lerp(currentValue, averageValue, brush.weights[i]) - currentValue);
+
+                    property.Set(i, currentValue + delta * (modified ? -1 : 1));
+                }
+            }
+
+        }
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiColorSmoothBrushMode.cs.meta b/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiColorSmoothBrushMode.cs.meta
new file mode 100644
index 000000000..8a0a75a71
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiColorSmoothBrushMode.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: a69a8a1614478445cbb770a5e123ab18
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiFloatAddBrushMode.cs b/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiFloatAddBrushMode.cs
new file mode 100644
index 000000000..8c2a5aa81
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiFloatAddBrushMode.cs
@@ -0,0 +1,36 @@
+namespace Obi
+{
+    public class ObiFloatAddBrushMode : IObiBrushMode
+    {
+        ObiBlueprintFloatProperty property;
+
+        public ObiFloatAddBrushMode(ObiBlueprintFloatProperty property)
+        {
+            this.property = property;
+        }
+
+        public string name
+        {
+            get { return "Add"; }
+        }
+
+        public bool needsInputValue
+        {
+            get { return true; }
+        }
+
+        public void ApplyStamps(ObiBrushBase brush, bool modified)
+        {
+            for (int i = 0; i < brush.weights.Length; ++i)
+            {
+                if (!property.Masked(i) && brush.weights[i] > 0)
+                {
+                    float currentValue = property.Get(i);
+                    float delta = brush.weights[i] * brush.opacity * brush.speed * property.GetDefault();
+
+                    property.Set(i, currentValue + delta * (modified ? -1 : 1));
+                }
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiFloatAddBrushMode.cs.meta b/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiFloatAddBrushMode.cs.meta
new file mode 100644
index 000000000..66272b907
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiFloatAddBrushMode.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 8b39e10cedc94461083b3b19c3ddb343
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiFloatCopyBrushMode.cs b/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiFloatCopyBrushMode.cs
new file mode 100644
index 000000000..ae0b60fee
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiFloatCopyBrushMode.cs
@@ -0,0 +1,42 @@
+namespace Obi
+{
+    public class ObiFloatCopyBrushMode : IObiBrushMode
+    {
+        ObiBlueprintFloatProperty property;
+        public ObiBlueprintFloatProperty source;
+
+        public ObiFloatCopyBrushMode(ObiBlueprintFloatProperty property, ObiBlueprintFloatProperty source)
+        {
+            this.property = property;
+            this.source = source;
+        }
+
+        public string name
+        {
+            get { return "Copy"; }
+        }
+
+        public bool needsInputValue
+        {
+            get { return false; }
+        }
+
+        public void ApplyStamps(ObiBrushBase brush, bool modified)
+        {
+            if (property != null && source != null)
+            {
+                for (int i = 0; i < brush.weights.Length; ++i)
+                {
+                    if (!property.Masked(i) && brush.weights[i] > 0)
+                    {
+                        float currentValue = property.Get(i);
+                        float sourceValue = source.Get(i);
+                        float delta = brush.weights[i] * brush.opacity * brush.speed * (sourceValue - currentValue);
+
+                        property.Set(i, currentValue + delta * (modified ? -1 : 1));
+                    }
+                }
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiFloatCopyBrushMode.cs.meta b/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiFloatCopyBrushMode.cs.meta
new file mode 100644
index 000000000..a51236b78
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiFloatCopyBrushMode.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 95bb470841f42415ab256cd64adb9242
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiFloatPaintBrushMode.cs b/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiFloatPaintBrushMode.cs
new file mode 100644
index 000000000..369a0d1e2
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiFloatPaintBrushMode.cs
@@ -0,0 +1,37 @@
+
+namespace Obi
+{
+    public class ObiFloatPaintBrushMode : IObiBrushMode
+    {
+        ObiBlueprintFloatProperty property;
+
+        public ObiFloatPaintBrushMode(ObiBlueprintFloatProperty property)
+        {
+            this.property = property;
+        }
+
+        public string name
+        {
+            get { return "Paint"; }
+        }
+
+        public bool needsInputValue
+        {
+            get { return true; }
+        }
+
+        public void ApplyStamps(ObiBrushBase brush, bool modified)
+        {
+            for (int i = 0; i < brush.weights.Length; ++i)
+            {
+                if (!property.Masked(i) && brush.weights[i] > 0)
+                {
+                    float currentValue = property.Get(i);
+                    float delta = brush.weights[i] * brush.opacity * brush.speed * (property.GetDefault() - currentValue);
+
+                    property.Set(i, currentValue + delta * (modified ? -1 : 1));
+                }
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiFloatPaintBrushMode.cs.meta b/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiFloatPaintBrushMode.cs.meta
new file mode 100644
index 000000000..94c33004a
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiFloatPaintBrushMode.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: eb3d176006d404a508bef284d2701ab0
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiFloatSmoothBrushMode.cs b/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiFloatSmoothBrushMode.cs
new file mode 100644
index 000000000..35cfcdbc5
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiFloatSmoothBrushMode.cs
@@ -0,0 +1,55 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public class ObiFloatSmoothBrushMode : IObiBrushMode
+    {
+        ObiBlueprintFloatProperty property;
+
+        public ObiFloatSmoothBrushMode(ObiBlueprintFloatProperty property)
+        {
+            this.property = property;
+        }
+
+        public string name
+        {
+            get { return "Smooth"; }
+        }
+
+        public bool needsInputValue
+        {
+            get { return false; }
+        }
+
+        public void ApplyStamps(ObiBrushBase brush, bool modified)
+        {
+            var floatProperty = (ObiBlueprintFloatProperty)property;
+
+            float averageValue = 0;
+            float totalWeight = 0;
+
+            for (int i = 0; i < brush.weights.Length; ++i)
+            {
+                if (!property.Masked(i) && brush.weights[i] > 0)
+                {
+                    averageValue += floatProperty.Get(i) * brush.weights[i];
+                    totalWeight += brush.weights[i];
+                }
+
+            }
+            averageValue /= totalWeight;
+
+            for (int i = 0; i < brush.weights.Length; ++i)
+            {
+                if (!property.Masked(i) && brush.weights[i] > 0)
+                {
+                    float currentValue = floatProperty.Get(i);
+                    float delta = brush.opacity * brush.speed * (Mathf.Lerp(currentValue,averageValue,brush.weights[i]) - currentValue);
+
+                    floatProperty.Set(i, currentValue + delta * (modified ? -1 : 1));
+                }
+            }
+
+        }
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiFloatSmoothBrushMode.cs.meta b/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiFloatSmoothBrushMode.cs.meta
new file mode 100644
index 000000000..d3a486a2e
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiFloatSmoothBrushMode.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 63dad56a994af4db7bb3449382022c54
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiIntPaintBrushMode.cs b/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiIntPaintBrushMode.cs
new file mode 100644
index 000000000..426e4c680
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiIntPaintBrushMode.cs
@@ -0,0 +1,33 @@
+namespace Obi
+{
+    public class ObiIntPaintBrushMode : IObiBrushMode
+    {
+        ObiBlueprintIntProperty property;
+
+        public ObiIntPaintBrushMode(ObiBlueprintIntProperty property)
+        {
+            this.property = property;
+        }
+
+        public string name
+        {
+            get { return "Paint"; }
+        }
+
+        public bool needsInputValue
+        {
+            get { return true; }
+        }
+
+        public void ApplyStamps(ObiBrushBase brush, bool modified)
+        {
+            for (int i = 0; i < brush.weights.Length; ++i)
+            {
+                if (!property.Masked(i) && brush.weights[i] > (1 - brush.opacity))
+                {
+                    property.Set(i, property.GetDefault());
+                }
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiIntPaintBrushMode.cs.meta b/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiIntPaintBrushMode.cs.meta
new file mode 100644
index 000000000..0bef4606e
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiIntPaintBrushMode.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: d8882849c81104cef80b3dfdab2021c9
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiMasterSlavePaintBrushMode.cs b/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiMasterSlavePaintBrushMode.cs
new file mode 100644
index 000000000..2691275af
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiMasterSlavePaintBrushMode.cs
@@ -0,0 +1,39 @@
+namespace Obi
+{
+    public class ObiMasterSlavePaintBrushMode : IObiBrushMode
+    {
+        ObiBlueprintIntProperty property;
+
+        public ObiMasterSlavePaintBrushMode(ObiBlueprintIntProperty property)
+        {
+            this.property = property;
+        }
+
+        public string name
+        {
+            get { return "Master/Slave paint"; }
+        }
+
+        public bool needsInputValue
+        {
+            get { return true; }
+        }
+
+        public void ApplyStamps(ObiBrushBase brush, bool modified)
+        {
+            for (int i = 0; i < brush.weights.Length; ++i)
+            {
+                if (!property.Masked(i) && brush.weights[i] > (1 - brush.opacity))
+                {
+                    int currentValue = property.Get(i);
+
+                    if (modified)
+                        currentValue &= ~(int)(1 << property.GetDefault());
+                    else currentValue |= (int)(1 << property.GetDefault());
+
+                    property.Set(i, currentValue);
+                }
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiMasterSlavePaintBrushMode.cs.meta b/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiMasterSlavePaintBrushMode.cs.meta
new file mode 100644
index 000000000..83254b41c
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiMasterSlavePaintBrushMode.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 62f8e9adfc17440359a9b51005cd0948
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiSelectBrushMode.cs b/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiSelectBrushMode.cs
new file mode 100644
index 000000000..66d732c00
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiSelectBrushMode.cs
@@ -0,0 +1,33 @@
+namespace Obi
+{
+    public class ObiSelectBrushMode : IObiBrushMode
+    {
+        ObiBlueprintSelected property;
+        string customName;
+
+        public ObiSelectBrushMode(ObiBlueprintSelected property, string customName = "Select")
+        {
+            this.property = property;
+            this.customName = customName;
+        }
+
+        public string name
+        {
+            get { return customName; }
+        }
+
+        public bool needsInputValue
+        {
+            get { return true; }
+        }
+
+        public void ApplyStamps(ObiBrushBase brush, bool modified)
+        {
+            for (int i = 0; i < brush.weights.Length; ++i)
+            {
+                if (brush.weights[i] > 0 && !property.Masked(i))
+                    property.Set(i,!modified);
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiSelectBrushMode.cs.meta b/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiSelectBrushMode.cs.meta
new file mode 100644
index 000000000..ed3edeabf
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/Brushes/BrushModes/ObiSelectBrushMode.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 9cea7ef42253f4d2b9b5a222521cdee8
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Editor/Common/Blueprints/Brushes/ObiBrushBase.cs b/Assets/Obi/Editor/Common/Blueprints/Brushes/ObiBrushBase.cs
new file mode 100644
index 000000000..37951d48c
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/Brushes/ObiBrushBase.cs
@@ -0,0 +1,161 @@
+using UnityEngine;
+using UnityEditor;
+using System;
+
+namespace Obi
+{
+
+    public abstract class ObiBrushBase
+    {
+        static int particleBrushHash = "ObiBrushHash".GetHashCode();
+
+        public IObiBrushMode brushMode;
+        public float radius = 1;
+        public float innerRadius = 0.5f;
+        public float opacity = 1;
+        public float[] weights = new float[0];
+        public bool drag = true;
+        public float speed = 0.1f;
+
+        protected int controlID;
+        protected Action onStrokeStart;
+        protected Action onStrokeUpdate;
+        protected Action onStrokeEnd;
+
+        public float SqrRadius
+        {
+            get{ return radius * radius; }
+        }
+
+        public ObiBrushBase(Action onStrokeStart, Action onStrokeUpdate, Action onStrokeEnd)
+        {
+            this.onStrokeStart = onStrokeStart;
+            this.onStrokeUpdate = onStrokeUpdate;
+            this.onStrokeEnd = onStrokeEnd;
+        }
+
+        protected virtual float WeightFromDistance(float distance)
+        {
+            // anything outside the brush should have zero weight:
+            if (distance > radius)
+                return 0;
+            
+            float t = Mathf.InverseLerp(innerRadius * radius, radius, distance);
+            return Mathf.SmoothStep(1, 0, t);
+        }
+
+        protected abstract void GenerateWeights(Vector3[] positions);
+
+        protected virtual void OnMouseDown(Vector3[] positions)
+        {
+            if (Event.current.button != 0 || (Event.current.modifiers & ~EventModifiers.Shift) != EventModifiers.None)
+                return;
+
+            GUIUtility.hotControl = controlID;
+
+            GenerateWeights(positions);
+
+            if (onStrokeStart != null) 
+                onStrokeStart();
+
+            if (brushMode != null)
+                brushMode.ApplyStamps(this, (Event.current.modifiers & EventModifiers.Shift) != 0);
+
+            if (onStrokeUpdate != null)
+                onStrokeUpdate();
+
+            Event.current.Use();
+        }
+
+        protected virtual void OnMouseMove(Vector3[] positions)
+        {
+            
+        }
+
+        protected virtual void OnMouseDrag(Vector3[] positions)
+        {
+
+            if (GUIUtility.hotControl == controlID && drag)
+            {
+
+                GenerateWeights(positions);
+
+                if (brushMode != null)
+                    brushMode.ApplyStamps(this, (Event.current.modifiers & EventModifiers.Shift) != 0);
+
+                if (onStrokeUpdate != null)
+                    onStrokeUpdate();
+
+                Event.current.Use();
+
+            }
+        }
+
+        protected virtual void OnMouseUp(Vector3[] positions)
+        {
+            if (GUIUtility.hotControl == controlID)
+            {
+
+                GUIUtility.hotControl = 0;
+                Event.current.Use();
+
+                if (onStrokeEnd != null) 
+                    onStrokeEnd();
+            }
+        }
+
+        protected virtual void OnRepaint()
+        {
+        }
+
+        public void DoBrush(Vector3[] positions)
+        {
+
+            Matrix4x4 cachedMatrix = Handles.matrix;
+
+            controlID = GUIUtility.GetControlID(particleBrushHash, FocusType.Passive);
+            Array.Resize(ref weights, positions.Length);
+
+            switch (Event.current.GetTypeForControl(controlID))
+            {
+
+                case EventType.MouseDown:
+
+                    OnMouseDown(positions);
+
+                    break;
+
+                case EventType.MouseMove:
+
+                    OnMouseMove(positions);
+
+                    SceneView.RepaintAll();
+                    break;
+
+                case EventType.MouseDrag:
+
+                    OnMouseDrag(positions);
+
+                    break;
+
+                case EventType.MouseUp:
+
+                    OnMouseUp(positions);
+
+                    break;
+
+                case EventType.Repaint:
+
+                    Handles.matrix = Matrix4x4.identity;
+
+                    OnRepaint();
+
+                    Handles.matrix = cachedMatrix;
+
+                    break;
+
+            }
+        }
+    }
+}
+
diff --git a/Assets/Obi/Editor/Common/Blueprints/Brushes/ObiBrushBase.cs.meta b/Assets/Obi/Editor/Common/Blueprints/Brushes/ObiBrushBase.cs.meta
new file mode 100644
index 000000000..692767df9
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/Brushes/ObiBrushBase.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 094253962d646436792561e708e62376
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Editor/Common/Blueprints/Brushes/ObiBrushMirrorSettings.cs b/Assets/Obi/Editor/Common/Blueprints/Brushes/ObiBrushMirrorSettings.cs
new file mode 100644
index 000000000..c4bd65c1d
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/Brushes/ObiBrushMirrorSettings.cs
@@ -0,0 +1,51 @@
+using System;
+using UnityEngine;
+
+[Serializable]
+public struct ObiBrushMirrorSettings
+{
+    [Flags]
+    public enum MirrorAxis
+    {
+        None = 0x0,
+        X = 0x1,
+        Y = 0x2,
+        Z = 0x4
+    }
+
+    public enum MirrorSpace
+    {
+        World  = 0,
+        Camera = 1
+    }
+
+    public MirrorAxis axis;
+    public MirrorSpace space;
+
+    public Vector3 ToAxis()
+    {
+        uint m = (uint)axis;
+
+        bool xMirror = (m & (uint)MirrorAxis.X) > 0;
+        bool yMirror = (m & (uint)MirrorAxis.Y) > 0;
+        bool zMirror = (m & (uint)MirrorAxis.Z) > 0;
+
+        if (axis < 0 || ((int)axis > (int)MirrorAxis.X + (int)MirrorAxis.Y + (int)MirrorAxis.Z))
+        {
+            return Vector3.one;
+        }
+
+        Vector3 reflection = Vector3.one;
+
+        if (xMirror)
+            reflection.x = -1f;
+
+        if (yMirror)
+            reflection.y = -1f;
+
+        if (zMirror)
+            reflection.z = -1f;
+
+        return reflection;
+    }
+}
diff --git a/Assets/Obi/Editor/Common/Blueprints/Brushes/ObiBrushMirrorSettings.cs.meta b/Assets/Obi/Editor/Common/Blueprints/Brushes/ObiBrushMirrorSettings.cs.meta
new file mode 100644
index 000000000..d33b4379e
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/Brushes/ObiBrushMirrorSettings.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: d10a9257ac23248418439eb80e02a611
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Editor/Common/Blueprints/Brushes/ObiRaycastBrush.cs b/Assets/Obi/Editor/Common/Blueprints/Brushes/ObiRaycastBrush.cs
new file mode 100644
index 000000000..0578e888f
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/Brushes/ObiRaycastBrush.cs
@@ -0,0 +1,125 @@
+using UnityEngine;
+using UnityEditor;
+using System;
+using System.Collections;
+using System.Collections.Generic;
+
+namespace Obi
+{
+
+    public class ObiRaycastBrush : ObiBrushBase
+    {
+        public Matrix4x4 raycastTransform = Matrix4x4.identity;
+        public Mesh raycastTarget = null;
+        public bool drawVolume = false;
+        private List<Ray> rays = new List<Ray>();
+        private List<ObiRaycastHit> hits = new List<ObiRaycastHit>();
+
+        public ObiBrushMirrorSettings mirror;
+
+        public ObiRaycastBrush(Mesh raycastTarget, Action onStrokeStart, Action onStrokeUpdate, Action onStrokeEnd) : base(onStrokeStart, onStrokeUpdate, onStrokeEnd)
+        {
+            radius = 0.1f;
+            this.raycastTarget = raycastTarget;
+            rays = new List<Ray>();
+        }
+
+        protected override void GenerateWeights(Vector3[] positions)
+        {
+            if (raycastTarget != null)
+            {
+                rays.Clear();
+                hits.Clear();
+
+                for (int i = 0; i < positions.Length; i++)
+                    weights[i] = 0;
+
+                var vertices = raycastTarget.vertices;
+                var triangles = raycastTarget.triangles;
+
+                Ray mouseRay = HandleUtility.GUIPointToWorldRay(Event.current.mousePosition);
+                rays.Add(mouseRay);
+
+                ObiBrushMirrorSettings currentAxis = mirror;
+
+                if (mirror.axis != ObiBrushMirrorSettings.MirrorAxis.None)
+                {
+                    for (int i = 0; i < 3; i++)
+                    {
+                        currentAxis.axis = (ObiBrushMirrorSettings.MirrorAxis)(1u << i);
+                        if (((uint)mirror.axis & (1u << i)) < 1)
+                            continue;
+
+                        Vector3 mirrorVector = currentAxis.ToAxis();
+
+                        if (currentAxis.space == ObiBrushMirrorSettings.MirrorSpace.World)
+                        {
+                            Vector3 center = raycastTarget.bounds.center;
+                            rays.Add(new Ray(Vector3.Scale(mouseRay.origin - center, mirrorVector) + center,
+                                             Vector3.Scale(mouseRay.direction, mirrorVector)));
+                        }
+                        else
+                        {
+                            Transform t = SceneView.lastActiveSceneView.camera.transform;
+                            Vector3 o = t.InverseTransformPoint(mouseRay.origin);
+                            Vector3 d = t.InverseTransformDirection(mouseRay.direction);
+                            rays.Add(new Ray(t.TransformPoint(Vector3.Scale(o, mirrorVector)),
+                                             t.TransformDirection(Vector3.Scale(d, mirrorVector))));
+                        }
+                    }
+                }
+
+                foreach (var ray in rays)
+                {
+                    if (ObiMeshUtils.WorldRaycast(ray, raycastTransform, vertices, triangles, out ObiRaycastHit hit))
+                    {
+                        hit.position = raycastTransform.MultiplyPoint3x4(hit.position);
+                        hit.normal = raycastTransform.MultiplyVector(hit.normal);
+                        hits.Add(hit);
+
+                        for (int i = 0; i < positions.Length; i++)
+                        {
+                            // get distance from hit position to particle position:
+                            float weight = WeightFromDistance(Vector3.Distance(hit.position, positions[i]));
+                            weights[i] = Mathf.Max(weights[i], weight);
+                        }
+                    }
+                }
+            }
+        }
+
+		protected override void OnMouseMove(Vector3[] positions)
+        {
+            base.OnMouseMove(positions);
+            GenerateWeights(positions);
+		}
+
+		protected override void OnRepaint()
+		{
+            base.OnRepaint();
+
+            if (raycastTarget != null)
+            {
+                Color brushColor = ObiEditorSettings.GetOrCreateSettings().brushColor;
+
+                foreach (var hit in hits)
+                {
+                    if (hit != null && hit.triangle >= 0)
+                    {
+                        Handles.color = brushColor;
+                        Handles.DrawLine(hit.position, hit.position + hit.normal.normalized * radius);
+                        Handles.DrawWireDisc(hit.position, hit.normal, radius);
+                        Handles.DrawWireDisc(hit.position, hit.normal, innerRadius * radius);
+
+                        if (drawVolume)
+                        {
+                            Handles.color = new Color(brushColor.r, brushColor.g, brushColor.b, 0.2f);
+                            Handles.SphereHandleCap(0, hit.position, Quaternion.identity, radius * 2, EventType.Repaint);
+                        }
+                    }
+                }
+            }
+		}
+    }
+}
+
diff --git a/Assets/Obi/Editor/Common/Blueprints/Brushes/ObiRaycastBrush.cs.meta b/Assets/Obi/Editor/Common/Blueprints/Brushes/ObiRaycastBrush.cs.meta
new file mode 100644
index 000000000..d3e4fb086
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/Brushes/ObiRaycastBrush.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: d925323750dca4dcaa5cca91b18521b5
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Editor/Common/Blueprints/Brushes/ObiScreenSpaceBrush.cs b/Assets/Obi/Editor/Common/Blueprints/Brushes/ObiScreenSpaceBrush.cs
new file mode 100644
index 000000000..953b3220d
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/Brushes/ObiScreenSpaceBrush.cs
@@ -0,0 +1,61 @@
+using UnityEngine;
+using UnityEditor;
+using System;
+using System.Collections;
+using System.Collections.Generic;
+
+namespace Obi
+{
+
+    public class ObiScreenSpaceBrush : ObiBrushBase
+    {
+        public ObiScreenSpaceBrush(Action onStrokeStart, Action onStrokeUpdate, Action onStrokeEnd) : base(onStrokeStart, onStrokeUpdate, onStrokeEnd) 
+        {
+            radius = 32;
+        }
+       
+        protected override float WeightFromDistance(float distance)
+        {
+            // anything outside the brush should have zero weight:
+            if (distance > radius)
+                return 0;
+            return 1;
+        }
+
+        protected override void GenerateWeights(Vector3[] positions)
+        {
+            for (int i = 0; i < positions.Length; i++)
+            {
+                // get particle position in gui space:
+                Vector2 pos = HandleUtility.WorldToGUIPoint(positions[i]);
+
+                // get distance from mouse position to particle position:
+                weights[i] = WeightFromDistance(Vector3.Distance(Event.current.mousePosition, pos));
+            }
+        }
+
+        protected override void OnRepaint()
+        {
+            base.OnRepaint();
+
+            Camera cam = Camera.current;
+            float depth = (cam.nearClipPlane + cam.farClipPlane) * 0.5f;
+
+            float ppp = EditorGUIUtility.pixelsPerPoint;
+            Vector2 mousePos = new Vector2(Event.current.mousePosition.x * ppp,
+                                           cam.pixelHeight - Event.current.mousePosition.y * ppp);
+
+            Handles.color = ObiEditorSettings.GetOrCreateSettings().brushColor;
+            Vector3 point = new Vector3(mousePos.x, mousePos.y, depth);
+            Vector3 wsPoint = cam.ScreenToWorldPoint(point);
+
+            var p1 = cam.ScreenToWorldPoint(new Vector3(1, 0, depth));
+            var p2 = cam.ScreenToWorldPoint(new Vector3(0, 0, depth));
+            float units = Vector3.Distance(p1, p2);
+
+            Handles.DrawWireDisc(wsPoint, cam.transform.forward, radius * units);
+        }
+
+    }
+}
+
diff --git a/Assets/Obi/Editor/Common/Blueprints/Brushes/ObiScreenSpaceBrush.cs.meta b/Assets/Obi/Editor/Common/Blueprints/Brushes/ObiScreenSpaceBrush.cs.meta
new file mode 100644
index 000000000..71c3ff401
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/Brushes/ObiScreenSpaceBrush.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 38fc5288fb3c94ebeb7eaa88a3bc5119
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Editor/Common/Blueprints/ObiActorBlueprintEditor.cs b/Assets/Obi/Editor/Common/Blueprints/ObiActorBlueprintEditor.cs
new file mode 100644
index 000000000..490c584b5
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/ObiActorBlueprintEditor.cs
@@ -0,0 +1,510 @@
+using UnityEngine;
+using UnityEngine.Rendering;
+using UnityEditor;
+using UnityEngine.SceneManagement;
+using UnityEditor.SceneManagement;
+using System.Collections;
+using System.Collections.Generic;
+using System;
+using System.Linq;
+
+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 int currentPropertyIndex = 0;
+
+        protected List<ObiBlueprintRenderMode> renderModes = new List<ObiBlueprintRenderMode>();
+        public int renderModeFlags = 0;
+        BooleanPreference showRenderModes;
+
+        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 bool[] visible = new bool[0];
+        public Color[] tint = new Color[0];
+        protected float[] sqrDistanceToCamera = new float[0];
+        public int[] sortedIndices = new int[0];
+
+        public ObiActorBlueprint blueprint
+        {
+            get { return target as ObiActorBlueprint; }
+        }
+
+        public ObiBlueprintPropertyBase currentProperty
+        {
+            get { return GetProperty(currentPropertyIndex); }
+        }
+
+        public ObiBlueprintEditorTool currentTool
+        {
+            get { return GetTool(currentToolIndex); }
+        }
+
+        public override bool UseDefaultMargins()
+        {
+            return false;
+        }
+
+        public ObiBlueprintPropertyBase GetProperty(int index)
+        {
+            return (properties.Count > index && index >= 0) ? properties[index] : null;
+        }
+
+        public ObiBlueprintEditorTool GetTool(int index)
+        {
+            return (tools.Count > index && index >= 0) ? tools[index] : null;
+        }
+
+#if (UNITY_2019_1_OR_NEWER)
+        System.Action<ScriptableRenderContext, Camera> renderCallback;
+#endif
+
+        public virtual void OnEnable()
+        {
+            properties.Add(new ObiBlueprintMass(this));
+            properties.Add(new ObiBlueprintRadius(this));
+            properties.Add(new ObiBlueprintFilterCategory(this));
+            properties.Add(new ObiBlueprintFilterMask(this));
+
+            renderModes.Add(new ObiBlueprintRenderModeParticles(this));
+            showRenderModes = new BooleanPreference($"{target.GetType()}.showRenderModes", false);
+
+#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;
+        }
+
+        public virtual void OnDisable()
+        {
+            ExitBlueprintEditMode();
+
+#if (UNITY_2019_1_OR_NEWER)
+            RenderPipelineManager.beginCameraRendering -= renderCallback;
+#endif
+            Camera.onPreCull -= DrawWithCamera;
+
+            ObiParticleEditorDrawing.DestroyParticlesMesh();
+
+            foreach (var tool in tools)
+            {
+                tool.OnDisable();
+                tool.OnDestroy();
+            }
+
+            foreach (var renderMode in renderModes)
+            {
+                renderMode.OnDestroy();
+            }
+
+            properties.Clear();
+            renderModes.Clear();
+        }
+
+        protected void Generate()
+        {
+            if (blueprint.empty)
+            {
+                EditorUtility.SetDirty(target);
+                CoroutineJob job = new CoroutineJob();
+                routine = job.Start(blueprint.Generate());
+                EditorCoroutine.ShowCoroutineProgressBar("Generating blueprint...", ref 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"))
+                {
+                    EditorUtility.SetDirty(target);
+                    CoroutineJob job = new CoroutineJob();
+                    routine = job.Start(blueprint.Generate());
+                    EditorCoroutine.ShowCoroutineProgressBar("Generating blueprint...", ref routine);
+                    Refresh();
+                    EditorGUIUtility.ExitGUI();
+                }
+            }
+        }
+
+        protected virtual bool ValidateBlueprint() { return true; }
+
+        public override void OnInspectorGUI()
+        {
+
+            serializedObject.UpdateIfRequiredOrScript();
+
+            EditorGUILayout.BeginVertical(EditorStyles.inspectorDefaultMargins);
+
+            DrawBlueprintProperties();
+
+            GUILayout.Space(10);
+            GUI.enabled = ValidateBlueprint();
+            if (GUILayout.Button("Generate", GUI.skin.FindStyle("LargeButton"), GUILayout.Height(32)))
+                Generate();
+
+            GUI.enabled = (blueprint != null && !blueprint.empty && !Application.isPlaying);
+            EditorGUI.BeginChangeCheck();
+            editMode = GUILayout.Toggle(editMode, editMode ? "Done" : "Edit", "Button");
+            if (EditorGUI.EndChangeCheck())
+            {
+                if (editMode)
+                    EditorApplication.delayCall += EnterBlueprintEditMode;
+                else
+                    EditorApplication.delayCall += ExitBlueprintEditMode;
+            }
+            EditorGUILayout.EndVertical();
+            GUI.enabled = true;
+
+            if (isEditing)
+                DrawTools();
+
+            if (GUI.changed)
+            {
+                serializedObject.ApplyModifiedProperties();
+
+                // There might be blueprint editing operations that have no undo entry, so do this to 
+                // ensure changes are serialized to disk by Unity.
+                EditorUtility.SetDirty(target);
+            }
+
+        }
+
+        protected virtual void DrawBlueprintProperties()
+        {
+            Editor.DrawPropertiesExcluding(serializedObject, "m_Script");
+        }
+
+        private void DrawWithCamera(Camera camera)
+        {
+            if (editMode)
+            {
+                for (int i = 0; i < renderModes.Count; ++i)
+                {
+                    if ((1 << i & renderModeFlags) != 0)
+                        renderModes[i].DrawWithCamera(camera);
+                }
+            }
+        }
+
+
+        [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
+
+                oldSelection = Selection.activeObject;
+                if (EditorSceneManager.SaveCurrentModifiedScenesIfUserWantsTo())
+                {
+                    ActiveEditorTracker.sharedTracker.isLocked = 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();
+                }
+            }
+        }
+
+        void ExitBlueprintEditMode()
+        {
+            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();
+            }
+        }
+
+        public virtual void OnSceneGUI(SceneView sceneView)
+        {
+
+            if (!isEditing || sceneView.camera == null)
+                return;
+
+            ResizeParticleArrays();
+
+            Event e = Event.current;
+
+            if (e.type == EventType.Repaint)
+            {
+
+                // Update camera facing status and world space positions array:
+                UpdateParticleVisibility();
+
+                // Generate sorted indices for back-to-front rendering:
+                for (int i = 0; i < sortedIndices.Length; i++)
+                    sortedIndices[i] = i;
+                Array.Sort<int>(sortedIndices, (a, b) => sqrDistanceToCamera[b].CompareTo(sqrDistanceToCamera[a]));
+
+                // render modes OnSceneRepaint:
+                for (int i = 0; i < renderModes.Count; ++i)
+                {
+                    if ((1 << i & renderModeFlags) != 0)
+                        renderModes[i].OnSceneRepaint(sceneView);
+                }
+
+                // property OnSceneRepaint:
+                currentProperty.OnSceneRepaint();
+
+                // update particle color based on visiblity, etc.
+                UpdateTintColor();
+
+                // Draw particle handles:
+                ObiParticleEditorDrawing.DrawParticles(sceneView.camera, blueprint, activeParticle, visible, tint, sortedIndices, dotRadiusScale);
+
+            }
+
+            if (currentTool != null)
+                currentTool.OnSceneGUI(sceneView);
+
+        }
+
+        protected virtual void UpdateTintColor()
+        {
+            Color regularColor = ObiEditorSettings.GetOrCreateSettings().particleColor;
+            Color selectedColor = ObiEditorSettings.GetOrCreateSettings().selectedParticleColor;
+            Color activeColor = ObiEditorSettings.GetOrCreateSettings().activeParticleColor;
+
+            for (int i = 0; i < blueprint.positions.Length; i++)
+            {
+                // get particle color:
+                if (activeParticle == i)
+                    tint[i] = activeColor;
+                else
+                    tint[i] = selectionStatus[i] ? selectedColor : regularColor;
+
+                tint[i].a = visible[i] ? 1 : 0.15f;
+            }
+        }
+
+        protected void ResizeParticleArrays()
+        {
+            if (blueprint.positions != null)
+            {
+                Array.Resize(ref selectionStatus, blueprint.positions.Length);
+                Array.Resize(ref visible, blueprint.positions.Length);
+                Array.Resize(ref tint, blueprint.positions.Length);
+                Array.Resize(ref sqrDistanceToCamera, blueprint.positions.Length);
+                Array.Resize(ref sortedIndices, blueprint.positions.Length);
+            }
+
+        }
+
+        public int PropertySelector(int propertyIndex, string label = "Property")
+        {
+            // get all particle properties:
+            string[] propertyNames = new string[properties.Count];
+            for (int i = 0; i < properties.Count; ++i)
+                propertyNames[i] = properties[i].name;
+
+            // Draw a selection dropdown:
+            return EditorGUILayout.Popup(label, propertyIndex, propertyNames);
+        }
+
+        public virtual void RenderModeSelector()
+        {
+            showRenderModes.value = EditorGUILayout.BeginFoldoutHeaderGroup(showRenderModes, "Render modes");
+            if (showRenderModes)
+            {
+                EditorGUI.BeginChangeCheck();
+                for (int i = 0; i < renderModes.Count; ++i)
+                {
+                    int value = 1 << i;
+
+                    if (EditorGUILayout.Toggle(renderModes[i].name, (value & renderModeFlags) != 0))
+                        renderModeFlags |= value;
+                    else
+                        renderModeFlags &= ~value;
+                }
+                if (EditorGUI.EndChangeCheck())
+                    Refresh();
+            }
+            EditorGUILayout.EndFoldoutHeaderGroup();
+        }
+
+        public void Refresh()
+        {
+            currentProperty.RecalculateMinMax();
+
+            // refresh render modes:
+            for (int i = 0; i < renderModes.Count; ++i)
+            {
+                if ((1 << i & renderModeFlags) != 0)
+                    renderModes[i].Refresh();
+            }
+
+            SceneView.RepaintAll();
+        }
+
+        public virtual void UpdateParticleVisibility()
+        {
+
+            for (int i = 0; i < blueprint.positions.Length; i++)
+            {
+                if (blueprint.IsParticleActive(i))
+                {
+                    visible[i] = true;
+
+                    if (Camera.current != null)
+                    {
+                        Vector3 camToParticle = Camera.current.transform.position - blueprint.positions[i];
+                        sqrDistanceToCamera[i] = camToParticle.sqrMagnitude;
+                    }
+                }
+            }
+
+            if ((renderModeFlags & 1) != 0)
+                Refresh();
+        }
+
+        protected void DrawTools()
+        {
+
+            GUIContent[] contents = new GUIContent[tools.Count];
+
+            for (int i = 0; i < tools.Count; ++i)
+                contents[i] = new GUIContent(tools[i].icon, tools[i].name);
+
+            EditorGUILayout.Space();
+            GUILayout.Box(GUIContent.none, ObiEditorUtils.GetSeparatorLineStyle());
+            EditorGUILayout.Space();
+
+            EditorGUILayout.BeginVertical(EditorStyles.inspectorDefaultMargins);
+            EditorGUI.BeginChangeCheck();
+            int newSelectedTool = ObiEditorUtils.DoToolBar(currentToolIndex, contents);
+            EditorGUILayout.EndVertical();
+
+            if (EditorGUI.EndChangeCheck())
+            {
+                if (currentTool != null)
+                    currentTool.OnDisable();
+
+                currentToolIndex = newSelectedTool;
+
+                if (currentTool != null)
+                    currentTool.OnEnable();
+
+                SceneView.RepaintAll();
+            }
+
+            if (currentTool != null)
+            {
+                EditorGUILayout.BeginVertical(EditorStyles.inspectorDefaultMargins);
+                EditorGUILayout.LabelField(currentTool.name, EditorStyles.boldLabel);
+
+                string help = currentTool.GetHelpString();
+                if (!help.Equals(string.Empty))
+                    EditorGUILayout.LabelField(help, EditorStyles.helpBox);
+                EditorGUILayout.EndVertical();
+
+                currentTool.OnInspectorGUI();
+            }
+
+        }
+
+        public void SetSelected(int particleIndex, bool selected)
+        {
+            selectionStatus[particleIndex] = selected;
+        }
+
+        public bool IsSelected(int particleIndex)
+        {
+            return selectionStatus[particleIndex];
+        }
+
+        public bool Editable(int particleIndex)
+        {
+            return currentTool.Editable(particleIndex) && blueprint.IsParticleActive(particleIndex);
+        }
+    }
+
+}
\ No newline at end of file
diff --git a/Assets/Obi/Editor/Common/Blueprints/ObiActorBlueprintEditor.cs.meta b/Assets/Obi/Editor/Common/Blueprints/ObiActorBlueprintEditor.cs.meta
new file mode 100644
index 000000000..c1fbbadee
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/ObiActorBlueprintEditor.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 2e39e6eea226f4ecbbe091613ff79f85
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Editor/Common/Blueprints/ObiMeshBasedActorBlueprintEditor.cs b/Assets/Obi/Editor/Common/Blueprints/ObiMeshBasedActorBlueprintEditor.cs
new file mode 100644
index 000000000..2bedb1c7a
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/ObiMeshBasedActorBlueprintEditor.cs
@@ -0,0 +1,268 @@
+using UnityEngine;
+using UnityEditor;
+using System;
+using System.IO;
+
+namespace Obi
+{
+    [CustomEditor(typeof(ObiMeshBasedActorBlueprint), true)]
+    public abstract class ObiMeshBasedActorBlueprintEditor : ObiActorBlueprintEditor
+    {
+
+        [Flags]
+        public enum ParticleCulling
+        {
+            Off = 0,
+            Back = 1 << 0,
+            Front = 1 << 1
+        }
+
+        protected Mesh visualizationMesh;
+        public ParticleCulling particleCulling = ParticleCulling.Back;
+       
+        protected Material gradientMaterial;
+        protected Material textureExportMaterial;
+        protected Material paddingMaterial;
+
+        public override void OnEnable()
+        {
+            base.OnEnable();
+            gradientMaterial = Resources.Load<Material>("PropertyGradientMaterial");
+            textureExportMaterial = Resources.Load<Material>("UVSpaceColorMaterial");
+            paddingMaterial = Resources.Load<Material>("PaddingMaterial");
+        }
+
+        public abstract Mesh sourceMesh
+        {
+            get;
+        }
+
+        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();
+        }
+
+        protected override bool ValidateBlueprint()
+        {
+            if (sourceMesh != null)
+            {
+                if (!sourceMesh.isReadable)
+                {
+                    NonReadableMeshWarning(sourceMesh);
+                    return false;
+                }
+                return true;
+            }
+            return false;
+        }
+
+        public abstract int VertexToParticle(int vertexIndex);
+
+        public override void UpdateParticleVisibility()
+        {
+            if (sourceMesh != null && Camera.current != null)
+            {
+                Vector3[] meshNormals = sourceMesh.normals;
+                for (int i = 0; i < sourceMesh.vertexCount; i++)
+                {
+                    int particle = VertexToParticle(i);
+
+                    if (particle >= 0 && particle < blueprint.positions.Length)
+                    {
+                        Vector3 camToParticle = Camera.current.transform.position - blueprint.positions[particle];
+
+                        sqrDistanceToCamera[particle] = camToParticle.sqrMagnitude;
+
+                        switch (particleCulling)
+                        {
+                            case ParticleCulling.Off:
+                                visible[particle] = true;
+                                break;
+                            case ParticleCulling.Back:
+                                visible[particle] = Vector3.Dot(meshNormals[i], camToParticle) > 0;
+                                break;
+                            case ParticleCulling.Front:
+                                visible[particle] = Vector3.Dot(meshNormals[i], camToParticle) <= 0;
+                                break;
+                        }
+                    }
+
+                }
+
+                if ((renderModeFlags & 1) != 0)
+                    Refresh();
+            }
+
+        }
+
+        public void DrawGradientMesh(float[] vertexWeights = null, float[] wireframeWeights = null)
+        {
+            visualizationMesh = GameObject.Instantiate(sourceMesh);
+
+            if (gradientMaterial.SetPass(0))
+            {
+                var matrix = Matrix4x4.TRS(Vector3.zero, (blueprint as ObiMeshBasedActorBlueprint).rotation, (blueprint as ObiMeshBasedActorBlueprint).scale);
+
+                Color[] colors = new Color[visualizationMesh.vertexCount];
+                for (int i = 0; i < colors.Length; i++)
+                {
+                    int particle = VertexToParticle(i);
+                    if (particle >= 0 && particle < blueprint.particleCount)
+                    {
+                        float weight = 1;
+                        if (vertexWeights != null)
+                            weight = vertexWeights[particle];
+
+                        colors[i] = weight * currentProperty.ToColor(particle);
+                    }
+                    else
+                        colors[i] = Color.gray;
+                }
+
+                visualizationMesh.colors = colors;
+                Graphics.DrawMeshNow(visualizationMesh, matrix);
+
+                Color wireColor = ObiEditorSettings.GetOrCreateSettings().brushWireframeColor;
+
+                if (gradientMaterial.SetPass(1))
+                {
+                    for (int i = 0; i < colors.Length; i++)
+                    {
+                        int particle = VertexToParticle(i);
+                        if (particle >= 0 && particle < blueprint.particleCount)
+                        {
+                            if (wireframeWeights != null)
+                                colors[i] = wireColor * wireframeWeights[particle];
+                            else
+                                colors[i] = wireColor;
+                        }
+                        else
+                            colors[i] = Color.gray;
+                    }
+
+                    visualizationMesh.colors = colors;
+                    GL.wireframe = true;
+                    Graphics.DrawMeshNow(visualizationMesh, matrix);
+                    GL.wireframe = false;
+                }
+
+            }
+
+            GameObject.DestroyImmediate(visualizationMesh);
+        }
+
+      
+        /**
+         * Reads particle data from a 2D texture. Can be used to adjust per particle mass, skin radius, etc. using 
+         * a texture instead of painting it in the editor. 
+         *  
+         * Will call onReadProperty once for each particle, passing the particle index and the bilinearly interpolated 
+         * color of the texture at its coordinate.
+         *
+         * Be aware that, if a particle corresponds to more than
+         * one physical vertex and has multiple uv coordinates, 
+         * onReadProperty will be called multiple times for that particle.
+         */
+        public bool ReadParticlePropertyFromTexture(Texture2D source, Action<int, Color> onReadProperty)
+        {
+
+            if (source == null || onReadProperty == null)
+                return false;
+
+            Vector2[] uvs = sourceMesh.uv;
+
+            // Iterate over all vertices in the mesh reading back colors from the texture:
+            for (int i = 0; i < sourceMesh.vertexCount; ++i)
+            {
+                try
+                {
+                    onReadProperty(VertexToParticle(i), source.GetPixelBilinear(uvs[i].x, uvs[i].y));
+                }
+                catch (UnityException e)
+                {
+                    Debug.LogException(e);
+                    return false;
+                }
+            }
+
+            return true;
+        }
+
+        public bool WriteParticlePropertyToTexture(string path, int width, int height, int padding)
+        {
+
+            if (path == null || textureExportMaterial == null || !textureExportMaterial.SetPass(0))
+                return false;
+
+            if (visualizationMesh == null)
+            {
+                visualizationMesh = GameObject.Instantiate(sourceMesh);
+            }
+            
+            RenderTexture tempRT = RenderTexture.GetTemporary(width, height, 0);
+            RenderTexture paddingRT = RenderTexture.GetTemporary(width, height, 0);
+
+            RenderTexture old = RenderTexture.active;
+            RenderTexture.active = tempRT;
+
+            GL.PushMatrix();
+            GL.LoadProjectionMatrix(Matrix4x4.Ortho(0, 1, 0, 1, -1, 1));
+
+            Color[] colors = new Color[sourceMesh.vertexCount];
+            for (int i = 0; i < colors.Length; i++)
+                colors[i] = currentProperty.ToColor(VertexToParticle(i));
+
+            visualizationMesh.colors = colors;
+            Graphics.DrawMeshNow(visualizationMesh, Matrix4x4.identity);
+
+            GL.PopMatrix();
+
+            // Perform padding/edge dilation
+            paddingMaterial.SetFloat("_Padding", padding);
+            Graphics.Blit(tempRT, paddingRT, paddingMaterial);
+
+            // Read result into our Texture2D.
+            RenderTexture.active = paddingRT;
+            Texture2D texture = new Texture2D(width, height, TextureFormat.RGBA32, false);
+            texture.ReadPixels(new Rect(0, 0, width, height), 0, 0);
+
+            RenderTexture.active = old;
+            RenderTexture.ReleaseTemporary(paddingRT);
+            RenderTexture.ReleaseTemporary(tempRT);
+
+            byte[] png = texture.EncodeToPNG();
+            GameObject.DestroyImmediate(texture);
+
+            try
+            {
+                File.WriteAllBytes(path, png);
+            }
+            catch (Exception e)
+            {
+                Debug.LogException(e);
+                return false;
+            }
+
+            AssetDatabase.Refresh();
+
+            return true;
+        }
+    }
+}
diff --git a/Assets/Obi/Editor/Common/Blueprints/ObiMeshBasedActorBlueprintEditor.cs.meta b/Assets/Obi/Editor/Common/Blueprints/ObiMeshBasedActorBlueprintEditor.cs.meta
new file mode 100644
index 000000000..497250ff1
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/ObiMeshBasedActorBlueprintEditor.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: c81a94632ae434014aedb4cc241e73e2
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Editor/Common/Blueprints/ObiMeshUtils.cs b/Assets/Obi/Editor/Common/Blueprints/ObiMeshUtils.cs
new file mode 100644
index 000000000..02ae7b5d5
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/ObiMeshUtils.cs
@@ -0,0 +1,93 @@
+using UnityEngine;
+using System.Collections;
+
+namespace Obi
+{
+    public static class ObiMeshUtils
+    {
+        // Temporary vector3 values
+        static Vector3 tv1, tv2, tv3, tv4;
+
+        public static bool RayIntersectsTriangle(Vector3 origin,
+                                                 Vector3 dir,
+                                                 Vector3 vert0,
+                                                 Vector3 vert1,
+                                                 Vector3 vert2,
+                                                 ref float distance,
+                                                 ref Vector3 normal)
+        {
+            float det;
+
+            ObiVectorMath.Subtract(vert0, vert1, ref tv1);
+            ObiVectorMath.Subtract(vert0, vert2, ref tv2);
+
+            ObiVectorMath.Cross(dir, tv2, ref tv4);
+            det = Vector3.Dot(tv1, tv4);
+
+            if (det < Mathf.Epsilon)
+                return false;
+
+            ObiVectorMath.Subtract(vert0, origin, ref tv3);
+
+            float u = Vector3.Dot(tv3, tv4);
+
+            if (u < 0f || u > det)
+                return false;
+
+            ObiVectorMath.Cross(tv3, tv1, ref tv4);
+
+            float v = Vector3.Dot(dir, tv4);
+
+            if (v < 0f || u + v > det)
+                return false;
+
+            distance = Vector3.Dot(tv2, tv4) * (1f / det);
+            ObiVectorMath.Cross(tv1, tv2, ref normal);
+
+            return true;
+        }
+
        /**
        * Find the nearest triangle intersected by InWorldRay on this mesh.  InWorldRay is in world space.
        * @hit contains information about the hit point.  @distance limits how far from @InWorldRay.origin the hit
        * point may be.  @cullingMode determines what face orientations are tested (Culling.Front only tests front
        * faces, Culling.Back only tests back faces, and Culling.FrontBack tests both).
        * Ray origin and position values are in local space.
        */
        public static bool WorldRaycast(Ray InWorldRay, Matrix4x4 transform, Vector3[] vertices, int[] triangles, out ObiRaycastHit hit, float distance = Mathf.Infinity)
        {
+            Ray ray = InWorldRay;
+            if (transform != null)
+            {
+                Matrix4x4 inv = transform.inverse;
+                ray.origin = inv.MultiplyPoint3x4(ray.origin);
+                ray.direction = inv.MultiplyVector(ray.direction);
+            }
            return MeshRaycast(ray, vertices, triangles, out hit, distance);
        }

        /**
        *  Cast a ray (in model space) against a mesh.
        */
        public static bool MeshRaycast(Ray InRay, Vector3[] vertices, int[] triangles, out ObiRaycastHit hit, float distance = Mathf.Infinity)
        {
+            Vector3 hitNormal = Vector3.zero;   // vars used in loop
+            Vector3 vert0, vert1, vert2;
+            Vector3 origin = InRay.origin, direction = InRay.direction;
+
+            hit = new ObiRaycastHit(Mathf.Infinity,
+                                    Vector3.zero,
+                                    Vector3.zero,
+                                    -1);
+            /**
+             * Iterate faces, testing for nearest hit to ray origin.
+             */
+            for (int CurTri = 0; CurTri < triangles.Length; CurTri += 3)
+            {
+                if (CurTri + 2 >= triangles.Length) continue;
+                if (triangles[CurTri + 2] >= vertices.Length) continue;
+
+                vert0 = vertices[triangles[CurTri + 0]];
+                vert1 = vertices[triangles[CurTri + 1]];
+                vert2 = vertices[triangles[CurTri + 2]];
+
+                // Second pass, test intersection with triangle
+                if (RayIntersectsTriangle(origin, direction, vert0, vert1, vert2, ref distance, ref hitNormal))
+                {
+                    if (distance < hit.distance)
+                    {
+                        hit.distance = distance;
+                        hit.triangle = CurTri / 3;
+                        hit.position = InRay.GetPoint(hit.distance);
+                        hit.normal = hitNormal;
+                    }
+                }
+            }
+
+            return hit.triangle > -1;
        }
+    }
+
+}
\ No newline at end of file
diff --git a/Assets/Obi/Editor/Common/Blueprints/ObiMeshUtils.cs.meta b/Assets/Obi/Editor/Common/Blueprints/ObiMeshUtils.cs.meta
new file mode 100644
index 000000000..90c00ab9b
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/ObiMeshUtils.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 4d2a4dd4e807c4053b4e4af4d43db45e
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Editor/Common/Blueprints/ObiParticleEditorDrawing.cs b/Assets/Obi/Editor/Common/Blueprints/ObiParticleEditorDrawing.cs
new file mode 100644
index 000000000..37cc9734a
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/ObiParticleEditorDrawing.cs
@@ -0,0 +1,127 @@
+using UnityEngine;
+using UnityEditor;
+using System.Collections;
+using System.Collections.Generic;
+
+namespace Obi
+{
+    public class ObiParticleEditorDrawing : MonoBehaviour
+    {
+        public static Mesh particlesMesh;
+        public static Material particleMaterial;
+
+        private static void CreateParticlesMesh()
+        {
+            if (particlesMesh == null)
+            {
+                particlesMesh = new Mesh();
+                particlesMesh.hideFlags = HideFlags.HideAndDontSave;
+            }
+        }
+
+        private static void CreateParticleMaterials()
+        {
+            if (!particleMaterial)
+            {
+                particleMaterial = Resources.Load<Material>("EditorParticle");
+            }
+        }
+
+        public static void DestroyParticlesMesh()
+        {
+            GameObject.DestroyImmediate(particlesMesh);
+        }
+
+        public static void DrawParticles(Camera cam, ObiActorBlueprint blueprint, int activeParticle, bool[] visible, Color[] baseColor, int[] sortedIndices, float radiusScale = 1)
+        {
+            CreateParticlesMesh();
+            CreateParticleMaterials();
+
+            if (!particleMaterial.SetPass(0))
+                return;
+
+            //because each vertex needs to be drawn as a quad.
+            int particlesPerDrawcall = Constants.maxVertsPerMesh / 4;
+            int drawcallCount = blueprint.particleCount / particlesPerDrawcall + 1;
+            particlesPerDrawcall = Mathf.Min(particlesPerDrawcall, blueprint.particleCount);
+
+            List<Vector3> vertices = new List<Vector3>(blueprint.activeParticleCount* 4);
+            List<Vector3> normals = new List<Vector3>(blueprint.activeParticleCount * 4);
+            List<Vector4> uvs = new List<Vector4>(blueprint.activeParticleCount * 4);
+            List<Color> colors = new List<Color>(blueprint.activeParticleCount * 4);
+            List<int> triangles = new List<int>(blueprint.activeParticleCount * 6);
+
+            Vector3 particleOffset0 = new Vector3(1, 1, 0);
+            Vector3 particleOffset1 = new Vector3(-1, 1, 0);
+            Vector3 particleOffset2 = new Vector3(-1, -1, 0);
+            Vector3 particleOffset3 = new Vector3(1, -1, 0);
+
+            Vector4 radius = new Vector4(1, 0, 0, 0.005f * radiusScale);
+
+            for (int i = 0; i < drawcallCount; ++i)
+            {
+                //Draw all cloth vertices:      
+                particlesMesh.Clear();
+                vertices.Clear();
+                uvs.Clear();
+                normals.Clear();
+                colors.Clear();
+                triangles.Clear();
+
+                int index = 0;
+
+                // Run over all particles (not only active ones), since they're reordered based on distance to camera.
+                // Then test if the sorted index is active or not, and skip inactive ones.
+                int limit = Mathf.Min((i + 1) * particlesPerDrawcall, blueprint.particleCount);
+
+                for (int j = i * particlesPerDrawcall; j < limit; ++j)
+                {
+                    int sortedIndex = sortedIndices[j];
+
+                    // skip inactive ones: 
+                    if (!blueprint.IsParticleActive(sortedIndex))
+                        continue;
+
+                    normals.Add(particleOffset0);
+                    normals.Add(particleOffset1);
+                    normals.Add(particleOffset2);
+                    normals.Add(particleOffset3);
+
+                    uvs.Add(radius);
+                    uvs.Add(radius);
+                    uvs.Add(radius);
+                    uvs.Add(radius);
+
+                    vertices.Add(blueprint.positions[sortedIndex]);
+                    vertices.Add(blueprint.positions[sortedIndex]);
+                    vertices.Add(blueprint.positions[sortedIndex]);
+                    vertices.Add(blueprint.positions[sortedIndex]);
+
+                    colors.Add(baseColor[sortedIndex]);
+                    colors.Add(baseColor[sortedIndex]);
+                    colors.Add(baseColor[sortedIndex]);
+                    colors.Add(baseColor[sortedIndex]);
+
+                    triangles.Add(index + 2);
+                    triangles.Add(index + 1);
+                    triangles.Add(index);
+                    triangles.Add(index + 3);
+                    triangles.Add(index + 2);
+                    triangles.Add(index);
+
+                    index += 4;
+                }
+
+                particlesMesh.SetVertices(vertices);
+                particlesMesh.SetNormals(normals);
+                particlesMesh.SetColors(colors);
+                particlesMesh.SetUVs(0, uvs);
+                particlesMesh.SetTriangles(triangles,0, true);
+
+                Graphics.DrawMeshNow(particlesMesh, Matrix4x4.identity);
+            }
+        }
+
+    }
+
+}
\ No newline at end of file
diff --git a/Assets/Obi/Editor/Common/Blueprints/ObiParticleEditorDrawing.cs.meta b/Assets/Obi/Editor/Common/Blueprints/ObiParticleEditorDrawing.cs.meta
new file mode 100644
index 000000000..561f8c744
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/ObiParticleEditorDrawing.cs.meta
@@ -0,0 +1,11 @@
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+guid: 982f73e0e40c749f09db403624bbd8e1
+MonoImporter:
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+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Editor/Common/Blueprints/Properties.meta b/Assets/Obi/Editor/Common/Blueprints/Properties.meta
new file mode 100644
index 000000000..1efd01e8b
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/Properties.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: dfda10b0e82f747998295540d5750108
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Editor/Common/Blueprints/Properties/BaseTypes.meta b/Assets/Obi/Editor/Common/Blueprints/Properties/BaseTypes.meta
new file mode 100644
index 000000000..1de2e12b8
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/Properties/BaseTypes.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 7b9ba4ddc644a4bfa8ab44a5826b8007
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Editor/Common/Blueprints/Properties/BaseTypes/ObiBlueprintBoolProperty.cs b/Assets/Obi/Editor/Common/Blueprints/Properties/BaseTypes/ObiBlueprintBoolProperty.cs
new file mode 100644
index 000000000..d3b35a8d7
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/Properties/BaseTypes/ObiBlueprintBoolProperty.cs
@@ -0,0 +1,24 @@
+using UnityEngine;
+using UnityEditor;
+using System.Collections;
+
+namespace Obi
+{
+    public abstract class ObiBlueprintBoolProperty : ObiBlueprintProperty<bool>
+    {
+        public override bool Equals(int firstIndex, int secondIndex)
+        {
+            return Get(firstIndex) == Get(secondIndex);
+        }
+
+        public override void PropertyField()
+        {
+            value = EditorGUILayout.Toggle(name, value);
+        }
+
+        public override Color ToColor(int index)
+        {
+            return value ? Color.white : Color.gray;
+        }
+    }
+}
diff --git a/Assets/Obi/Editor/Common/Blueprints/Properties/BaseTypes/ObiBlueprintBoolProperty.cs.meta b/Assets/Obi/Editor/Common/Blueprints/Properties/BaseTypes/ObiBlueprintBoolProperty.cs.meta
new file mode 100644
index 000000000..719c085a0
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/Properties/BaseTypes/ObiBlueprintBoolProperty.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 19cb8e21747094d6dae8dff155654066
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Editor/Common/Blueprints/Properties/BaseTypes/ObiBlueprintColorProperty.cs b/Assets/Obi/Editor/Common/Blueprints/Properties/BaseTypes/ObiBlueprintColorProperty.cs
new file mode 100644
index 000000000..a62d0c3b2
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/Properties/BaseTypes/ObiBlueprintColorProperty.cs
@@ -0,0 +1,31 @@
+using UnityEngine;
+using UnityEditor;
+using System.Collections;
+
+namespace Obi
+{
+    public abstract class ObiBlueprintColorProperty : ObiBlueprintProperty<Color>
+    {
+        public ObiActorBlueprintEditor editor;
+
+        public ObiBlueprintColorProperty(ObiActorBlueprintEditor editor)
+        {
+            this.editor = editor;
+        }
+
+        public override bool Equals(int firstIndex, int secondIndex)
+        {
+            return Get(firstIndex) == Get(secondIndex);
+        }
+
+        public override void PropertyField()
+        {
+            value = EditorGUILayout.ColorField(name, value);
+        }
+
+        public override Color ToColor(int index)
+        {
+            return editor.blueprint.colors[index];
+        }
+    }
+}
diff --git a/Assets/Obi/Editor/Common/Blueprints/Properties/BaseTypes/ObiBlueprintColorProperty.cs.meta b/Assets/Obi/Editor/Common/Blueprints/Properties/BaseTypes/ObiBlueprintColorProperty.cs.meta
new file mode 100644
index 000000000..226bed79e
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/Properties/BaseTypes/ObiBlueprintColorProperty.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 64ab0b4fad7614808acc3cdb75215c50
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Editor/Common/Blueprints/Properties/BaseTypes/ObiBlueprintFloatProperty.cs b/Assets/Obi/Editor/Common/Blueprints/Properties/BaseTypes/ObiBlueprintFloatProperty.cs
new file mode 100644
index 000000000..8b5217444
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/Properties/BaseTypes/ObiBlueprintFloatProperty.cs
@@ -0,0 +1,94 @@
+using UnityEngine;
+using UnityEditor;
+
+namespace Obi
+{
+    public abstract class ObiBlueprintFloatProperty : ObiBlueprintProperty<float>
+    {
+        public float minVisualizationValue = 0;
+        public float maxVisualizationValue = 10;
+        protected float minUserVisualizationValue = 0;
+        protected float maxUserVisualizationValue = 10;
+
+        protected float? minValue = null;
+        protected float? maxValue = null;
+
+        public bool autoRange = true;
+        public ObiActorBlueprintEditor editor;
+
+        public ObiBlueprintFloatProperty(ObiActorBlueprintEditor editor, float? minValue = null, float? maxValue = null)
+        {
+            this.editor = editor;
+            this.minValue = minValue;
+            this.maxValue = maxValue;
+        }
+
+        public override bool Equals(int firstIndex, int secondIndex)
+        {
+            float v1 = Get(firstIndex);
+            float v2 = Get(secondIndex);
+            if (v1 == v2) return true; 
+            return Mathf.Approximately(v1,v2);
+        }
+
+        public override void PropertyField()
+        {
+            EditorGUI.BeginChangeCheck();
+            value = EditorGUILayout.FloatField(name, value);
+            if (EditorGUI.EndChangeCheck())
+            {
+                if (minValue.HasValue)
+                    value = Mathf.Max(minValue.Value, value);
+                if (maxValue.HasValue)
+                    value = Mathf.Min(maxValue.Value, value);
+            }
+        }
+
+		public override void RecalculateMinMax()
+		{
+            if (editor != null && autoRange)
+            {
+                maxVisualizationValue = float.MinValue;
+                minVisualizationValue = float.MaxValue;
+
+                for (int i = 0; i < editor.blueprint.activeParticleCount; i++)
+                {
+                    float v = Get(i);
+                    maxVisualizationValue = Mathf.Max(maxVisualizationValue, v);
+                    minVisualizationValue = Mathf.Min(minVisualizationValue, v);
+                }
+            }
+            else
+            {
+                maxVisualizationValue = maxUserVisualizationValue;
+                minVisualizationValue = minUserVisualizationValue;
+            }
+		}
+
+        public override void VisualizationOptions()
+        {
+            EditorGUI.BeginChangeCheck();
+            autoRange = EditorGUILayout.Toggle("Automatic property range", autoRange);
+            GUI.enabled = !autoRange;
+            EditorGUI.indentLevel++;
+            minUserVisualizationValue = EditorGUILayout.FloatField("Min", minUserVisualizationValue);
+            maxUserVisualizationValue = EditorGUILayout.FloatField("Max", maxUserVisualizationValue);
+            EditorGUI.indentLevel--;
+            GUI.enabled = true;
+
+            if (EditorGUI.EndChangeCheck())
+            {
+                RecalculateMinMax();
+                editor.Refresh();
+            }
+        }
+
+		public override Color ToColor(int index)
+        {
+            Gradient gradient = ObiEditorSettings.GetOrCreateSettings().propertyGradient;
+            if (!Mathf.Approximately(minVisualizationValue, maxVisualizationValue))
+                return gradient.Evaluate(Mathf.InverseLerp(minVisualizationValue, maxVisualizationValue, Get(index)));
+            else return gradient.Evaluate(0);
+        }
+    }
+}
diff --git a/Assets/Obi/Editor/Common/Blueprints/Properties/BaseTypes/ObiBlueprintFloatProperty.cs.meta b/Assets/Obi/Editor/Common/Blueprints/Properties/BaseTypes/ObiBlueprintFloatProperty.cs.meta
new file mode 100644
index 000000000..a8a2539df
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/Properties/BaseTypes/ObiBlueprintFloatProperty.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: be67f2576200242f080bbcc074dc598a
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Editor/Common/Blueprints/Properties/BaseTypes/ObiBlueprintIntProperty.cs b/Assets/Obi/Editor/Common/Blueprints/Properties/BaseTypes/ObiBlueprintIntProperty.cs
new file mode 100644
index 000000000..4cbc05b86
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/Properties/BaseTypes/ObiBlueprintIntProperty.cs
@@ -0,0 +1,41 @@
+using UnityEngine;
+using UnityEditor;
+
+namespace Obi
+{
+    public abstract class ObiBlueprintIntProperty : ObiBlueprintProperty<int>
+    {
+        protected int? minValue = null;
+        protected int? maxValue = null;
+
+        public ObiBlueprintIntProperty(int? minValue = null, int? maxValue = null)
+        {
+            this.minValue = minValue;
+            this.maxValue = maxValue;
+        }
+
+        public override bool Equals(int firstIndex, int secondIndex)
+        {
+            return Get(firstIndex) == Get(secondIndex);
+        }
+
+        public override void PropertyField()
+        {
+            EditorGUI.BeginChangeCheck();
+            value = EditorGUILayout.IntField(name, value);
+            if (EditorGUI.EndChangeCheck())
+            {
+                if (minValue.HasValue)
+                    value = Mathf.Max(minValue.Value, value);
+                if (maxValue.HasValue)
+                    value = Mathf.Min(maxValue.Value, value);
+            }
+        }
+
+        public override Color ToColor(int index)
+        {
+            int colorIndex = Get(index) % ObiUtils.colorAlphabet.Length;
+            return ObiUtils.colorAlphabet[colorIndex];
+        }
+    }
+}
diff --git a/Assets/Obi/Editor/Common/Blueprints/Properties/BaseTypes/ObiBlueprintIntProperty.cs.meta b/Assets/Obi/Editor/Common/Blueprints/Properties/BaseTypes/ObiBlueprintIntProperty.cs.meta
new file mode 100644
index 000000000..069bfc02e
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/Properties/BaseTypes/ObiBlueprintIntProperty.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: d8661f9e9cfd044c7bb759145c2a8d73
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Editor/Common/Blueprints/Properties/BaseTypes/ObiBlueprintMaskProperty.cs b/Assets/Obi/Editor/Common/Blueprints/Properties/BaseTypes/ObiBlueprintMaskProperty.cs
new file mode 100644
index 000000000..e4b0713e0
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/Properties/BaseTypes/ObiBlueprintMaskProperty.cs
@@ -0,0 +1,28 @@
+using UnityEngine;
+using UnityEditor;
+
+namespace Obi
+{
+    public abstract class ObiBlueprintMaskProperty : ObiBlueprintIntProperty
+    {
+        public ObiBlueprintMaskProperty() : base(null,null)
+        {
+        }
+
+        public override void PropertyField()
+        {
+            value = EditorGUILayout.MaskField(name, value, ObiUtils.categoryNames);
+        }
+
+        private int MathMod(int a, int b)
+        {
+            return (Mathf.Abs(a * b) + a) % b;
+        }
+
+        public override Color ToColor(int index)
+        {
+            int colorIndex = MathMod(Get(index),ObiUtils.colorAlphabet.Length);
+            return ObiUtils.colorAlphabet[colorIndex];
+        }
+    }
+}
diff --git a/Assets/Obi/Editor/Common/Blueprints/Properties/BaseTypes/ObiBlueprintMaskProperty.cs.meta b/Assets/Obi/Editor/Common/Blueprints/Properties/BaseTypes/ObiBlueprintMaskProperty.cs.meta
new file mode 100644
index 000000000..60f3c1783
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/Properties/BaseTypes/ObiBlueprintMaskProperty.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 165ad17d69adf415ea7609a9373de001
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+  externalObjects: {}
+  serializedVersion: 2
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diff --git a/Assets/Obi/Editor/Common/Blueprints/Properties/BaseTypes/ObiBlueprintProperty.cs b/Assets/Obi/Editor/Common/Blueprints/Properties/BaseTypes/ObiBlueprintProperty.cs
new file mode 100644
index 000000000..fb7681244
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/Properties/BaseTypes/ObiBlueprintProperty.cs
@@ -0,0 +1,79 @@
+using UnityEngine;
+using UnityEditor;
+using System.Collections.Generic;
+
+namespace Obi
+{
+    public abstract class ObiBlueprintPropertyBase
+    {
+        protected List<IObiBrushMode> brushModes = new List<IObiBrushMode>();
+        private int selectedBrushMode;
+
+        public abstract string name
+        {
+            get;
+        }
+
+        public abstract void PropertyField();
+        public virtual void VisualizationOptions(){}
+        public virtual void OnSceneRepaint(){}
+
+        public abstract bool Equals(int firstIndex, int secondIndex);
+
+        public abstract void GetDefaultFromIndex(int index);
+        public abstract void SetDefaultToIndex(int index);
+        public virtual bool Masked(int index)
+        {
+            return false;
+        }
+
+        public virtual void RecalculateMinMax() { }
+        public virtual Color ToColor(int index) { return Color.white; }
+
+        protected void Initialize(ObiBrushBase paintBrush)
+        {
+            // Initialize the brush if there's no brush mode set:
+            if (paintBrush.brushMode == null && brushModes.Count > 0)
+            {
+                selectedBrushMode = 0;
+                paintBrush.brushMode = brushModes[selectedBrushMode];
+            }
+        }
+
+        public void OnSelect(ObiBrushBase paintBrush)
+        {
+            // Upon selecting the property, change to the last selected brush mode:
+            if (brushModes.Count > selectedBrushMode)
+                paintBrush.brushMode = brushModes[selectedBrushMode];
+
+        }
+
+        public void BrushModes(ObiBrushBase paintBrush)
+        {
+            Initialize(paintBrush);
+
+            GUIContent[] contents = new GUIContent[brushModes.Count];
+            for (int i = 0; i < brushModes.Count; ++i)
+                contents[i] = new GUIContent(brushModes[i].name);
+
+            EditorGUI.BeginChangeCheck();
+            selectedBrushMode = ObiEditorUtils.DoToolBar(selectedBrushMode, contents);
+            if (EditorGUI.EndChangeCheck())
+            {
+                paintBrush.brushMode = brushModes[selectedBrushMode];
+            }
+        }
+    }
+
+    public abstract class ObiBlueprintProperty<T> : ObiBlueprintPropertyBase
+    {
+        protected T value;
+
+        public T GetDefault() { return value; }
+        public override void GetDefaultFromIndex(int index) { value = Get(index); }
+        public override void SetDefaultToIndex(int index) { Set(index, value); }
+
+        public abstract T Get(int index);
+        public abstract void Set(int index, T value);
+    }
+}
diff --git a/Assets/Obi/Editor/Common/Blueprints/Properties/BaseTypes/ObiBlueprintProperty.cs.meta b/Assets/Obi/Editor/Common/Blueprints/Properties/BaseTypes/ObiBlueprintProperty.cs.meta
new file mode 100644
index 000000000..ba7b85be8
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/Properties/BaseTypes/ObiBlueprintProperty.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 60a83ba184caf4a1aba4da6754776a1d
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
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diff --git a/Assets/Obi/Editor/Common/Blueprints/Properties/IObiPropertyEditableProvider.cs b/Assets/Obi/Editor/Common/Blueprints/Properties/IObiPropertyEditableProvider.cs
new file mode 100644
index 000000000..f5345891b
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/Properties/IObiPropertyEditableProvider.cs
@@ -0,0 +1,13 @@
+using UnityEngine;
+using System.Collections;
+
+namespace Obi
+{
+    public interface IObiSelectableParticleProvider
+    {
+        void SetSelected(int particleIndex, bool selected);
+        bool IsSelected(int particleIndex);
+        bool Editable(int particleIndex);
+    }
+
+}
\ No newline at end of file
diff --git a/Assets/Obi/Editor/Common/Blueprints/Properties/IObiPropertyEditableProvider.cs.meta b/Assets/Obi/Editor/Common/Blueprints/Properties/IObiPropertyEditableProvider.cs.meta
new file mode 100644
index 000000000..3bf0408fa
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/Properties/IObiPropertyEditableProvider.cs.meta
@@ -0,0 +1,11 @@
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+guid: 0c3a2643915854763af75d63fa1ec0c9
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diff --git a/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintColor.cs b/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintColor.cs
new file mode 100644
index 000000000..dfa50af4c
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintColor.cs
@@ -0,0 +1,32 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public class ObiBlueprintColor : ObiBlueprintColorProperty
+    {
+        public ObiBlueprintColor(ObiActorBlueprintEditor editor) : base(editor)
+        {
+            brushModes.Add(new ObiColorPaintBrushMode(this)); 
+            brushModes.Add(new ObiColorSmoothBrushMode(this)); 
+        }
+
+        public override string name
+        {
+            get { return "Color"; }
+        }
+
+        public override Color Get(int index)
+        {
+            return editor.blueprint.colors[index];
+        }
+        public override void Set(int index, Color value)
+        {
+            editor.blueprint.colors[index] = value;
+        }
+        public override bool Masked(int index)
+        {
+            return !editor.Editable(index);
+        }
+
+    }
+}
diff --git a/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintColor.cs.meta b/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintColor.cs.meta
new file mode 100644
index 000000000..a371aacab
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintColor.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintFilterCategory.cs b/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintFilterCategory.cs
new file mode 100644
index 000000000..6441902ee
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintFilterCategory.cs
@@ -0,0 +1,31 @@
+namespace Obi
+{
+    public class ObiBlueprintFilterCategory : ObiBlueprintIntProperty
+    {
+        public ObiActorBlueprintEditor editor;
+
+        public ObiBlueprintFilterCategory(ObiActorBlueprintEditor editor) : base(ObiUtils.MinCategory, ObiUtils.MaxCategory) 
+        {
+            this.editor = editor;
+            brushModes.Add(new ObiIntPaintBrushMode(this));
+        }
+
+        public override string name
+        {
+            get { return "Category"; }
+        }
+
+        public override int Get(int index)
+        {
+            return ObiUtils.GetCategoryFromFilter(editor.blueprint.filters[index]);
+        }
+        public override void Set(int index, int value)
+        {
+            editor.blueprint.filters[index] = ObiUtils.MakeFilter(ObiUtils.GetMaskFromFilter(editor.blueprint.filters[index]), value);
+        }
+        public override bool Masked(int index)
+        {
+            return !editor.Editable(index);
+        }
+    }
+}
diff --git a/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintFilterCategory.cs.meta b/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintFilterCategory.cs.meta
new file mode 100644
index 000000000..503074933
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintFilterCategory.cs.meta
@@ -0,0 +1,11 @@
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+guid: 08502999496e54f49bb9dee0e0855794
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diff --git a/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintFilterMask.cs b/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintFilterMask.cs
new file mode 100644
index 000000000..42dcc76f4
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintFilterMask.cs
@@ -0,0 +1,31 @@
+namespace Obi
+{
+    public class ObiBlueprintFilterMask : ObiBlueprintMaskProperty
+    {
+        public ObiActorBlueprintEditor editor;
+
+        public ObiBlueprintFilterMask(ObiActorBlueprintEditor editor)
+        {
+            this.editor = editor;
+            brushModes.Add(new ObiIntPaintBrushMode(this));
+        }
+
+        public override string name
+        {
+            get { return "Collides with"; }
+        }
+
+        public override int Get(int index)
+        {
+            return ObiUtils.GetMaskFromFilter(editor.blueprint.filters[index]);
+        }
+        public override void Set(int index, int value)
+        {
+            editor.blueprint.filters[index] = ObiUtils.MakeFilter(value,ObiUtils.GetCategoryFromFilter(editor.blueprint.filters[index]));
+        }
+        public override bool Masked(int index)
+        {
+            return !editor.Editable(index);
+        }
+    }
+}
diff --git a/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintFilterMask.cs.meta b/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintFilterMask.cs.meta
new file mode 100644
index 000000000..2bdf6b4af
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintFilterMask.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintMass.cs b/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintMass.cs
new file mode 100644
index 000000000..f45dcc2eb
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintMass.cs
@@ -0,0 +1,32 @@
+namespace Obi
+{
+    public class ObiBlueprintMass : ObiBlueprintFloatProperty
+    {
+
+        public ObiBlueprintMass(ObiActorBlueprintEditor editor) : base(editor,0)
+        {
+            brushModes.Add(new ObiFloatPaintBrushMode(this)); 
+            brushModes.Add(new ObiFloatAddBrushMode(this));
+            brushModes.Add(new ObiFloatCopyBrushMode(this, this));
+            brushModes.Add(new ObiFloatSmoothBrushMode(this)); 
+        }
+
+        public override string name
+        {
+            get { return "Mass"; }
+        }
+
+        public override float Get(int index)
+        {
+            return ObiUtils.InvMassToMass(editor.blueprint.invMasses[index]);
+        }
+        public override void Set(int index, float value)
+        {
+            editor.blueprint.invMasses[index] = ObiUtils.MassToInvMass(value);
+        }
+        public override bool Masked(int index)
+        {
+            return !editor.Editable(index);
+        }
+    }
+}
diff --git a/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintMass.cs.meta b/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintMass.cs.meta
new file mode 100644
index 000000000..7dcb1686f
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintMass.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintRadius.cs b/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintRadius.cs
new file mode 100644
index 000000000..2c41466bb
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintRadius.cs
@@ -0,0 +1,36 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public class ObiBlueprintRadius : ObiBlueprintFloatProperty
+    {
+
+        public ObiBlueprintRadius(ObiActorBlueprintEditor editor) : base(editor,0.0000001f) 
+        { 
+            brushModes.Add(new ObiFloatPaintBrushMode(this)); 
+            brushModes.Add(new ObiFloatAddBrushMode(this));
+            brushModes.Add(new ObiFloatCopyBrushMode(this, this));
+            brushModes.Add(new ObiFloatSmoothBrushMode(this)); 
+        }
+
+        public override string name
+        {
+            get { return "Radius"; }
+        }
+
+        public override float Get(int index)
+        {
+            return editor.blueprint.principalRadii[index][0];
+        }
+        public override void Set(int index, float value)
+        {
+            value = Mathf.Max(0.0000001f, value);
+            float ratio = value / Get(index);
+            editor.blueprint.principalRadii[index] = editor.blueprint.principalRadii[index] * ratio;
+        }
+        public override bool Masked(int index)
+        {
+            return !editor.Editable(index);
+        }
+    }
+}
diff --git a/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintRadius.cs.meta b/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintRadius.cs.meta
new file mode 100644
index 000000000..174009811
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintRadius.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintSelected.cs b/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintSelected.cs
new file mode 100644
index 000000000..920a50202
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintSelected.cs
@@ -0,0 +1,29 @@
+namespace Obi
+{
+    public class ObiBlueprintSelected : ObiBlueprintBoolProperty
+    {
+        public IObiSelectableParticleProvider provider;
+        public ObiBlueprintSelected(IObiSelectableParticleProvider provider)
+        {
+            this.provider = provider;
+        }
+
+        public override string name
+        {
+            get { return "Selected"; }
+        }
+
+        public override bool Get(int index)
+        {
+            return provider.IsSelected(index);
+        }
+        public override void Set(int index, bool value)
+        {
+            provider.SetSelected(index,value);
+        }
+        public override bool Masked(int index)
+        {
+            return !provider.Editable(index);
+        }
+    }
+}
diff --git a/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintSelected.cs.meta b/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintSelected.cs.meta
new file mode 100644
index 000000000..d46419e14
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/Properties/ObiBlueprintSelected.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Editor/Common/Blueprints/RenderModes.meta b/Assets/Obi/Editor/Common/Blueprints/RenderModes.meta
new file mode 100644
index 000000000..d44e8e2f7
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/RenderModes.meta
@@ -0,0 +1,8 @@
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diff --git a/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderMode.cs b/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderMode.cs
new file mode 100644
index 000000000..0b780b88f
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderMode.cs
@@ -0,0 +1,25 @@
+using UnityEngine;
+using UnityEditor;
+using System.Collections;
+
+namespace Obi
+{
+    public abstract class ObiBlueprintRenderMode
+    {
+        protected ObiActorBlueprintEditor editor;
+        public abstract string name
+        {
+            get;
+        }
+        public ObiBlueprintRenderMode(ObiActorBlueprintEditor editor)
+        {
+            this.editor = editor;
+        }
+
+        public virtual void DrawWithCamera(Camera camera) {}
+        public virtual void OnSceneRepaint(SceneView sceneView) {}
+        public virtual void Refresh(){}
+
+        public virtual void OnDestroy() { }
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderMode.cs.meta b/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderMode.cs.meta
new file mode 100644
index 000000000..585711f9b
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderMode.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeAerodynamicConstraints.cs b/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeAerodynamicConstraints.cs
new file mode 100644
index 000000000..eeb6854bf
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeAerodynamicConstraints.cs
@@ -0,0 +1,63 @@
+using UnityEngine;
+using UnityEditor;
+using System.Collections.Generic;
+
+namespace Obi
+{
+    public class ObiBlueprintRenderModeAerodynamicConstraints : ObiBlueprintRenderMode
+    {
+        public override string name
+        {
+            get { return "Aerodynamic constraints"; }
+        }
+
+        public ObiMeshBasedActorBlueprintEditor meshBasedEditor
+        {
+            get { return editor as ObiMeshBasedActorBlueprintEditor; }
+        }
+
+        public ObiBlueprintRenderModeAerodynamicConstraints(ObiMeshBasedActorBlueprintEditor editor) : base(editor)
+        {
+        }
+
+        public override void OnSceneRepaint(SceneView sceneView)
+        {
+            var meshEditor = editor as ObiMeshBasedActorBlueprintEditor;
+            if (meshEditor != null)
+            {
+                // Get per-particle normals:
+                Vector3[] normals = meshEditor.sourceMesh.normals;
+                Vector3[] particleNormals = new Vector3[meshEditor.blueprint.particleCount];
+                for (int i = 0; i < normals.Length; ++i)
+                {
+                    int welded = meshEditor.VertexToParticle(i);
+                    particleNormals[welded] = normals[i];
+                }
+
+                using (new Handles.DrawingScope(Color.blue, Matrix4x4.identity))
+                {
+                    var constraints = editor.blueprint.GetConstraintsByType(Oni.ConstraintType.Aerodynamics) as ObiConstraints<ObiAerodynamicConstraintsBatch>;
+                    if (constraints != null)
+                    {
+                        Vector3[] lines = new Vector3[constraints.GetActiveConstraintCount() * 2];
+                        int lineIndex = 0;
+
+                        foreach (var batch in constraints.batches)
+                        {
+                            for (int i = 0; i < batch.activeConstraintCount; ++i)
+                            {
+                                int particleIndex = batch.particleIndices[i];
+                                Vector3 position = editor.blueprint.GetParticlePosition(particleIndex);
+                                lines[lineIndex++] = position;
+                                lines[lineIndex++] = position + particleNormals[particleIndex] * 0.025f;
+                            }
+                        }
+
+                        Handles.DrawLines(lines);
+                    }
+                }
+            }
+        }
+
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeAerodynamicConstraints.cs.meta b/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeAerodynamicConstraints.cs.meta
new file mode 100644
index 000000000..c6efaed72
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeAerodynamicConstraints.cs.meta
@@ -0,0 +1,11 @@
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+guid: 18881e26e784d47aaa8aa27c93fe0b49
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diff --git a/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeBendConstraints.cs b/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeBendConstraints.cs
new file mode 100644
index 000000000..a5f68cb9d
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeBendConstraints.cs
@@ -0,0 +1,44 @@
+using UnityEngine;
+using UnityEditor;
+using System.Collections.Generic;
+
+namespace Obi
+{
+    public class ObiBlueprintRenderModeBendConstraints : ObiBlueprintRenderMode
+    {
+        public override string name
+        {
+            get { return "Bend constraints"; }
+        }
+
+        public ObiBlueprintRenderModeBendConstraints(ObiActorBlueprintEditor editor) : base(editor)
+        {
+        }
+
+        public override void OnSceneRepaint(SceneView sceneView)
+        {
+            using (new Handles.DrawingScope(Color.magenta, Matrix4x4.identity))
+            {
+                var constraints = editor.blueprint.GetConstraintsByType(Oni.ConstraintType.Bending) as ObiConstraints<ObiBendConstraintsBatch>;
+                if (constraints != null)
+                {
+                    Vector3[] lines = new Vector3[constraints.GetActiveConstraintCount() * 2];
+                    int lineIndex = 0;
+
+                    foreach (var batch in constraints.batches)
+                    {
+                        for (int i = 0; i < batch.activeConstraintCount; ++i)
+                        {
+                            lines[lineIndex++] = editor.blueprint.GetParticlePosition(batch.particleIndices[i * 3]);
+                            lines[lineIndex++] = editor.blueprint.GetParticlePosition(batch.particleIndices[i * 3 + 1]); 
+                        }
+                    }
+
+                    Handles.DrawLines(lines);
+                }
+            } 
+             
+        }
+
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeBendConstraints.cs.meta b/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeBendConstraints.cs.meta
new file mode 100644
index 000000000..ec81849a4
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeBendConstraints.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeDistanceConstraints.cs b/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeDistanceConstraints.cs
new file mode 100644
index 000000000..b4fb4f071
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeDistanceConstraints.cs
@@ -0,0 +1,44 @@
+using UnityEngine;
+using UnityEditor;
+using System.Collections.Generic;
+
+namespace Obi
+{
+    public class ObiBlueprintRenderModeDistanceConstraints : ObiBlueprintRenderMode
+    {
+        public override string name
+        {
+            get { return "Distance constraints"; }
+        }
+
+        public ObiBlueprintRenderModeDistanceConstraints(ObiActorBlueprintEditor editor) : base(editor)
+        {
+        }
+
+        public override void OnSceneRepaint(SceneView sceneView)
+        {
+
+            using (new Handles.DrawingScope(Color.green, Matrix4x4.identity))
+            {
+                var constraints = editor.blueprint.GetConstraintsByType(Oni.ConstraintType.Distance) as ObiConstraints<ObiDistanceConstraintsBatch>;
+                if (constraints != null)
+                {
+                    Vector3[] lines = new Vector3[constraints.GetActiveConstraintCount() * 2];
+                    int lineIndex = 0;
+
+                    foreach (var batch in constraints.batches)
+                    {
+                        for (int i = 0; i < batch.activeConstraintCount; ++i)
+                        {
+                            lines[lineIndex++] = editor.blueprint.GetParticlePosition(batch.particleIndices[i * 2]);
+                            lines[lineIndex++] = editor.blueprint.GetParticlePosition(batch.particleIndices[i * 2 + 1]); 
+                        }
+                    }
+
+                    Handles.DrawLines(lines);
+                }
+            } 
+        }
+
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeDistanceConstraints.cs.meta b/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeDistanceConstraints.cs.meta
new file mode 100644
index 000000000..c6b32ad18
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeDistanceConstraints.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeMesh.cs b/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeMesh.cs
new file mode 100644
index 000000000..634c56b95
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeMesh.cs
@@ -0,0 +1,46 @@
+using UnityEditor;
+
+namespace Obi
+{
+    public class ObiBlueprintRenderModeMesh : ObiBlueprintRenderMode
+    {
+        public override string name
+        {
+            get { return "Mesh"; }
+        }
+
+        public ObiMeshBasedActorBlueprintEditor meshBasedEditor
+        {
+            get { return editor as ObiMeshBasedActorBlueprintEditor; }
+        }
+
+        public ObiBlueprintRenderModeMesh(ObiMeshBasedActorBlueprintEditor editor) : base(editor)
+        {
+        }
+
+        public override void OnSceneRepaint(SceneView sceneView) 
+        {
+            if (meshBasedEditor.currentTool is ObiPaintBrushEditorTool)
+            {
+                ObiPaintBrushEditorTool paintTool = (ObiPaintBrushEditorTool)meshBasedEditor.currentTool;
+
+                float[] weights = new float[editor.selectionStatus.Length];
+                for (int i = 0; i < weights.Length; i++)
+                {
+                    if (paintTool.selectionMask && !editor.selectionStatus[i])
+                        weights[i] = 0;
+                    else
+                        weights[i] = 1;
+                }
+
+                float[] wireframeWeights = new float[paintTool.paintBrush.weights.Length];
+                for (int i = 0; i < wireframeWeights.Length; i++)
+                    wireframeWeights[i] = paintTool.paintBrush.weights[i];
+
+                meshBasedEditor.DrawGradientMesh(weights, wireframeWeights);
+            }
+            else
+                meshBasedEditor.DrawGradientMesh();
+        }
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeMesh.cs.meta b/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeMesh.cs.meta
new file mode 100644
index 000000000..19cb4d496
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeMesh.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: dbcd302f71d6446cd976f736b365c7ba
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeParticles.cs b/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeParticles.cs
new file mode 100644
index 000000000..4465ebfe3
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeParticles.cs
@@ -0,0 +1,61 @@
+using UnityEngine;
+using System.Collections;
+
+namespace Obi
+{
+    public class ObiBlueprintRenderModeParticles : ObiBlueprintRenderMode
+    {
+        public override string name
+        {
+            get { return "Particles"; }
+        }
+
+        private Shader shader;
+        private Material material;
+        private ParticleImpostorRendering impostorDrawer;
+
+        public ObiBlueprintRenderModeParticles(ObiActorBlueprintEditor editor) :base(editor)
+        {
+            impostorDrawer = new ParticleImpostorRendering();
+            impostorDrawer.UpdateMeshes(editor.blueprint);
+        }
+
+        void CreateMaterialIfNeeded()
+        {
+            if (shader == null)
+            {
+                shader = Shader.Find("Obi/EditorParticles");
+                if (shader != null)
+                {
+                    if (!shader.isSupported)
+                        Debug.LogWarning("Particle rendering shader not suported.");
+
+                    if (material == null || material.shader != shader)
+                    {
+                        GameObject.DestroyImmediate(material);
+                        material = new Material(shader);
+                        material.hideFlags = HideFlags.HideAndDontSave;
+                    }
+                }
+            }
+        }
+
+        public override void DrawWithCamera(Camera camera) 
+        {
+            CreateMaterialIfNeeded();
+            foreach (Mesh mesh in impostorDrawer.Meshes)
+                Graphics.DrawMesh(mesh, Matrix4x4.identity, material, 0, camera);
+        }
+
+        public override void Refresh()
+        {
+            impostorDrawer.UpdateMeshes(editor.blueprint, editor.visible, editor.tint);
+        }
+
+        public override void OnDestroy()
+        {
+            GameObject.DestroyImmediate(material);
+            impostorDrawer.ClearMeshes();
+        }
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeParticles.cs.meta b/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeParticles.cs.meta
new file mode 100644
index 000000000..7e91ad77d
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeParticles.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: b51ea2becbebe48ba9d77e9d28403f51
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeShapeMatchingConstraints.cs b/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeShapeMatchingConstraints.cs
new file mode 100644
index 000000000..582243824
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeShapeMatchingConstraints.cs
@@ -0,0 +1,54 @@
+using UnityEngine;
+using UnityEditor;
+using System.Collections.Generic;
+
+namespace Obi
+{
+    public class ObiBlueprintRenderModeShapeMatchingConstraints : ObiBlueprintRenderMode
+    {
+        public override string name
+        {
+            get { return "Shape matching clusters"; }
+        }
+
+        public ObiBlueprintRenderModeShapeMatchingConstraints(ObiActorBlueprintEditor editor) : base(editor)
+        {
+        }
+
+        public override void OnSceneRepaint(SceneView sceneView)
+        {
+
+            using (new Handles.DrawingScope(Color.cyan, Matrix4x4.identity))
+            {
+                var constraints = editor.blueprint.GetConstraintsByType(Oni.ConstraintType.ShapeMatching) as ObiConstraints<ObiShapeMatchingConstraintsBatch>;
+                if (constraints != null)
+                {
+                    List<Vector3> lines = new List<Vector3>();
+
+                    foreach (var batch in constraints.batches)
+                    {
+                        for (int i = 0; i < batch.activeConstraintCount; ++i)
+                        {
+                            int first = batch.firstIndex[i];
+                            Vector3 p1 = editor.blueprint.GetParticlePosition(batch.particleIndices[first]);
+
+                            for (int j = 1; j < batch.numIndices[i]; ++j)
+                            {
+
+                                int index = first + j;
+                                Vector3 p2 = editor.blueprint.GetParticlePosition(batch.particleIndices[index]);
+
+                                lines.Add(p1);
+                                lines.Add(p2);
+                            }
+
+                        }
+                    }
+
+                    Handles.DrawLines(lines.ToArray());
+                }
+            }
+        }
+
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeShapeMatchingConstraints.cs.meta b/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeShapeMatchingConstraints.cs.meta
new file mode 100644
index 000000000..201059f1d
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeShapeMatchingConstraints.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: e5ff128cfebee45ffb8266eb3e75522e
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeTetherConstraints.cs b/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeTetherConstraints.cs
new file mode 100644
index 000000000..bd33fafd7
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeTetherConstraints.cs
@@ -0,0 +1,43 @@
+using UnityEngine;
+using UnityEditor;
+using System.Collections.Generic;
+
+namespace Obi
+{
+    public class ObiBlueprintRenderModeTetherConstraints : ObiBlueprintRenderMode
+    {
+        public override string name
+        {
+            get { return "Tether constraints"; }
+        }
+
+        public ObiBlueprintRenderModeTetherConstraints(ObiActorBlueprintEditor editor) : base(editor)
+        {
+        }
+
+        public override void OnSceneRepaint(SceneView sceneView)
+        {
+            using (new Handles.DrawingScope(Color.yellow, Matrix4x4.identity))
+            {
+                var constraints = editor.blueprint.GetConstraintsByType(Oni.ConstraintType.Tether) as ObiConstraints<ObiTetherConstraintsBatch>;
+                if (constraints != null)
+                {
+                    Vector3[] lines = new Vector3[constraints.GetActiveConstraintCount() * 2];
+                    int lineIndex = 0;
+
+                    foreach (var batch in constraints.batches)
+                    {
+                        for (int i = 0; i < batch.activeConstraintCount; ++i)
+                        {
+                            lines[lineIndex++] = editor.blueprint.GetParticlePosition(batch.particleIndices[i * 2]);
+                            lines[lineIndex++] = editor.blueprint.GetParticlePosition(batch.particleIndices[i * 2 + 1]);
+                        }
+                    }
+
+                    Handles.DrawLines(lines);
+                }
+            }
+        }
+
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeTetherConstraints.cs.meta b/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeTetherConstraints.cs.meta
new file mode 100644
index 000000000..948860366
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Blueprints/RenderModes/ObiBlueprintRenderModeTetherConstraints.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 63054cbedb75c4aa7906bf1c24552085
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Editor/Common/Collisions.meta b/Assets/Obi/Editor/Common/Collisions.meta
new file mode 100644
index 000000000..e3f2bc768
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Collisions.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 5759f1c7beafc485489fb47abffaa269
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Editor/Common/Collisions/ObiColliderEditor.cs b/Assets/Obi/Editor/Common/Collisions/ObiColliderEditor.cs
new file mode 100644
index 000000000..310bbddb8
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Collisions/ObiColliderEditor.cs
@@ -0,0 +1,73 @@
+using UnityEditor;
+using UnityEngine;
+
+namespace Obi{
+	
+	[CustomEditor(typeof(ObiColliderBase), true), CanEditMultipleObjects] 
+	public class ObiColliderEditor : Editor
+	{
+
+        ObiColliderBase collider;
+        SerializedProperty collisionFilter;
+
+        public void OnEnable()
+        {
+            collider = (ObiColliderBase)target;
+            collisionFilter = serializedObject.FindProperty("filter");
+        }
+
+        public override void OnInspectorGUI()
+        {
+
+            serializedObject.UpdateIfRequiredOrScript();
+
+
+            var rect = EditorGUILayout.GetControlRect();
+            var label = EditorGUI.BeginProperty(rect, new GUIContent("Collision category"), collisionFilter);
+            rect = EditorGUI.PrefixLabel(rect, label);
+
+            EditorGUI.BeginChangeCheck();
+            var newCategory = EditorGUI.Popup(rect, ObiUtils.GetCategoryFromFilter(collider.Filter), ObiUtils.categoryNames);
+            if (EditorGUI.EndChangeCheck())
+            {
+                foreach (ObiColliderBase t in targets)
+                {
+                    Undo.RecordObject(t, "Set collision category");
+                    t.Filter = ObiUtils.MakeFilter(ObiUtils.GetMaskFromFilter(t.Filter), newCategory);
+                    PrefabUtility.RecordPrefabInstancePropertyModifications(t);
+                }
+            }
+            EditorGUI.EndProperty();
+
+            rect = EditorGUILayout.GetControlRect();
+            label = EditorGUI.BeginProperty(rect, new GUIContent("Collides with"), collisionFilter);
+            rect = EditorGUI.PrefixLabel(rect, label);
+
+            EditorGUI.BeginChangeCheck();
+            var newMask = EditorGUI.MaskField(rect, ObiUtils.GetMaskFromFilter(collider.Filter), ObiUtils.categoryNames);
+            if (EditorGUI.EndChangeCheck())
+            {
+                foreach (ObiColliderBase t in targets)
+                {
+                    Undo.RecordObject(t, "Set collision mask");
+                    t.Filter = ObiUtils.MakeFilter(newMask, ObiUtils.GetCategoryFromFilter(t.Filter));
+                    PrefabUtility.RecordPrefabInstancePropertyModifications(t);
+                }
+            }
+            EditorGUI.EndProperty();
+
+
+            DrawPropertiesExcluding(serializedObject, "m_Script", "CollisionMaterial", "filter", "Thickness");
+
+            // Apply changes to the serializedProperty
+            if (GUI.changed)
+            {
+                serializedObject.ApplyModifiedProperties();
+            }
+
+        }
+
+    }
+}
+
+
diff --git a/Assets/Obi/Editor/Common/Collisions/ObiColliderEditor.cs.meta b/Assets/Obi/Editor/Common/Collisions/ObiColliderEditor.cs.meta
new file mode 100644
index 000000000..0373df8a6
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Collisions/ObiColliderEditor.cs.meta
@@ -0,0 +1,12 @@
+fileFormatVersion: 2
+guid: 7c99a0a8358754501b3c8089185b0e6f
+timeCreated: 1502034385
+licenseType: Store
+MonoImporter:
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Editor/Common/Collisions/ObiDistanceFieldEditor.cs b/Assets/Obi/Editor/Common/Collisions/ObiDistanceFieldEditor.cs
new file mode 100644
index 000000000..2e205425e
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Collisions/ObiDistanceFieldEditor.cs
@@ -0,0 +1,178 @@
+using UnityEngine;
+using UnityEditor;
+using System.IO;
+using System.Collections;
+
+namespace Obi{
+	[CustomEditor(typeof(ObiDistanceField))]
+	public class ObiDistanceFieldEditor : Editor
+	{
+
+		ObiDistanceField distanceField;
+
+		PreviewHelpers previewHelper;
+		Vector2 previewDir;
+		Material previewMaterial;
+
+		Mesh previewMesh;
+		Texture3D volumeTexture;
+
+		protected IEnumerator routine;
+
+		private void UpdatePreview(){
+
+			CleanupPreview();
+
+			if (distanceField.InputMesh != null){
+
+				previewMesh = CreateMeshForBounds(distanceField.FieldBounds);
+				previewMesh.hideFlags = HideFlags.HideAndDontSave;
+
+				volumeTexture = distanceField.GetVolumeTexture(64);
+				volumeTexture.hideFlags = HideFlags.HideAndDontSave;
+
+				previewMaterial = Resources.Load<Material>("DistanceFieldPreview");
+				previewMaterial.SetTexture("_Volume",volumeTexture);
+				previewMaterial.SetVector("_AABBMin",-distanceField.FieldBounds.extents);
+                previewMaterial.SetVector("_AABBMax",distanceField.FieldBounds.extents);
+			}
+
+		}
+
+		private void CleanupPreview(){
+			GameObject.DestroyImmediate(previewMesh);
+			GameObject.DestroyImmediate(volumeTexture);
+		}
+
+		public void OnEnable(){
+			distanceField = (ObiDistanceField) target;
+			previewHelper = new PreviewHelpers();
+			UpdatePreview();
+		}
+
+		public void OnDisable(){
+			EditorUtility.ClearProgressBar();
+			previewHelper.Cleanup();
+			CleanupPreview();
+		}
+
+		public override void OnInspectorGUI() {
+
+			serializedObject.UpdateIfRequiredOrScript();	
+
+			Editor.DrawPropertiesExcluding(serializedObject,"m_Script");
+
+			GUI.enabled = (distanceField.InputMesh != null);
+			if (GUILayout.Button("Generate")){
+				// Start a coroutine job in the editor.
+				EditorUtility.SetDirty(target);
+				CoroutineJob job = new CoroutineJob();
+				routine = job.Start( distanceField.Generate());
+				EditorCoroutine.ShowCoroutineProgressBar("Generating distance field",ref routine);
+				UpdatePreview();
+				EditorGUIUtility.ExitGUI();
+			}
+			GUI.enabled = true;		
+
+			int nodeCount = (distanceField.nodes != null ? distanceField.nodes.Count : 0);
+			float resolution = distanceField.FieldBounds.size.x / distanceField.EffectiveSampleSize;
+			EditorGUILayout.HelpBox("Nodes: "+ nodeCount+"\n"+
+									"Size in memory: "+ (nodeCount * 0.062f).ToString("0.#") +" kB\n"+
+									"Compressed to: " + (nodeCount / Mathf.Pow(resolution,3) * 100).ToString("0.##") + "%",MessageType.Info);
+
+			if (GUI.changed)
+				serializedObject.ApplyModifiedProperties();
+
+		}
+
+		public override bool HasPreviewGUI(){
+			return true;
+		}
+
+		public override void OnInteractivePreviewGUI(Rect region, GUIStyle background)
+		{
+			previewDir = PreviewHelpers.Drag2D(previewDir, region);
+
+			if (Event.current.type != EventType.Repaint || previewMesh == null)
+			{
+                return;
+            }
+
+			Quaternion quaternion = Quaternion.Euler(this.previewDir.y, 0f, 0f) * Quaternion.Euler(0f, this.previewDir.x, 0f) * Quaternion.Euler(0, 120, -20f);
+
+			previewHelper.BeginPreview(region, background);
+
+			Bounds bounds = previewMesh.bounds;
+			float magnitude = Mathf.Sqrt(bounds.extents.sqrMagnitude);
+			float num = 4f * magnitude;
+			previewHelper.m_Camera.transform.position = -Vector3.forward * num;
+			previewHelper.m_Camera.transform.rotation = Quaternion.identity;
+			previewHelper.m_Camera.nearClipPlane = num - magnitude * 1.1f;
+			previewHelper.m_Camera.farClipPlane = num + magnitude * 1.1f;
+
+			// Compute matrix to rotate the mesh around the center of its bounds:
+			Matrix4x4 matrix = Matrix4x4.TRS(Vector3.zero,quaternion,Vector3.one) * Matrix4x4.TRS(-bounds.center,Quaternion.identity,Vector3.one);
+
+			Graphics.DrawMesh(previewMesh, matrix, previewMaterial,1, previewHelper.m_Camera, 0);
+
+			Texture texture = previewHelper.EndPreview();
+			GUI.DrawTexture(region, texture, ScaleMode.StretchToFill, true);
+
+        }
+
+		/**
+		 * Creates a solid mesh from some Bounds. This is used to display the distance field volumetric preview.
+		 */
+		private Mesh CreateMeshForBounds(Bounds b){
+			Mesh m = new Mesh();
+
+			/** Indices of bounds corners:
+
+			  		   Y
+			  		   2	   6
+			    	   +------+
+			 	  3  .'|  7 .'|
+				   +---+--+'  |
+				   |   |  |   |
+				   |   +--+---+   X
+				   | .' 0 | .' 4
+				   +------+'
+				Z 1        5
+
+			*/
+			Vector3[] vertices = new Vector3[8]{
+				b.center + new Vector3(-b.extents.x,-b.extents.y,-b.extents.z), //0
+				b.center + new Vector3(-b.extents.x,-b.extents.y,b.extents.z),  //1
+				b.center + new Vector3(-b.extents.x,b.extents.y,-b.extents.z),  //2
+				b.center + new Vector3(-b.extents.x,b.extents.y,b.extents.z),   //3
+				b.center + new Vector3(b.extents.x,-b.extents.y,-b.extents.z),  //4
+				b.center + new Vector3(b.extents.x,-b.extents.y,b.extents.z),   //5
+				b.center + new Vector3(b.extents.x,b.extents.y,-b.extents.z),   //6
+				b.center + new Vector3(b.extents.x,b.extents.y,b.extents.z)     //7
+			};
+			int[] triangles = new int[36]{
+				2,3,7,
+				6,2,7,
+
+				7,5,4,
+				6,7,4,
+
+				3,1,5,
+				7,3,5,
+
+				2,0,3,
+				3,0,1,
+
+				6,4,2,
+				2,4,0,
+
+				4,5,0,
+				5,1,0
+			};
+
+			m.vertices = vertices;
+			m.triangles = triangles;
+			return m;
+		}
+	}
+}
diff --git a/Assets/Obi/Editor/Common/Collisions/ObiDistanceFieldEditor.cs.meta b/Assets/Obi/Editor/Common/Collisions/ObiDistanceFieldEditor.cs.meta
new file mode 100644
index 000000000..60e8555ce
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Collisions/ObiDistanceFieldEditor.cs.meta
@@ -0,0 +1,12 @@
+fileFormatVersion: 2
+guid: 5d47dd3a8215841aca1fe5b272cb24f2
+timeCreated: 1507046737
+licenseType: Store
+MonoImporter:
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Editor/Common/Constraints.meta b/Assets/Obi/Editor/Common/Constraints.meta
new file mode 100644
index 000000000..8cfd63c92
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Constraints.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: cf28ba8ff6a7140e6a7e50a5030ff3e7
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Editor/Common/Constraints/ObiConstraintParametersDrawer.cs b/Assets/Obi/Editor/Common/Constraints/ObiConstraintParametersDrawer.cs
new file mode 100644
index 000000000..65fb7e83f
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Constraints/ObiConstraintParametersDrawer.cs
@@ -0,0 +1,63 @@
+using UnityEngine;
+using UnityEditor;
+using System;
+
+namespace Obi
+{
+
+	[CustomPropertyDrawer(typeof(Oni.ConstraintParameters))]
+	public class ObiConstraintParametersDrawer : PropertyDrawer
+	{		
+		public static float padding = 4;
+
+		public override void OnGUI(Rect position, SerializedProperty property, GUIContent label)
+		{
+			float propHeight = EditorGUIUtility.singleLineHeight + EditorGUIUtility.standardVerticalSpacing;
+
+			EditorGUI.BeginProperty(position, label, property);
+
+			SerializedProperty enabled = property.FindPropertyRelative("enabled");
+			Rect contRect = new Rect(position.x+padding, position.y+padding, position.width-padding*2, propHeight);
+	
+			// Draw a box around the parameters:
+			GUI.enabled = enabled.boolValue;
+            GUI.Box(position,"",ObiEditorUtils.GetToggleablePropertyGroupStyle());
+			GUI.enabled = true;
+
+			// Draw main constraint toggle:
+            enabled.boolValue = EditorGUI.ToggleLeft(contRect, label.text, enabled.boolValue, EditorStyles.boldLabel);
+
+			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);
+	        	Rect sorRect =  new Rect(position.x+padding, position.y+propHeight*3+padding, position.width-padding*2, EditorGUIUtility.singleLineHeight);
+	
+				EditorGUI.indentLevel++;
+					Rect evalCtrl = EditorGUI.PrefixLabel(evalRect,new GUIContent("Evaluation"));
+					EditorGUI.PropertyField(evalCtrl, property.FindPropertyRelative("evaluationOrder"),GUIContent.none);
+	
+					Rect iterCtrl = EditorGUI.PrefixLabel(iterRect,new GUIContent("Iterations"));
+					EditorGUI.PropertyField(iterCtrl, property.FindPropertyRelative("iterations"),GUIContent.none);
+
+					Rect sorCtrl = EditorGUI.PrefixLabel(sorRect,new GUIContent("Relaxation"));
+					EditorGUI.PropertyField(sorCtrl, property.FindPropertyRelative("SORFactor"),GUIContent.none);
+				EditorGUI.indentLevel--;
+			
+			}
+
+			EditorGUI.EndProperty();
+		}
+
+ 		public override float GetPropertyHeight(SerializedProperty property, GUIContent label)
+		{
+			SerializedProperty enabled = property.FindPropertyRelative("enabled");
+			if (enabled.boolValue)
+				return EditorGUIUtility.singleLineHeight*4 + EditorGUIUtility.standardVerticalSpacing*3 + padding*2;
+			else
+				return EditorGUIUtility.singleLineHeight + padding*2;
+		}
+	}
+
+}
+
diff --git a/Assets/Obi/Editor/Common/Constraints/ObiConstraintParametersDrawer.cs.meta b/Assets/Obi/Editor/Common/Constraints/ObiConstraintParametersDrawer.cs.meta
new file mode 100644
index 000000000..ec24a9697
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Constraints/ObiConstraintParametersDrawer.cs.meta
@@ -0,0 +1,12 @@
+fileFormatVersion: 2
+guid: bc70cbc4838a4467687180e4d555b069
+timeCreated: 1515057027
+licenseType: Store
+MonoImporter:
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Editor/Common/ObiAboutWindow.cs b/Assets/Obi/Editor/Common/ObiAboutWindow.cs
new file mode 100644
index 000000000..e7b22a08c
--- /dev/null
+++ b/Assets/Obi/Editor/Common/ObiAboutWindow.cs
@@ -0,0 +1,73 @@
+
+using System;
+using UnityEditor;
+using UnityEngine;
+
+namespace Obi
+{
+    public class ObiAboutWindow : EditorWindow
+    {
+
+        [MenuItem ("Window/Obi/About")]
+        public static void Init()
+        {
+            ObiAboutWindow window = (ObiAboutWindow)EditorWindow.GetWindow(typeof(ObiAboutWindow),true,"Welcome to Obi!");
+            window.position = new Rect(Screen.width / 2, Screen.height / 2, 380, 300);
+            window.maxSize = window.minSize = new Vector2(380,300);
+            window.ShowPopup();
+        }
+    
+        void OnGUI()
+        {
+            // Draw logo and copyright notice:
+            EditorGUILayout.BeginHorizontal();
+
+				GUILayout.Label(Resources.Load<Texture2D>("obi_editor_logo"));
+
+                EditorGUILayout.BeginVertical(GUILayout.MaxHeight(119.0f/EditorGUIUtility.pixelsPerPoint));  
+   
+                    GUILayout.FlexibleSpace();
+    
+                    Color oldColor = GUI.contentColor;
+                    GUI.contentColor = Color.black;
+                    GUILayout.Label("Obi - Unified particle physics",EditorStyles.centeredGreyMiniLabel);
+                    GUI.contentColor = oldColor;
+    
+                    GUILayout.Label("© Copyright Virtual Method, 2015-2016.\nAll rights reserved.",EditorStyles.centeredGreyMiniLabel);
+
+                    GUILayout.FlexibleSpace();
+
+                EditorGUILayout.EndVertical();
+
+            EditorGUILayout.EndHorizontal();
+
+            DrawAboutGUI();
+            
+        }
+
+        void DrawAboutGUI(){
+            
+            GUILayout.FlexibleSpace();
+
+            EditorGUILayout.LabelField("Programming:",EditorStyles.centeredGreyMiniLabel);
+            EditorGUILayout.LabelField("José María Méndez González",EditorStyles.centeredGreyMiniLabel);
+
+            EditorGUILayout.LabelField("Additional resources:",EditorStyles.centeredGreyMiniLabel);
+            EditorGUILayout.LabelField("Lidia Martínez Prado",EditorStyles.centeredGreyMiniLabel);
+
+            GUILayout.FlexibleSpace();
+        
+            if (GUILayout.Button("Manual",EditorStyles.toolbarButton))
+                Application.OpenURL("http://obi.virtualmethodstudio.com/tutorials/");
+            if (GUILayout.Button("API docs",EditorStyles.toolbarButton))
+                Application.OpenURL("http://obi.virtualmethodstudio.com/docs/");
+            if (GUILayout.Button("visit www.virtualmethodstudio.com",EditorStyles.toolbarButton))
+                Application.OpenURL("http://www.virtualmethodstudio.com");
+            if (GUILayout.Button("Create preferences file", EditorStyles.toolbarButton))
+                ObiEditorSettings.GetOrCreateSettings();
+
+        }
+    }
+}
+
+
diff --git a/Assets/Obi/Editor/Common/ObiAboutWindow.cs.meta b/Assets/Obi/Editor/Common/ObiAboutWindow.cs.meta
new file mode 100644
index 000000000..6166f573a
--- /dev/null
+++ b/Assets/Obi/Editor/Common/ObiAboutWindow.cs.meta
@@ -0,0 +1,12 @@
+fileFormatVersion: 2
+guid: c6764c51caa004a25ab49afc9865d2b3
+timeCreated: 1498062614
+licenseType: Store
+MonoImporter:
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Editor/Common/ObiEditorSettings.cs b/Assets/Obi/Editor/Common/ObiEditorSettings.cs
new file mode 100644
index 000000000..94d9ce99d
--- /dev/null
+++ b/Assets/Obi/Editor/Common/ObiEditorSettings.cs
@@ -0,0 +1,83 @@
+using UnityEngine;
+using UnityEditor;
+using System.Collections;
+
+namespace Obi
+{
+    class ObiEditorSettings : ScriptableObject
+    {
+        public const string m_ObiEditorSettingsPath = "Assets/ObiEditorSettings.asset";
+
+        [SerializeField] private Color m_ParticleBrush;
+        [SerializeField] private Color m_BrushWireframe;
+        [SerializeField] private Color m_Particle;
+        [SerializeField] private Color m_SelectedParticle;
+        [SerializeField] private Color m_ActiveParticle;
+        [SerializeField] private Gradient m_PropertyGradient;
+
+        public Color brushColor
+        {
+            get { return m_ParticleBrush; }
+        }
+        public Color brushWireframeColor
+        {
+            get { return m_BrushWireframe; }
+        }
+        public Color particleColor
+        {
+            get { return m_Particle; }
+        }
+        public Color selectedParticleColor
+        {
+            get { return m_SelectedParticle; }
+        }
+        public Color activeParticleColor
+        {
+            get { return m_ActiveParticle; }
+        }
+        public Gradient propertyGradient
+        {
+            get { return m_PropertyGradient; }
+        }
+
+        internal static ObiEditorSettings GetOrCreateSettings()
+        {
+            var settings = AssetDatabase.LoadAssetAtPath<ObiEditorSettings>(m_ObiEditorSettingsPath);
+            if (settings == null)
+            {
+                settings = ScriptableObject.CreateInstance<ObiEditorSettings>();
+                settings.m_ParticleBrush = new Color32(243, 77, 43, 255);
+                settings.m_BrushWireframe = new Color32(0, 0, 0, 128);
+                settings.m_Particle = new Color32(240, 240, 240, 255);
+                settings.m_SelectedParticle = new Color32(243, 77, 43, 255);
+                settings.m_ActiveParticle = new Color32(243, 243, 43, 255);
+                settings.m_PropertyGradient = new Gradient();
+
+                // Populate the color keys at the relative time 0 and 1 (0 and 100%)
+                var colorKey = new GradientColorKey[2];
+                colorKey[0].color = Color.grey * 0.7f;
+                colorKey[0].time = 0.0f;
+                colorKey[1].color = Color.white;
+                colorKey[1].time = 1.0f;
+
+                // Populate the alpha  keys at relative time 0 and 1  (0 and 100%)
+                var alphaKey = new GradientAlphaKey[2];
+                alphaKey[0].alpha = 1.0f;
+                alphaKey[0].time = 0.0f;
+                alphaKey[1].alpha = 1.0f;
+                alphaKey[1].time = 1.0f;
+
+                settings.m_PropertyGradient.SetKeys(colorKey, alphaKey);
+
+                AssetDatabase.CreateAsset(settings, m_ObiEditorSettingsPath);
+                AssetDatabase.SaveAssets();
+            }
+            return settings;
+        }
+
+        internal static SerializedObject GetSerializedSettings()
+        {
+            return new SerializedObject(GetOrCreateSettings());
+        }
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Editor/Common/ObiEditorSettings.cs.meta b/Assets/Obi/Editor/Common/ObiEditorSettings.cs.meta
new file mode 100644
index 000000000..ba5f33789
--- /dev/null
+++ b/Assets/Obi/Editor/Common/ObiEditorSettings.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 7971633b9741349f3add282a07b0d69b
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Editor/Common/ObiOniInitialize.cs b/Assets/Obi/Editor/Common/ObiOniInitialize.cs
new file mode 100644
index 000000000..49c1e0fb0
--- /dev/null
+++ b/Assets/Obi/Editor/Common/ObiOniInitialize.cs
@@ -0,0 +1,36 @@
+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/ObiOniInitialize.cs.meta b/Assets/Obi/Editor/Common/ObiOniInitialize.cs.meta
new file mode 100644
index 000000000..6551e37e3
--- /dev/null
+++ b/Assets/Obi/Editor/Common/ObiOniInitialize.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: e97d151316d5f4d16ac5ae6e68acccb6
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Editor/Common/ObiSettingsProvider.cs b/Assets/Obi/Editor/Common/ObiSettingsProvider.cs
new file mode 100644
index 000000000..168c3046e
--- /dev/null
+++ b/Assets/Obi/Editor/Common/ObiSettingsProvider.cs
@@ -0,0 +1,75 @@
+using System.Collections.Generic;
+using System.IO;
+using UnityEditor;
+using UnityEngine;
+
+namespace Obi
+{
+    class ObiSettingsProvider : SettingsProvider
+    {
+        private SerializedObject m_ObiSettings;
+
+        class Styles
+        {
+            public static GUIContent particleBrush = new GUIContent("Brush");
+            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 propertyGradient = new GUIContent("Property gradient");
+        }
+
+        const string m_ObiEditorSettingsPath = "Assets/ObiEditorSettings.asset";
+        public ObiSettingsProvider(string path, SettingsScope scope = SettingsScope.User)
+            : base(path, scope) { }
+
+        public static bool IsSettingsAvailable()
+        {
+            return File.Exists(m_ObiEditorSettingsPath);
+        }
+
+#if UNITY_2019_1_OR_NEWER
+        public override void OnActivate(string searchContext, UnityEngine.UIElements.VisualElement rootElement)
+#else
+        public override void OnActivate(string searchContext, UnityEngine.Experimental.UIElements.VisualElement rootElement)
+#endif
+        {
+            // This function is called when the user clicks on the MyCustom element in the Settings window.
+            m_ObiSettings = ObiEditorSettings.GetSerializedSettings();
+        }
+
+        public override void OnDeactivate()
+        {
+            base.OnDeactivate();
+
+            if (m_ObiSettings != null)
+                m_ObiSettings.ApplyModifiedProperties();
+        }
+
+        public override void OnGUI(string searchContext)
+        {
+            EditorGUILayout.LabelField("Colors", EditorStyles.boldLabel);
+            EditorGUILayout.PropertyField(m_ObiSettings.FindProperty("m_ParticleBrush"), Styles.particleBrush);
+            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_PropertyGradient"), Styles.propertyGradient);
+        }
+
+        // Register the SettingsProvider
+        [SettingsProvider]
+        public static SettingsProvider CreateMyCustomSettingsProvider()
+        {
+            if (IsSettingsAvailable())
+            {
+                var provider = new ObiSettingsProvider("Preferences/Obi", SettingsScope.User);
+
+                // Automatically extract all keywords from the Styles.
+                provider.keywords = GetSearchKeywordsFromGUIContentProperties<Styles>();
+                return provider;
+            }
+
+            // Settings Asset doesn't exist yet; no need to display anything in the Settings window.
+            return null;
+        }
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Editor/Common/ObiSettingsProvider.cs.meta b/Assets/Obi/Editor/Common/ObiSettingsProvider.cs.meta
new file mode 100644
index 000000000..7c37da331
--- /dev/null
+++ b/Assets/Obi/Editor/Common/ObiSettingsProvider.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 19ac664f594284b3c92ddb354155d814
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Editor/Common/Rendering.meta b/Assets/Obi/Editor/Common/Rendering.meta
new file mode 100644
index 000000000..07c70140c
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Rendering.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 60a71308789c34bb8a53415b380a6706
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Editor/Common/Rendering/ObiParticleRendererEditor.cs b/Assets/Obi/Editor/Common/Rendering/ObiParticleRendererEditor.cs
new file mode 100644
index 000000000..310ac05e3
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Rendering/ObiParticleRendererEditor.cs
@@ -0,0 +1,32 @@
+using UnityEditor;
+using UnityEngine;
+
+namespace Obi{
+	
+	/**
+	 * Custom inspector for ObiParticleRenderer component. 
+	 */
+
+	[CustomEditor(typeof(ObiParticleRenderer)), CanEditMultipleObjects] 
+	public class ObiParticleHandleEditor : Editor
+	{
+		
+		public override void OnInspectorGUI() {
+			
+			serializedObject.UpdateIfRequiredOrScript();
+			
+			Editor.DrawPropertiesExcluding(serializedObject,"m_Script");
+			
+			// Apply changes to the serializedProperty
+			if (GUI.changed){
+				
+				serializedObject.ApplyModifiedProperties();
+				
+			}
+			
+		}
+		
+	}
+
+}
+
diff --git a/Assets/Obi/Editor/Common/Rendering/ObiParticleRendererEditor.cs.meta b/Assets/Obi/Editor/Common/Rendering/ObiParticleRendererEditor.cs.meta
new file mode 100644
index 000000000..e249bdb53
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Rendering/ObiParticleRendererEditor.cs.meta
@@ -0,0 +1,12 @@
+fileFormatVersion: 2
+guid: 2a7e6fcc51ab349e687aa6ca5bdf6739
+timeCreated: 1463090765
+licenseType: Store
+MonoImporter:
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Editor/Common/Solver.meta b/Assets/Obi/Editor/Common/Solver.meta
new file mode 100644
index 000000000..0d6cdda63
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Solver.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: d82f874c48e764fb8b49f1767f76a94a
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Editor/Common/Solver/ObiSolverEditor.cs b/Assets/Obi/Editor/Common/Solver/ObiSolverEditor.cs
new file mode 100644
index 000000000..1c9e190b7
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Solver/ObiSolverEditor.cs
@@ -0,0 +1,254 @@
+using UnityEditor;
+using UnityEngine;
+using UnityEditorInternal;
+using System;
+using System.Collections;
+using System.Collections.Generic;
+
+namespace Obi
+{
+
+    /**
+     * Custom inspector for ObiSolver components.
+     * Allows particle selection and constraint edition. 
+     * 
+     * Selection:
+     * 
+     * - To select a particle, left-click on it. 
+     * - You can select multiple particles by holding shift while clicking.
+     * - To deselect all particles, click anywhere on the object except a particle.
+     * 
+     * Constraints:
+     * 
+     * - To edit particle constraints, select the particles you wish to edit.
+     * - Constraints affecting any of the selected particles will appear in the inspector.
+     * - To add a new pin constraint to the selected particle(s), click on "Add Pin Constraint".
+     * 
+     */
+    [CustomEditor(typeof(ObiSolver)), CanEditMultipleObjects]
+    public class ObiSolverEditor : Editor
+    {
+
+        [MenuItem("GameObject/3D Object/Obi/Obi Solver", false, 100)]
+        static void CreateObiSolver(MenuCommand menuCommand)
+        {
+            GameObject go = ObiEditorUtils.CreateNewSolver();
+            GameObjectUtility.SetParentAndAlign(go, menuCommand.context as GameObject);
+            Selection.activeGameObject = go;
+        }
+
+        ObiSolver solver;
+
+        SerializedProperty backend;
+        SerializedProperty simulateWhenInvisible;
+        SerializedProperty parameters;
+        SerializedProperty gravity;
+        SerializedProperty gravitySpace;
+        SerializedProperty worldLinearInertiaScale;
+        SerializedProperty worldAngularInertiaScale;
+
+        SerializedProperty distanceConstraintParameters;
+        SerializedProperty bendingConstraintParameters;
+        SerializedProperty particleCollisionConstraintParameters;
+        SerializedProperty particleFrictionConstraintParameters;
+        SerializedProperty collisionConstraintParameters;
+        SerializedProperty frictionConstraintParameters;
+        SerializedProperty skinConstraintParameters;
+        SerializedProperty volumeConstraintParameters;
+        SerializedProperty shapeMatchingConstraintParameters;
+        SerializedProperty tetherConstraintParameters;
+        SerializedProperty pinConstraintParameters;
+        SerializedProperty stitchConstraintParameters;
+        SerializedProperty densityConstraintParameters;
+        SerializedProperty stretchShearConstraintParameters;
+        SerializedProperty bendTwistConstraintParameters;
+        SerializedProperty chainConstraintParameters;
+
+        BooleanPreference solverFoldout;
+        BooleanPreference simulationFoldout;
+        BooleanPreference collisionsFoldout;
+        BooleanPreference constraintsFoldout;
+
+        GUIContent constraintLabelContent;
+
+        public void OnEnable()
+        {
+            solver = (ObiSolver)target;
+            constraintLabelContent = new GUIContent();
+
+            solverFoldout = new BooleanPreference($"{target.GetType()}.solverFoldout", true);
+            simulationFoldout = new BooleanPreference($"{target.GetType()}.simulationFoldout", false);
+            collisionsFoldout = new BooleanPreference($"{target.GetType()}.collisionsFoldout", false);
+            constraintsFoldout = new BooleanPreference($"{target.GetType()}.constraintsFoldout", false);
+
+            backend = serializedObject.FindProperty("m_Backend");
+            simulateWhenInvisible = serializedObject.FindProperty("simulateWhenInvisible");
+            parameters = serializedObject.FindProperty("parameters");
+            gravity = serializedObject.FindProperty("gravity");
+            gravitySpace = serializedObject.FindProperty("gravitySpace");
+            worldLinearInertiaScale = serializedObject.FindProperty("worldLinearInertiaScale");
+            worldAngularInertiaScale = serializedObject.FindProperty("worldAngularInertiaScale");
+
+            distanceConstraintParameters = serializedObject.FindProperty("distanceConstraintParameters");
+            bendingConstraintParameters = serializedObject.FindProperty("bendingConstraintParameters");
+            particleCollisionConstraintParameters = serializedObject.FindProperty("particleCollisionConstraintParameters");
+            particleFrictionConstraintParameters = serializedObject.FindProperty("particleFrictionConstraintParameters");
+            collisionConstraintParameters = serializedObject.FindProperty("collisionConstraintParameters");
+            frictionConstraintParameters = serializedObject.FindProperty("frictionConstraintParameters");
+            skinConstraintParameters = serializedObject.FindProperty("skinConstraintParameters");
+            volumeConstraintParameters = serializedObject.FindProperty("volumeConstraintParameters");
+            shapeMatchingConstraintParameters = serializedObject.FindProperty("shapeMatchingConstraintParameters");
+            tetherConstraintParameters = serializedObject.FindProperty("tetherConstraintParameters");
+            pinConstraintParameters = serializedObject.FindProperty("pinConstraintParameters");
+            stitchConstraintParameters = serializedObject.FindProperty("stitchConstraintParameters");
+            densityConstraintParameters = serializedObject.FindProperty("densityConstraintParameters");
+            stretchShearConstraintParameters = serializedObject.FindProperty("stretchShearConstraintParameters");
+            bendTwistConstraintParameters = serializedObject.FindProperty("bendTwistConstraintParameters");
+            chainConstraintParameters = serializedObject.FindProperty("chainConstraintParameters");
+        }
+
+        public override void OnInspectorGUI()
+        {
+
+            serializedObject.UpdateIfRequiredOrScript();
+            EditorGUILayout.HelpBox("Particles:" + solver.allocParticleCount +"\n"+
+                                    "Simplices:" + solver.simplexCounts.simplexCount+"\n" +
+                                    "Contacts:" + solver.contactCount + "\n" +
+                                    "Simplex contacts:" + solver.particleContactCount, MessageType.None);
+
+            solverFoldout.value = EditorGUILayout.BeginFoldoutHeaderGroup(solverFoldout, "Solver settings");
+            if (solverFoldout)
+            {
+                EditorGUI.BeginChangeCheck();
+                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);
+#endif
+
+                if (EditorGUI.EndChangeCheck())
+                {
+                    serializedObject.ApplyModifiedProperties();
+                    foreach (var t in targets)
+                        (t as ObiSolver).UpdateBackend();
+                }
+
+
+                EditorGUILayout.PropertyField(parameters.FindPropertyRelative("mode"));
+                EditorGUILayout.PropertyField(parameters.FindPropertyRelative("interpolation"));
+            }
+            EditorGUILayout.EndFoldoutHeaderGroup();
+
+            simulationFoldout.value = EditorGUILayout.BeginFoldoutHeaderGroup(simulationFoldout, "Simulation settings");
+            if (simulationFoldout)
+            {
+                EditorGUILayout.PropertyField(gravitySpace);
+                EditorGUILayout.PropertyField(gravity);
+                EditorGUILayout.PropertyField(parameters.FindPropertyRelative("sleepThreshold"));
+                EditorGUILayout.PropertyField(parameters.FindPropertyRelative("damping"));
+                EditorGUILayout.PropertyField(worldLinearInertiaScale);
+                EditorGUILayout.PropertyField(worldAngularInertiaScale);
+                EditorGUILayout.PropertyField(parameters.FindPropertyRelative("maxAnisotropy"));
+                EditorGUILayout.PropertyField(simulateWhenInvisible);
+            }
+            EditorGUILayout.EndFoldoutHeaderGroup();
+
+            collisionsFoldout.value = EditorGUILayout.BeginFoldoutHeaderGroup(collisionsFoldout, "Collision settings");
+            if (collisionsFoldout)
+            {
+                EditorGUILayout.PropertyField(parameters.FindPropertyRelative("continuousCollisionDetection"));
+                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.EndFoldoutHeaderGroup();
+
+            constraintsFoldout.value = EditorGUILayout.BeginFoldoutHeaderGroup(constraintsFoldout, "Constraint settings");
+            if (constraintsFoldout)
+            {
+                constraintLabelContent.text = "Distance";
+                EditorGUILayout.PropertyField(distanceConstraintParameters, constraintLabelContent);
+
+                constraintLabelContent.text = "Bending";
+                EditorGUILayout.PropertyField(bendingConstraintParameters, constraintLabelContent);
+
+                constraintLabelContent.text = "Particle collision / Queries";
+                EditorGUILayout.PropertyField(particleCollisionConstraintParameters, constraintLabelContent);
+
+                constraintLabelContent.text = "Particle friction";
+                EditorGUILayout.PropertyField(particleFrictionConstraintParameters, constraintLabelContent);
+
+                constraintLabelContent.text = "Collision";
+                EditorGUILayout.PropertyField(collisionConstraintParameters, constraintLabelContent);
+
+                constraintLabelContent.text = "Friction";
+                EditorGUILayout.PropertyField(frictionConstraintParameters, constraintLabelContent);
+
+                constraintLabelContent.text = "Skin";
+                EditorGUILayout.PropertyField(skinConstraintParameters, constraintLabelContent);
+
+                constraintLabelContent.text = "Volume";
+                EditorGUILayout.PropertyField(volumeConstraintParameters, constraintLabelContent);
+
+                constraintLabelContent.text = "Shape matching";
+                EditorGUILayout.PropertyField(shapeMatchingConstraintParameters, constraintLabelContent);
+
+                constraintLabelContent.text = "Tether";
+                EditorGUILayout.PropertyField(tetherConstraintParameters, constraintLabelContent);
+
+                constraintLabelContent.text = "Pin";
+                EditorGUILayout.PropertyField(pinConstraintParameters, constraintLabelContent);
+
+                constraintLabelContent.text = "Stitch";
+                EditorGUILayout.PropertyField(stitchConstraintParameters, constraintLabelContent);
+
+                constraintLabelContent.text = "Density";
+                EditorGUILayout.PropertyField(densityConstraintParameters, constraintLabelContent);
+
+                constraintLabelContent.text = "Stretch & Shear";
+                EditorGUILayout.PropertyField(stretchShearConstraintParameters, constraintLabelContent);
+
+                constraintLabelContent.text = "Bend & Twist";
+                EditorGUILayout.PropertyField(bendTwistConstraintParameters, constraintLabelContent);
+
+                constraintLabelContent.text = "Chain";
+                EditorGUILayout.PropertyField(chainConstraintParameters, constraintLabelContent);
+            }
+            EditorGUILayout.EndFoldoutHeaderGroup();
+
+            // Apply changes to the serializedProperty
+            if (GUI.changed)
+            {
+
+                serializedObject.ApplyModifiedProperties();
+                solver.PushSolverParameters();
+
+            }
+
+        }
+
+        [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;
+                Gizmos.DrawWireCube(bounds.center, bounds.size);
+            }
+
+        }
+
+    }
+}
+
+
diff --git a/Assets/Obi/Editor/Common/Solver/ObiSolverEditor.cs.meta b/Assets/Obi/Editor/Common/Solver/ObiSolverEditor.cs.meta
new file mode 100644
index 000000000..07e52a910
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Solver/ObiSolverEditor.cs.meta
@@ -0,0 +1,12 @@
+fileFormatVersion: 2
+guid: d776094922a7647ccb5194d08e93ceaf
+timeCreated: 1444024856
+licenseType: Store
+MonoImporter:
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Editor/Common/Utils.meta b/Assets/Obi/Editor/Common/Utils.meta
new file mode 100644
index 000000000..b00896037
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Utils.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: b7a80ed0e578946aaad351df0313281a
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Editor/Common/Utils/BooleanPreference.cs b/Assets/Obi/Editor/Common/Utils/BooleanPreference.cs
new file mode 100644
index 000000000..d74b8dc46
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Utils/BooleanPreference.cs
@@ -0,0 +1,46 @@
+
+using UnityEditor;
+
+namespace Obi
+{
+    public class BooleanPreference
+    {
+        bool m_Value;
+        string m_Name;
+        bool m_Loaded;
+
+        public BooleanPreference(string name, bool value)
+        {
+            m_Name = name;
+            m_Loaded = false;
+            m_Value = value;
+        }
+
+        private void Load()
+        {
+            if (m_Loaded)
+                return;
+
+            m_Loaded = true;
+            m_Value = EditorPrefs.GetBool(m_Name, m_Value);
+        }
+
+        public bool value
+        {
+            get { Load(); return m_Value; }
+            set
+            {
+                Load();
+                if (m_Value == value)
+                    return;
+                m_Value = value;
+                EditorPrefs.SetBool(m_Name, value);
+            }
+        }
+
+        public static implicit operator bool(BooleanPreference s)
+        {
+            return s.value;
+        }
+    }
+}
diff --git a/Assets/Obi/Editor/Common/Utils/BooleanPreference.cs.meta b/Assets/Obi/Editor/Common/Utils/BooleanPreference.cs.meta
new file mode 100644
index 000000000..f74e188c6
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Utils/BooleanPreference.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 4af60554659c94226a5b3cf0b5987a5f
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Editor/Common/Utils/ObiEditorUtils.cs b/Assets/Obi/Editor/Common/Utils/ObiEditorUtils.cs
new file mode 100644
index 000000000..c3e8d2b15
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Utils/ObiEditorUtils.cs
@@ -0,0 +1,236 @@
+using System;
+using UnityEngine;
+using UnityEngine.SceneManagement;
+using UnityEditor;
+using UnityEditor.SceneManagement;
+using System.IO;
+
+namespace Obi{
+
+    public static class ObiEditorUtils
+	{
+        static GUIStyle separatorLine;
+        static GUIStyle toggleablePropertyGroup;
+        static GUIStyle boldToggle;
+
+        public static GUIStyle GetSeparatorLineStyle()
+        {
+            if (separatorLine == null)
+            {
+                separatorLine = new GUIStyle(EditorGUIUtility.GetBuiltinSkin(EditorSkin.Scene).box);
+                separatorLine.normal.background = Resources.Load<Texture2D>("SeparatorLine");
+                separatorLine.border = new RectOffset(3, 3, 0, 0);
+                separatorLine.padding = new RectOffset(0, 0, 0, 0);
+                separatorLine.margin = new RectOffset(0, 0, 0, 0);
+                separatorLine.fixedHeight = 3;
+                separatorLine.stretchWidth = true;
+            }
+            return separatorLine;
+        }
+
+        public static GUIStyle GetToggleablePropertyGroupStyle()
+        {
+            if (toggleablePropertyGroup == null)
+            {
+                toggleablePropertyGroup = new GUIStyle();
+                toggleablePropertyGroup.normal.background = Resources.Load<Texture2D>("ToggleableGroupBg"); 
+                toggleablePropertyGroup.border = new RectOffset(3, 3, 3, 3);
+                toggleablePropertyGroup.padding = new RectOffset(0, 0, 0, 0);
+                toggleablePropertyGroup.margin = new RectOffset(0, 0, 3, 3);
+            }
+            return toggleablePropertyGroup;
+        }
+
+        public static GUIStyle GetBoldToggleStyle()
+        {
+            if (boldToggle == null)
+            {
+                boldToggle = new GUIStyle(EditorStyles.toggle);
+                boldToggle.fontStyle = FontStyle.Bold;
+            }
+            return boldToggle;
+        }
+
+        public static void SaveMesh (Mesh mesh, string title, string name, bool makeNewInstance = true, bool optimizeMesh = true) {
+
+			string path = EditorUtility.SaveFilePanel(title, "Assets/", name, "asset");
+			if (string.IsNullOrEmpty(path)) return;
+	        
+			path = FileUtil.GetProjectRelativePath(path);
+
+			Mesh meshToSave = (makeNewInstance) ? GameObject.Instantiate(mesh) as Mesh : mesh;
+
+			if (optimizeMesh)
+			     MeshUtility.Optimize(meshToSave);
+	        
+			AssetDatabase.CreateAsset(meshToSave, path);
+			AssetDatabase.SaveAssets();
+		}
+
+        public static void PlaceActorRoot(GameObject element, MenuCommand menuCommand)
+        {
+            GameObject parent = menuCommand.context as GameObject;
+
+            if (parent == null)
+            {
+                parent = GetOrCreateSolverObject();
+            }
+
+            if (parent.GetComponentsInParent<ObiSolver>(true).Length == 0)
+            {
+                // Create solver under context GameObject,
+                // and make that be the parent which actor is added under.
+                GameObject solver = CreateNewSolver();
+                solver.transform.SetParent(parent.transform, false);
+                parent = solver;
+            }
+
+            // The element needs to be already in its destination scene when the
+            // RegisterCreatedObjectUndo is performed; otherwise the scene it was created in is dirtied.
+            SceneManager.MoveGameObjectToScene(element, parent.scene);
+
+            Undo.RegisterCreatedObjectUndo(element, "Create " + element.name);
+
+            if (element.transform.parent == null)
+                Undo.SetTransformParent(element.transform, parent.transform, "Parent " + element.name);
+
+            GameObjectUtility.EnsureUniqueNameForSibling(element);
+
+            // We have to fix up the undo name since the name of the object was only known after reparenting it.
+            Undo.SetCurrentGroupName("Create " + element.name);
+
+            GameObjectUtility.SetParentAndAlign(element, parent);
+            Selection.activeGameObject = element;
+        }
+
+        // Helper function that returns a Solver GameObject; preferably a parent of the selection, or other existing Canvas.
+        private static GameObject GetOrCreateSolverObject()
+        {
+            GameObject selectedGo = Selection.activeGameObject;
+
+            // Try to find a gameobject that is the selected GO or one if its parents.
+            ObiSolver solver = (selectedGo != null) ? selectedGo.GetComponentInParent<ObiSolver>() : null;
+            if (IsValidSolver(solver))
+                return solver.gameObject;
+
+            // No solver in selection or its parents? Then use any valid solver.
+            // We have to find all loaded solvers, not just the ones in main scenes.
+            ObiSolver[] solverArray = StageUtility.GetCurrentStageHandle().FindComponentsOfType<ObiSolver>();
+            for (int i = 0; i < solverArray.Length; i++)
+                if (IsValidSolver(solverArray[i]))
+                    return solverArray[i].gameObject;
+
+            // No solver in the scene at all? Then create a new one.
+            return CreateNewSolver();
+        }
+
+        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);
+
+            // Works for all stages.
+            StageUtility.PlaceGameObjectInCurrentStage(root);
+            Undo.RegisterCreatedObjectUndo(root, "Create " + root.name);
+
+            return root;
+        }
+
+        static bool IsValidSolver(ObiSolver solver)
+        {
+            if (solver == null || !solver.gameObject.activeInHierarchy)
+                return false;
+
+            if (EditorUtility.IsPersistent(solver) || (solver.hideFlags & HideFlags.HideInHierarchy) != 0)
+                return false;
+
+            if (StageUtility.GetStageHandle(solver.gameObject) != StageUtility.GetCurrentStageHandle())
+                return false;
+
+            return true;
+        }
+
+        public static void DoPropertyGroup(GUIContent content, System.Action action)
+        {
+            EditorGUILayout.BeginVertical(GetToggleablePropertyGroupStyle());
+            {
+                EditorGUILayout.BeginHorizontal();
+                EditorGUILayout.LabelField(content, EditorStyles.boldLabel); 
+                EditorGUILayout.EndHorizontal();
+
+                if (action != null)
+                {
+                    EditorGUI.indentLevel++;
+                    action();
+                    EditorGUI.indentLevel--;
+                }
+            }
+            EditorGUILayout.EndVertical();
+        }
+
+        public static void DoToggleablePropertyGroup(SerializedProperty enabledProperty, GUIContent content, System.Action action)
+        {
+            bool enabled = GUI.enabled;
+            GUI.enabled &= enabledProperty.boolValue;
+            EditorGUILayout.BeginVertical(GetToggleablePropertyGroupStyle());
+            GUI.enabled = enabled;
+            {
+                EditorGUILayout.BeginHorizontal();
+                    enabledProperty.boolValue = EditorGUILayout.ToggleLeft(content,enabledProperty.boolValue,EditorStyles.boldLabel);
+                EditorGUILayout.EndHorizontal();
+
+                if (enabledProperty.boolValue && action != null)
+                {
+                    EditorGUI.indentLevel++;
+                    action();
+                    EditorGUI.indentLevel--;
+                }
+            }
+            EditorGUILayout.EndVertical();
+        }
+
+        public static int DoToolBar(int selected, GUIContent[] items)
+        {
+            // Keep the selected index within the bounds of the items array
+            selected = selected < 0 ? 0 : selected >= items.Length ? items.Length - 1 : selected;
+
+            GUIStyle style = GUI.skin.FindStyle("Button");
+
+            EditorGUILayout.BeginHorizontal();
+            GUILayout.FlexibleSpace();
+            for (int i = 0; i < items.Length; i++)
+            {
+                if (i == 0 && items.Length > 1)
+                    style = GUI.skin.FindStyle("ButtonLeft");
+                else if (items.Length > 1 && i == items.Length-1)
+                    style = GUI.skin.FindStyle("ButtonRight");
+                else if (i > 0)
+                    style = GUI.skin.FindStyle("ButtonMid");
+                    
+
+                // Display toggle. Get if toggle changed.
+                bool change = GUILayout.Toggle(selected == i, items[i],style,GUILayout.Height(24));
+                // If changed, set selected to current index.
+                if (change)
+                    selected = i;
+            }
+            GUILayout.FlexibleSpace();
+            EditorGUILayout.EndHorizontal();
+
+            // Return the currently selected item's index
+            return selected;
+        }
+	}
+}
+
+
diff --git a/Assets/Obi/Editor/Common/Utils/ObiEditorUtils.cs.meta b/Assets/Obi/Editor/Common/Utils/ObiEditorUtils.cs.meta
new file mode 100644
index 000000000..582e66409
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Utils/ObiEditorUtils.cs.meta
@@ -0,0 +1,12 @@
+fileFormatVersion: 2
+guid: 57c936f7a4f99456d944beed51c5b935
+timeCreated: 1452817402
+licenseType: Store
+MonoImporter:
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Editor/Common/Utils/ObiParticleAttachmentEditor.cs b/Assets/Obi/Editor/Common/Utils/ObiParticleAttachmentEditor.cs
new file mode 100644
index 000000000..5b34b8eca
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Utils/ObiParticleAttachmentEditor.cs
@@ -0,0 +1,112 @@
+using UnityEditor;
+using UnityEditorInternal;
+using UnityEngine;
+using System.Collections.Generic;
+using System.Linq;
+
+
+namespace Obi
+{
+
+    [CustomEditor(typeof(ObiParticleAttachment))]
+    public class ObiParticleAttachmentEditor : Editor
+    {
+
+        SerializedProperty targetTransform;
+        SerializedProperty particleGroup;
+        SerializedProperty attachmentType;
+        SerializedProperty constrainOrientation;
+        SerializedProperty compliance;
+        SerializedProperty breakThreshold;
+
+        ObiParticleAttachment attachment;
+
+        public void OnEnable()
+        {
+
+            attachment = target as ObiParticleAttachment;
+            targetTransform = serializedObject.FindProperty("m_Target");
+            particleGroup = serializedObject.FindProperty("m_ParticleGroup");
+            attachmentType = serializedObject.FindProperty("m_AttachmentType");
+            constrainOrientation = serializedObject.FindProperty("m_ConstrainOrientation");
+            compliance = serializedObject.FindProperty("m_Compliance");
+            breakThreshold = serializedObject.FindProperty("m_BreakThreshold");
+        }
+
+        public override void OnInspectorGUI()
+        {
+
+            serializedObject.UpdateIfRequiredOrScript();
+
+            // warn about incorrect setups:
+            if (!attachmentType.hasMultipleDifferentValues && !targetTransform.hasMultipleDifferentValues)
+            {
+                if (attachmentType.enumValueIndex == (int)ObiParticleAttachment.AttachmentType.Dynamic)
+                {
+                    var targetValue = targetTransform.objectReferenceValue as UnityEngine.Component;
+                    if (targetValue != null)
+                    {
+                        var collider = targetValue.GetComponent<ObiColliderBase>();
+                        if (collider == null)
+                        {
+                            EditorGUILayout.HelpBox("Dynamic attachments require the target object to have a ObiCollider component. Either add one, or change the attachment type to Static.", MessageType.Warning);
+                        }
+                    }
+                }
+            }
+
+            EditorGUILayout.PropertyField(targetTransform, new GUIContent("Target"));
+            var blueprint = attachment.actor.sourceBlueprint;
+
+            if (blueprint != null)
+            {
+                var rect = EditorGUILayout.GetControlRect();
+                var label = EditorGUI.BeginProperty(rect, new GUIContent("Particle group"), particleGroup);
+                rect = EditorGUI.PrefixLabel(rect, label);
+
+                if (GUI.Button(rect, attachment.particleGroup != null ? attachment.particleGroup.name : "None", EditorStyles.popup))
+                {
+                    // create the menu and add items to it
+                    GenericMenu menu = new GenericMenu();
+                    menu.allowDuplicateNames = true;
+
+                    for (int i = 0; i < blueprint.groups.Count; ++i)
+                    {
+                        menu.AddItem(new GUIContent(blueprint.groups[i].name), blueprint.groups[i] == attachment.particleGroup, OnParticleGroupSelected, blueprint.groups[i]);
+                    }
+
+                    // display the menu
+                    menu.DropDown(rect);
+                }
+
+                EditorGUI.EndProperty();
+            }
+
+            EditorGUILayout.PropertyField(attachmentType, new GUIContent("Type"));
+
+            if (attachment.actor.usesOrientedParticles)
+                EditorGUILayout.PropertyField(constrainOrientation, new GUIContent("Constraint Orientation"));
+
+            if (attachment.attachmentType == ObiParticleAttachment.AttachmentType.Dynamic)
+            {
+                EditorGUILayout.PropertyField(compliance, new GUIContent("Compliance"));
+                EditorGUILayout.PropertyField(breakThreshold, new GUIContent("Break threshold"));
+            }
+
+            if (GUI.changed)
+                serializedObject.ApplyModifiedProperties();
+
+        }
+
+        // the GenericMenu.MenuFunction2 event handler for when a menu item is selected
+        void OnParticleGroupSelected(object index)
+        {
+            Undo.RecordObject(attachment, "Set particle group");
+            attachment.particleGroup = index as ObiParticleGroup;
+            PrefabUtility.RecordPrefabInstancePropertyModifications(attachment);
+        }
+    }
+
+}
+
+
diff --git a/Assets/Obi/Editor/Common/Utils/ObiParticleAttachmentEditor.cs.meta b/Assets/Obi/Editor/Common/Utils/ObiParticleAttachmentEditor.cs.meta
new file mode 100644
index 000000000..4d17dbba7
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Utils/ObiParticleAttachmentEditor.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 1587d981fa96c4b2291e19484a5a5b13
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Editor/Common/Utils/ObiRaycastHit.cs b/Assets/Obi/Editor/Common/Utils/ObiRaycastHit.cs
new file mode 100644
index 000000000..d56e32775
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Utils/ObiRaycastHit.cs
@@ -0,0 +1,26 @@
+using UnityEngine;
+using System.Collections.Generic;
+
+namespace Obi
+{
+    public class ObiRaycastHit
+    {
+        
+        /// Distance from the Raycast origin to the point of impact.
+        public float distance;
+        /// The position in model space where a raycast intercepted a triangle.
+        public Vector3 position;
+        /// The normal in model space of the triangle that this raycast hit.
+        public Vector3 normal;
+        /// The triangle index of the hit face.
+        public int triangle;
+
+        public ObiRaycastHit(float distance, Vector3 position, Vector3 normal, int triangle)
+        {
+            this.distance   = distance;
+            this.position   = position;
+            this.normal     = normal;
+            this.triangle   = triangle;
+        }
+    }
+}
diff --git a/Assets/Obi/Editor/Common/Utils/ObiRaycastHit.cs.meta b/Assets/Obi/Editor/Common/Utils/ObiRaycastHit.cs.meta
new file mode 100644
index 000000000..27e33591e
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Utils/ObiRaycastHit.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 2eb47a91b4f7c4f4aa52d4b914caa96e
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Editor/Common/Utils/PreviewHelpers.cs b/Assets/Obi/Editor/Common/Utils/PreviewHelpers.cs
new file mode 100644
index 000000000..5ba601a90
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Utils/PreviewHelpers.cs
@@ -0,0 +1,150 @@
+using System;
+using UnityEditor;
+using UnityEngine;
+
+namespace Obi{
+
+	class PreviewHelpers
+	{
+
+		// Preview interaction related stuff:
+		static int sliderHash = "Slider".GetHashCode();
+		public static Vector2 Drag2D(Vector2 scrollPosition, Rect position)
+		{
+			int controlID = GUIUtility.GetControlID(PreviewHelpers.sliderHash, FocusType.Passive);
+			Event current = Event.current;
+			switch (current.GetTypeForControl(controlID))
+			{
+			case EventType.MouseDown:
+				if (position.Contains(current.mousePosition) && position.width > 50f)
+				{
+					GUIUtility.hotControl = controlID;
+					current.Use();
+					EditorGUIUtility.SetWantsMouseJumping(1);
+				}
+				break;
+			case EventType.MouseUp:
+				if (GUIUtility.hotControl == controlID)
+				{
+					GUIUtility.hotControl = 0;
+				}
+				EditorGUIUtility.SetWantsMouseJumping(0);
+				break;
+			case EventType.MouseDrag:
+				if (GUIUtility.hotControl == controlID)
+				{
+					scrollPosition -= current.delta * (float)((!current.shift) ? 1 : 3) / Mathf.Min(position.width, position.height) * 140f;
+					scrollPosition.y = Mathf.Clamp(scrollPosition.y, -90f, 90f);
+					current.Use();
+					GUI.changed = true;
+				}
+				break;
+			}
+			return scrollPosition;
+		}
+
+		public Camera m_Camera;
+		public float m_CameraFieldOfView = 30f;
+		public Light[] m_Light = new Light[2];
+		internal RenderTexture m_RenderTexture;
+		public PreviewHelpers() : this(false)
+		{
+		}
+		public PreviewHelpers(bool renderFullScene)
+		{
+			GameObject gameObject = EditorUtility.CreateGameObjectWithHideFlags("PreRenderCamera", HideFlags.HideAndDontSave, new Type[]
+			                                                                    {
+				typeof(Camera)
+			});
+			this.m_Camera = gameObject.GetComponent<Camera>();
+			this.m_Camera.fieldOfView = this.m_CameraFieldOfView;
+			this.m_Camera.cullingMask = 1 << 1;
+			this.m_Camera.enabled = false;
+			this.m_Camera.clearFlags = CameraClearFlags.SolidColor;
+			this.m_Camera.farClipPlane = 10f;
+			this.m_Camera.nearClipPlane = 1f;
+			this.m_Camera.backgroundColor = new Color(0.192156866f, 0.192156866f, 0.192156866f, 0);
+			this.m_Camera.renderingPath = RenderingPath.Forward;
+			this.m_Camera.useOcclusionCulling = false;
+
+			for (int i = 0; i < 2; i++)
+			{
+				GameObject gameObject2 = EditorUtility.CreateGameObjectWithHideFlags("PreRenderLight", HideFlags.HideAndDontSave, new Type[]
+				                                                                     {
+					typeof(Light)
+				});
+				this.m_Light[i] = gameObject2.GetComponent<Light>();
+				this.m_Light[i].type = LightType.Directional;
+				this.m_Light[i].intensity = 1f;
+				this.m_Light[i].enabled = false;
+			}
+
+			this.m_Light[0].color = new Color(0.4f, 0.4f, 0.45f, 0f);
+			this.m_Light[1].transform.rotation = Quaternion.Euler(340f, 218f, 177f);
+			this.m_Light[1].color = new Color(0.4f, 0.4f, 0.45f, 0f) * 0.7f;
+		}
+		public void Cleanup()
+		{
+			if (this.m_Camera)
+			{
+				UnityEngine.Object.DestroyImmediate(this.m_Camera.gameObject, true);
+			}
+			if (this.m_RenderTexture)
+			{
+				UnityEngine.Object.DestroyImmediate(this.m_RenderTexture);
+				this.m_RenderTexture = null;
+			}
+			Light[] light = this.m_Light;
+			for (int i = 0; i < light.Length; i++)
+			{
+				Light light2 = light[i];
+				if (light2)
+				{
+					UnityEngine.Object.DestroyImmediate(light2.gameObject, true);
+				}
+			}
+		}
+
+		private void InitPreview(Rect r)
+		{
+			int num = (int)r.width;
+			int num2 = (int)r.height;
+			if (!this.m_RenderTexture || this.m_RenderTexture.width != num || this.m_RenderTexture.height != num2)
+			{
+				if (this.m_RenderTexture)
+				{
+					UnityEngine.Object.DestroyImmediate(this.m_RenderTexture);
+					this.m_RenderTexture = null;
+				}
+				float scaleFactor = this.GetScaleFactor((float)num, (float)num2);
+				this.m_RenderTexture = new RenderTexture((int)((float)num * scaleFactor), (int)((float)num2 * scaleFactor), 16);
+				this.m_RenderTexture.hideFlags = HideFlags.HideAndDontSave;
+				this.m_Camera.targetTexture = this.m_RenderTexture;
+			}
+			float num3 = (this.m_RenderTexture.width > 0) ? Mathf.Max(1f, (float)this.m_RenderTexture.height / (float)this.m_RenderTexture.width) : 1f;
+			this.m_Camera.fieldOfView = Mathf.Atan(num3 * Mathf.Tan(this.m_CameraFieldOfView * 0.5f * 0.0174532924f)) * 57.29578f * 2f;
+
+		}
+		public float GetScaleFactor(float width, float height)
+		{
+			float a = Mathf.Max(Mathf.Min(width * 2f, 1024f), width) / width;
+			float b = Mathf.Max(Mathf.Min(height * 2f, 1024f), height) / height;
+			return Mathf.Min(a, b);
+		}
+
+		public void BeginPreview(Rect r, GUIStyle previewBackground)
+		{
+			this.InitPreview(r);
+			if (previewBackground == null || previewBackground == GUIStyle.none)
+			{
+				return;
+			}
+		}
+		public Texture EndPreview()
+		{
+			m_Camera.Render();
+			return this.m_RenderTexture;
+		}
+
+	}
+}
diff --git a/Assets/Obi/Editor/Common/Utils/PreviewHelpers.cs.meta b/Assets/Obi/Editor/Common/Utils/PreviewHelpers.cs.meta
new file mode 100644
index 000000000..8ff77efc9
--- /dev/null
+++ b/Assets/Obi/Editor/Common/Utils/PreviewHelpers.cs.meta
@@ -0,0 +1,12 @@
+fileFormatVersion: 2
+guid: 886ef4783c97a4dac9034b48a6c94b6c
+timeCreated: 1438171037
+licenseType: Store
+MonoImporter:
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Editor/Obi.Editor.asmdef b/Assets/Obi/Editor/Obi.Editor.asmdef
new file mode 100644
index 000000000..3c97604ac
--- /dev/null
+++ b/Assets/Obi/Editor/Obi.Editor.asmdef
@@ -0,0 +1,33 @@
+{
+    "name": "Obi.Editor",
+    "references": [
+        "GUID:da7abd44cdeea48609605c1c2c9609c0"
+    ],
+    "includePlatforms": [
+        "Editor"
+    ],
+    "excludePlatforms": [],
+    "allowUnsafeCode": false,
+    "overrideReferences": false,
+    "precompiledReferences": [],
+    "autoReferenced": true,
+    "defineConstraints": [],
+    "versionDefines": [
+        {
+            "name": "com.unity.collections",
+            "expression": "0.8.0-preview.5",
+            "define": "OBI_COLLECTIONS"
+        },
+        {
+            "name": "com.unity.burst",
+            "expression": "1.2.3-verified",
+            "define": "OBI_BURST"
+        },
+        {
+            "name": "com.unity.mathematics",
+            "expression": "1.0.1",
+            "define": "OBI_MATHEMATICS"
+        }
+    ],
+    "noEngineReferences": false
+}
\ No newline at end of file
diff --git a/Assets/Obi/Editor/Obi.Editor.asmdef.meta b/Assets/Obi/Editor/Obi.Editor.asmdef.meta
new file mode 100644
index 000000000..770027d79
--- /dev/null
+++ b/Assets/Obi/Editor/Obi.Editor.asmdef.meta
@@ -0,0 +1,7 @@
+fileFormatVersion: 2
+guid: 180639cf42b5c450c8fdad7e31d2ec13
+AssemblyDefinitionImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Editor/ObiParticleSelection.cs b/Assets/Obi/Editor/ObiParticleSelection.cs
new file mode 100644
index 000000000..06f1bb9d6
--- /dev/null
+++ b/Assets/Obi/Editor/ObiParticleSelection.cs
@@ -0,0 +1,186 @@
+using UnityEngine;
+using UnityEditor;
+using System;
+using System.Collections;
+using System.Collections.Generic;
+
+namespace Obi
+{
+
+    public static class ObiParticleSelection
+    {
+
+        static int particleSelectorHash = "ObiParticleSelectorHash".GetHashCode();
+
+        static Vector2 startPos;
+        static Vector2 currentPos;
+        static bool dragging = false;
+        static Rect marquee;
+
+        public static bool DoSelection(Vector3[] positions,
+                                            bool[] selectionStatus,
+                                            bool[] facingCamera)
+        {
+
+            Matrix4x4 cachedMatrix = Handles.matrix;
+
+            int controlID = GUIUtility.GetControlID(particleSelectorHash, FocusType.Passive);
+            int selectedParticleIndex = -1;
+            bool selectionStatusChanged = false;
+
+            // select vertex on mouse click:
+            switch (Event.current.GetTypeForControl(controlID))
+            {
+
+                case EventType.MouseDown:
+
+                    if (Event.current.button != 0) break;
+
+                    startPos = Event.current.mousePosition;
+                    marquee.Set(0, 0, 0, 0);
+
+                    // If the user is not pressing shift, clear 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;
+                    }
+
+                    // Allow use of marquee selection
+                    if (Event.current.modifiers == EventModifiers.None || (Event.current.modifiers & EventModifiers.Shift) != 0)
+                        GUIUtility.hotControl = controlID;
+
+                    float minSqrDistance = System.Single.MaxValue;
+
+                    for (int i = 0; i < positions.Length; i++)
+                    {
+                        // skip not selectable particles:
+                        //if (!facingCamera[i] && (selectBackfaces & ObiActorBlueprintEditor.ParticleCulling.Back) != 0) continue;
+                        //if (facingCamera[i] && (selectBackfaces & ObiActorBlueprintEditor.ParticleCulling.Front) != 0) continue;
+
+                        // get particle position in gui space:
+                        Vector2 pos = HandleUtility.WorldToGUIPoint(positions[i]);
+
+                        // get distance from mouse position to particle position:
+                        float sqrDistance = Vector2.SqrMagnitude(startPos - pos);
+
+                        // check if this particle is closer to the cursor that any previously considered particle.
+                        if (sqrDistance < 100 && sqrDistance < minSqrDistance)
+                        { //magic number 100 = 10*10, where 10 is min distance in pixels to select a particle.
+                            minSqrDistance = sqrDistance;
+                            selectedParticleIndex = i;
+                        }
+
+                    }
+
+                    if (selectedParticleIndex >= 0)
+                    { // toggle particle selection status.
+
+                        selectionStatus[selectedParticleIndex] = !selectionStatus[selectedParticleIndex];
+                        selectionStatusChanged = true;
+                        GUIUtility.hotControl = controlID;
+                        Event.current.Use();
+
+                    }
+                    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.MouseMove:
+                    SceneView.RepaintAll();
+                    break;
+
+                case EventType.MouseDrag:
+
+                    if (GUIUtility.hotControl == controlID)
+                    {
+
+                        currentPos = Event.current.mousePosition;
+                        if (!dragging && Vector2.Distance(startPos, currentPos) > 5)
+                        {
+                            dragging = true;
+                        }
+                        else
+                        {
+                            GUIUtility.hotControl = controlID;
+                            Event.current.Use();
+                        }
+
+                        //update marquee rect:
+                        float left = Mathf.Min(startPos.x, currentPos.x);
+                        float right = Mathf.Max(startPos.x, currentPos.x);
+                        float bottom = Mathf.Min(startPos.y, currentPos.y);
+                        float top = Mathf.Max(startPos.y, currentPos.y);
+
+                        marquee = new Rect(left, bottom, right - left, top - bottom);
+
+                    }
+
+                    break;
+
+                case EventType.MouseUp:
+
+                    if (GUIUtility.hotControl == controlID)
+                    {
+
+                        dragging = false;
+
+                        for (int i = 0; i < positions.Length; i++)
+                        {
+
+                            // skip not selectable particles:
+                            //switch (selectBackfaces)
+                            {
+                                //case ObiActorBlueprintEditor.ParticleCulling.Back: if (!facingCamera[i]) continue; break;
+                                //case ObiActorBlueprintEditor.ParticleCulling.Front: if (facingCamera[i]) continue; break;
+                            }
+
+                            // get particle position in gui space:
+                            Vector2 pos = HandleUtility.WorldToGUIPoint(positions[i]);
+
+                            if (pos.x > marquee.xMin && pos.x < marquee.xMax && pos.y > marquee.yMin && pos.y < marquee.yMax)
+                            {
+                                selectionStatus[i] = true;
+                                selectionStatusChanged = true;
+                            }
+
+                        }
+
+                        GUIUtility.hotControl = 0;
+                        Event.current.Use();
+                    }
+
+                    break;
+
+                case EventType.Repaint:
+
+                    Handles.matrix = Matrix4x4.identity;
+
+                    if (dragging)
+                    {
+                        GUISkin oldSkin = GUI.skin;
+                        GUI.skin = EditorGUIUtility.GetBuiltinSkin(EditorSkin.Scene);
+                        Handles.BeginGUI();
+                        GUI.Box(new Rect(marquee.xMin, marquee.yMin, marquee.width, marquee.height), "");
+                        Handles.EndGUI();
+                        GUI.skin = oldSkin;
+                    }
+
+                    Handles.matrix = cachedMatrix;
+
+                    break;
+
+            }
+
+            return selectionStatusChanged;
+        }
+
+    }
+}
+
diff --git a/Assets/Obi/Editor/ObiParticleSelection.cs.meta b/Assets/Obi/Editor/ObiParticleSelection.cs.meta
new file mode 100644
index 000000000..c877a037d
--- /dev/null
+++ b/Assets/Obi/Editor/ObiParticleSelection.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 7020925dabebf42b7915da74e58c3b5e
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Editor/ObiStitcherEditor.cs b/Assets/Obi/Editor/ObiStitcherEditor.cs
new file mode 100644
index 000000000..772462f46
--- /dev/null
+++ b/Assets/Obi/Editor/ObiStitcherEditor.cs
@@ -0,0 +1,241 @@
+using UnityEditor;
+using UnityEngine;
+using System;
+using System.Collections;
+using System.Collections.Generic;
+using System.Linq;
+
+namespace Obi{
+	
+	/**
+	 * Custom inspector for ObiStitcher component. 
+	 */
+	
+	[CustomEditor(typeof(ObiStitcher))] 
+	public class ObiStitcherEditor : Editor
+	{
+		
+		ObiStitcher stitcher;
+		static public bool editing = false;
+
+		static public Vector3 sewingToolHandle1 = Vector3.zero;
+		static public Vector3 sewingToolHandle2 = Vector3.one;
+
+		static public bool[] selectionStatus = new bool[0];
+		
+		public void OnEnable(){
+			stitcher = (ObiStitcher)target;
+
+			// initialize sewing tool to sensible values:
+			if (stitcher.Actor1 != null && stitcher.Actor2 != null){
+				sewingToolHandle1 = stitcher.Actor1.transform.position;
+				sewingToolHandle2 = stitcher.Actor2.transform.position;
+			}
+		}
+		
+		public override void OnInspectorGUI() {
+			
+			serializedObject.UpdateIfRequiredOrScript();
+
+			EditorGUI.BeginChangeCheck();
+			ObiActor actor1 = EditorGUILayout.ObjectField("First actor",stitcher.Actor1, typeof(ObiActor),true) as ObiActor;
+			if (EditorGUI.EndChangeCheck()){
+				Undo.RecordObject(stitcher, "Set first actor");
+				stitcher.Actor1 = actor1;
+			}
+
+			EditorGUI.BeginChangeCheck();
+			ObiActor actor2 = EditorGUILayout.ObjectField("Second actor",stitcher.Actor2, typeof(ObiActor),true) as ObiActor;
+			if (EditorGUI.EndChangeCheck()){
+				Undo.RecordObject(stitcher, "Set second actor");
+				stitcher.Actor2 = actor2;
+			}
+
+			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);
+			}
+
+			EditorGUILayout.HelpBox("Stitch count: " + stitcher.StitchCount,MessageType.None);
+
+			// edit mode:
+			GUI.enabled = stitcher.Actor1 != null && stitcher.Actor2 != null;
+			editing = GUILayout.Toggle(editing,"Edit","LargeButton");
+
+			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();
+					}
+				}
+	
+				// Remove selected stitches
+				if (GUILayout.Button("Remove selected stitches")){
+
+					List<int> removedStitches = new List<int>();
+
+					for(int i = 0; i < selectionStatus.Length; ++i){
+						if (selectionStatus[i]){
+							removedStitches.Add(i);
+							selectionStatus[i] = false;
+						}
+					}
+
+					if (removedStitches.Count > 0){
+	
+						Undo.RecordObject(stitcher, "Remove stitches");
+
+						// Remove from last to first, to avoid throwing off subsequent indices:
+						foreach(int i in removedStitches.OrderByDescending(i => i)){
+							stitcher.RemoveStitch(i);
+						}
+					}
+				}
+
+				// Add stitch:
+				if (GUILayout.Button("Add Stitch")){
+					Undo.RecordObject(stitcher, "Add stitch");
+
+					int particle1 = 0;
+					int particle2 = 0;
+					UseSewingTool(ref particle1, ref particle2);
+
+					stitcher.AddStitch(particle1,particle2);
+				}
+			}
+			GUI.enabled = true;
+
+			// Apply changes to the serializedProperty
+			if (GUI.changed){
+				
+				serializedObject.ApplyModifiedProperties();
+				
+				//stitcher.PushDataToSolver(ParticleData.NONE);
+				
+			}
+			
+		}
+
+		public void UseSewingTool(ref int particle1, ref int particle2){
+
+			float minDistance = float.MaxValue;
+
+			if (stitcher.Actor1 == stitcher.Actor2){
+				float minDistance2 = float.MaxValue;
+                for (int i = 0; i < stitcher.Actor1.particleCount;++i){
+					Vector3 pos = stitcher.Actor1.GetParticlePosition(stitcher.Actor1.solverIndices[i]);
+					float distance1 = (pos - sewingToolHandle1).sqrMagnitude;
+					float distance2 = (pos - sewingToolHandle2).sqrMagnitude;
+					if (distance1 < minDistance){
+						minDistance = distance1;
+						particle1 = i;
+					}
+					if (distance2 < minDistance2){
+						minDistance2 = distance2;
+						particle2 = i;
+					}
+				}
+			}else{
+
+				// find closest particle to each end of the sewing tool:
+                for (int i = 0; i < stitcher.Actor1.particleCount;++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){
+						minDistance = min;
+						particle1 = i;
+					}
+				}
+		
+				minDistance = float.MaxValue;
+                for (int i = 0; i < stitcher.Actor2.particleCount;++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){
+						minDistance = min;
+						particle2 = i;
+					}
+				}
+			}
+		}
+
+		public void DrawSewingTool(){
+	        var fmh_171_72_639110711855728022 = Quaternion.identity; sewingToolHandle1 = Handles.FreeMoveHandle(sewingToolHandle1,HandleUtility.GetHandleSize(sewingToolHandle1)*0.05f,new Vector3(.5f,.5f,.5f),Handles.RectangleHandleCap);
+			var fmh_172_66_639110711855741230 = Quaternion.identity; sewingToolHandle2 = Handles.FreeMoveHandle(sewingToolHandle2,HandleUtility.GetHandleSize(sewingToolHandle2)*0.05f,new Vector3(.5f,.5f,.5f),Handles.RectangleHandleCap);
+			Handles.DrawDottedLine(sewingToolHandle1,sewingToolHandle2,2);
+		}
+
+		/**
+		 * Draws selected stitches in the scene view and allows their selection.
+		 */
+		public void OnSceneGUI(){
+
+			Array.Resize(ref selectionStatus,stitcher.StitchCount);
+
+			if (!editing)
+				return;
+			
+			DrawSewingTool();
+
+			if (stitcher.Actor1 != null && stitcher.Actor2 != null){
+
+				int controlID = GUIUtility.GetControlID("stitcher".GetHashCode(),FocusType.Passive);
+				float distanceToClosest = float.MaxValue;
+				int selectedIndex = -1;
+				int i = 0;
+
+				foreach(ObiStitcher.Stitch stitch in stitcher.Stitches){
+					
+					Vector3 pos1 = stitcher.Actor1.GetParticlePosition(stitcher.Actor1.solverIndices[stitch.particleIndex1]);
+					Vector3 pos2 = stitcher.Actor2.GetParticlePosition(stitcher.Actor2.solverIndices[stitch.particleIndex2]);
+	
+					switch (Event.current.GetTypeForControl(controlID)){
+						case EventType.MouseDown: 
+			
+							if (Event.current.button != 0) break;
+
+							// If the user is pressing shift, accumulate selection.
+							if ((Event.current.modifiers & EventModifiers.Shift) == 0 && (Event.current.modifiers & EventModifiers.Alt) == 0){
+								for(int j = 0; j < selectionStatus.Length; j++)
+									selectionStatus[j] = false;
+							}
+
+							float distance = HandleUtility.DistanceToLine(pos1,pos2);
+							if (distance < 10 && distance < distanceToClosest){
+
+								distanceToClosest = distance;
+								selectedIndex = i;
+				
+								// Prevent deselection if we have selected a stitch:
+								GUIUtility.hotControl = controlID;
+								Event.current.Use();
+
+							}
+						break;
+						case EventType.Repaint:
+							Handles.color = selectionStatus[i]?Color.red:Color.green;
+							Handles.DrawDottedLine(pos1,pos2,2);
+						break;
+					}
+					++i;
+				}
+
+				if (selectedIndex >= 0){
+					selectionStatus[selectedIndex] = !selectionStatus[selectedIndex];
+				}
+
+			}
+			
+		}
+		
+	}
+}
+
diff --git a/Assets/Obi/Editor/ObiStitcherEditor.cs.meta b/Assets/Obi/Editor/ObiStitcherEditor.cs.meta
new file mode 100644
index 000000000..b0c18e2e1
--- /dev/null
+++ b/Assets/Obi/Editor/ObiStitcherEditor.cs.meta
@@ -0,0 +1,12 @@
+fileFormatVersion: 2
+guid: 7d360f36068814e1a9e2835455e6be61
+timeCreated: 1489407253
+licenseType: Store
+MonoImporter:
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
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diff --git a/Assets/Obi/Editor/Resources/DistanceFieldPreview.mat.meta b/Assets/Obi/Editor/Resources/DistanceFieldPreview.mat.meta
new file mode 100644
index 000000000..0e5f4b005
--- /dev/null
+++ b/Assets/Obi/Editor/Resources/DistanceFieldPreview.mat.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 5dde1f45f471c48a1a13fc4b8c0b5b43
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+licenseType: Store
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diff --git a/Assets/Obi/Editor/Resources/DistanceFieldPreview.shader b/Assets/Obi/Editor/Resources/DistanceFieldPreview.shader
new file mode 100644
index 000000000..5b6de21f6
--- /dev/null
+++ b/Assets/Obi/Editor/Resources/DistanceFieldPreview.shader
@@ -0,0 +1,121 @@
+// Upgrade NOTE: replaced 'mul(UNITY_MATRIX_MVP,*)' with 'UnityObjectToClipPos(*)'
+
+// Upgrade NOTE: replaced '_World2Object' with 'unity_WorldToObject'
+
+ 
+Shader "Obi/Distance Field Preview" {
+	Properties {
+	    _Volume ("Texture", 3D) = "" {}
+		_AABBMin("AABB Min",Vector) = (-0.5,-0.5,-0.5)
+		_AABBMax("AABB Max",Vector) = (0.5,0.5,0.5)
+		_InsideColor("Inside color",Color) = (1,1,1,1)
+		_OutsideColor("Outside color",Color) = (0,0,0,1)
+		_Absorption("Absorption",Float) = 1.5
+		_StepSize("Step size",Float) = 0.01
+		_MaxSteps("Max steps",Int) = 300
+	}
+	SubShader {
+	Pass {
+	 
+	CGPROGRAM
+	#pragma vertex vert
+	#pragma fragment frag
+	#pragma exclude_renderers flash gles
+	 
+	#include "UnityCG.cginc"
+	 
+	struct vs_input {
+	    float4 vertex : POSITION;
+	};
+	 
+	struct ps_input {
+	    float4 pos : SV_POSITION;
+	    float3 eyeOrigin : TEXCOORD0;
+		float3 eyeDir : TEXCOORD1;
+	};
+	 
+	 
+	ps_input vert (vs_input v)
+	{
+	    ps_input o;
+	    o.pos = UnityObjectToClipPos (v.vertex);
+
+		o.eyeOrigin = mul((float3x3)unity_WorldToObject, _WorldSpaceCameraPos); // object space eye origin
+		o.eyeDir = -ObjSpaceViewDir(v.vertex);	// object space eye direction
+	    return o;
+	}
+	 
+	sampler3D _Volume;
+	float3 _AABBMin;
+	float3 _AABBMax;
+	float _Absorption;
+	float _StepSize;
+	int _MaxSteps;
+	half4 _InsideColor;
+	half4 _OutsideColor;
+
+	bool IntersectBox(float3 rayOrigin, float3 rayDir, float3 aabbMin, float3 aabbMax, out float t0, out float t1)
+	{
+	    float3 invR = 1.0 / rayDir;
+	    float3 tbot = invR * (aabbMin-rayOrigin);
+	    float3 ttop = invR * (aabbMax-rayOrigin);
+	    float3 tmin = min(ttop, tbot);
+	    float3 tmax = max(ttop, tbot);
+	    float2 t = max(tmin.xx, tmin.yz);
+	    t0 = max(t.x, t.y);
+	    t = min(tmax.xx, tmax.yz);
+	    t1 = min(t.x, t.y);
+	    return t0 <= t1;
+	}
+
+	 
+	float4 frag (ps_input input) : COLOR
+	{
+		float4 dst = float4(0.0, 0.0, 0.0, 0.0);
+
+		// Calculate ray direction
+		float3 eyeDirection = normalize(input.eyeDir);
+
+		//Calculate intersection with bounding box:
+		float tnear, tfar;
+		if (IntersectBox(input.eyeOrigin,eyeDirection,_AABBMin,_AABBMax,tnear,tfar)){
+			if (tnear < 0.0) tnear = 0.0;
+	
+			//Calculate ray start and stop positions:
+			float3 rayStart = input.eyeOrigin + eyeDirection * tnear;
+	   		float3 rayStop = input.eyeOrigin + eyeDirection * tfar;
+	
+			// Transform from object space bounds to texture coordinate space:
+			float3 aabbSize = _AABBMax-_AABBMin;
+			rayStart = (rayStart-_AABBMin) / aabbSize;
+	    	rayStop = (rayStop-_AABBMin) / aabbSize;
+	
+			// Raytrace:
+			float3 pos = rayStart;
+	    	float3 step = normalize(rayStop-rayStart) * _StepSize;
+	    	float travel = distance(rayStop,rayStart);
+	
+	    	for (int i=0; i < _MaxSteps && travel > 0.0; ++i, pos += step, travel -= _StepSize) {
+	
+				float value = tex3Dlod(_Volume, float4(pos,0)).a;
+				float4 color;
+				if (value > 0.5){ //outside the surface.
+					color = _OutsideColor * (1 - value) * 2;
+				}else{			  //inside the surface.
+					color = _InsideColor * value * 2;
+				}
+				dst += color * _StepSize * _Absorption;
+	
+	    	}
+		}
+
+        return dst;
+	}
+	 
+	ENDCG
+	 
+	}
+	}
+	 
+	Fallback "VertexLit"
+}
\ No newline at end of file
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new file mode 100644
index 000000000..84621625c
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new file mode 100644
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new file mode 100644
index 000000000..f5ed72827
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@@ -0,0 +1,57 @@
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diff --git a/Assets/Obi/Editor/Resources/EditorLineShader.shader b/Assets/Obi/Editor/Resources/EditorLineShader.shader
new file mode 100644
index 000000000..d44991f8b
--- /dev/null
+++ b/Assets/Obi/Editor/Resources/EditorLineShader.shader
@@ -0,0 +1,17 @@
+Shader "Obi/EditorLines" 
+{
+	SubShader 
+	{ 
+		Pass 
+		{
+		    Blend SrcAlpha OneMinusSrcAlpha 
+			Cull Off 
+			ZTest Always
+			Fog { Mode Off }  
+		    BindChannels 
+			{
+		      Bind "vertex", vertex Bind "color", color 
+			}
+		} 
+	} 
+}
\ No newline at end of file
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new file mode 100644
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diff --git a/Assets/Obi/Editor/Resources/EditorLines.mat b/Assets/Obi/Editor/Resources/EditorLines.mat
new file mode 100644
index 000000000..c27133a91
--- /dev/null
+++ b/Assets/Obi/Editor/Resources/EditorLines.mat
@@ -0,0 +1,85 @@
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new file mode 100644
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+++ b/Assets/Obi/Editor/Resources/EditorParticle.mat
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+    - _EmissionColor: {r: 0, g: 0, b: 0, a: 1}
+  m_BuildTextureStacks: []
+  m_AllowLocking: 1
diff --git a/Assets/Obi/Editor/Resources/EditorParticle.mat.meta b/Assets/Obi/Editor/Resources/EditorParticle.mat.meta
new file mode 100644
index 000000000..c04a62200
--- /dev/null
+++ b/Assets/Obi/Editor/Resources/EditorParticle.mat.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 8c668cf76c548481c80404cce80ab834
+timeCreated: 1445287098
+licenseType: Store
+NativeFormatImporter:
+  userData: 
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+  assetBundleVariant: 
diff --git a/Assets/Obi/Editor/Resources/EditorParticle.shader b/Assets/Obi/Editor/Resources/EditorParticle.shader
new file mode 100644
index 000000000..214d6e40b
--- /dev/null
+++ b/Assets/Obi/Editor/Resources/EditorParticle.shader
@@ -0,0 +1,60 @@
+Shader "Obi/EditorPoint"
+{
+    SubShader
+    {
+        Blend One OneMinusSrcAlpha
+        ZWrite Off
+        ZTest always 
+        Cull Back 
+ 
+        Pass
+        {
+            CGPROGRAM
+            #pragma vertex vert
+            #pragma fragment frag
+         
+            #include "UnityCG.cginc"
+ 
+            struct appdata
+            {
+                float4 vertex : POSITION;
+                float3 corner   : NORMAL;
+                fixed4 color    : COLOR;
+                float4 t0 : TEXCOORD0; // ellipsoid t1 vector
+            };
+ 
+            struct v2f
+            {
+                float4 pos : SV_POSITION;
+                fixed4 color    : COLOR;
+                float2 texcoord : TEXCOORD0;
+            };
+         
+            v2f vert (appdata v)
+            {
+                v2f o;
+                
+                // particle positions are passed in world space, no need to use modelview matrix, just view.
+                float radius = v.t0.w * distance(mul(unity_ObjectToWorld, v.vertex), _WorldSpaceCameraPos);
+                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, v.corner.y*0.5, radius);
+                o.color = v.color;
+
+                return o;
+            }
+ 
+            fixed4 frag (v2f i) : SV_Target
+            {
+                // antialiased circle:
+                float dist = length(i.texcoord);
+                float pwidth = fwidth(dist);
+                float alpha = i.color.a * saturate((0.5 - dist) / pwidth);
+                
+                return fixed4(i.color.rgb * alpha, alpha);
+            }
+            ENDCG
+        }
+    }
+}
diff --git a/Assets/Obi/Editor/Resources/EditorParticle.shader.meta b/Assets/Obi/Editor/Resources/EditorParticle.shader.meta
new file mode 100644
index 000000000..3dd4ff7c4
--- /dev/null
+++ b/Assets/Obi/Editor/Resources/EditorParticle.shader.meta
@@ -0,0 +1,9 @@
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+timeCreated: 1445287084
+licenseType: Store
+ShaderImporter:
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+  userData: 
+  assetBundleName: 
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diff --git a/Assets/Obi/Editor/Resources/EditorParticleShader.shader b/Assets/Obi/Editor/Resources/EditorParticleShader.shader
new file mode 100644
index 000000000..74670cb63
--- /dev/null
+++ b/Assets/Obi/Editor/Resources/EditorParticleShader.shader
@@ -0,0 +1,118 @@
+Shader "Obi/EditorParticles" {
+
+    Properties {
+    	_Color 		("Particle color", Color) = (1,1,1,1)
+    	_RadiusScale("Radius scale",float) = 1
+    }
+
+	SubShader { 
+
+		Pass { 
+
+                Name "EditorParticle"
+                Tags {"Queue"="Geometry" "IgnoreProjector"="True" "RenderType"="Opaque"}
+                Blend SrcAlpha OneMinusSrcAlpha  
+
+                CGPROGRAM
+                #pragma vertex vert
+                #pragma fragment frag
+                #pragma fragmentoption ARB_precision_hint_fastest
+
+                #include "../../Resources/ObiMaterials/ObiEllipsoids.cginc"
+                #include "../../Resources/ObiMaterials/ObiUtils.cginc"
+
+                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
+                {
+                	float4 pos   : SV_POSITION;
+                	fixed4 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, float3(0.5f,0.5f,0.5f));
+
+                	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
+                    float3 modelUp = mul (UNITY_MATRIX_IT_MV,float3(0,1,0));
+                    float vecHemi = dot(n, modelUp) * 0.5f + 0.5f;
+                    half3 amb = 0.6f * lerp(float3(0.5f,0.48f,0.45f), float3(0.8f,0.9f,1), vecHemi);
+
+                    // simple lighting: diffuse
+                    float ndotl = saturate( dot( n, normalize(i.lightDir) ) );
+
+                    // final lit color:
+                    fo.color.rgb = i.color * (0.5f * ndotl + 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
+
+		} 
+
+	} 
+FallBack "Diffuse"
+}
+
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new file mode 100644
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new file mode 100644
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new file mode 100644
index 000000000..afab7e2fc
--- /dev/null
+++ b/Assets/Obi/Editor/Resources/PaddingShader.shader
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+Shader "Obi/PaddingShader"
+{
+	Properties
+	{
+		_MainTex ("Texture", 2D) = "white" {}
+        _Padding ("Paddding", Int) = 32
+	}
+	SubShader
+	{
+		// No culling or depth
+		Cull Off ZWrite Off ZTest Always
+
+		Pass
+		{
+			CGPROGRAM
+			#pragma vertex vert
+			#pragma fragment frag
+			
+			#include "UnityCG.cginc"
+
+			struct appdata
+			{
+				float4 vertex : POSITION;
+				float2 uv : TEXCOORD0;
+			};
+
+			struct v2f
+			{
+				float2 uv : TEXCOORD0;
+				float4 vertex : SV_POSITION;
+			};
+
+			v2f vert (appdata v)
+			{
+				v2f o;
+				o.vertex = UnityObjectToClipPos(v.vertex);
+				o.uv = v.uv;
+				return o;
+			}
+			
+			sampler2D _MainTex;
+            float4 _MainTex_TexelSize;
+            int _Padding;
+            static const float2 offsets[8] = {float2(-1,0), float2(1,0), float2(0,1), float2(0,-1), float2(-1,1), float2(1,1), float2(1,-1), float2(-1,-1)};
+
+			fixed4 frag (v2f i) : SV_Target
+			{
+            
+                fixed4 sample = tex2D(_MainTex, i.uv);
+
+                if (sample.a > 0) 
+                    return sample;
+
+                fixed4 minSample = sample;
+                float minDist = 99999999;
+
+                for  (int k = 1; k < _Padding; ++k)
+                {
+                    for  (int j = 0; j < 8; ++j)
+                    {
+                        float2 offsetUV = i.uv + offsets[j] * _MainTex_TexelSize.xy * k;
+                        fixed4 offsetSample = tex2Dlod(_MainTex, float4(offsetUV.xy,0,0));
+
+                        if (offsetSample.a > 0) 
+                        {
+                            float dist = length(i.uv - offsetUV);
+                            if (dist < minDist)
+                            {
+                                minDist = dist;
+                                minSample = offsetSample;
+                            }
+                        }
+                    }
+                }
+
+                return minSample;
+			}
+			ENDCG
+		}
+	}
+}
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new file mode 100644
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diff --git a/Assets/Obi/Editor/Resources/PropertyGradientMaterial.mat.meta b/Assets/Obi/Editor/Resources/PropertyGradientMaterial.mat.meta
new file mode 100644
index 000000000..ee658f291
--- /dev/null
+++ b/Assets/Obi/Editor/Resources/PropertyGradientMaterial.mat.meta
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diff --git a/Assets/Obi/Editor/Resources/PropertyGradientMaterial.shader b/Assets/Obi/Editor/Resources/PropertyGradientMaterial.shader
new file mode 100644
index 000000000..e3f56cf78
--- /dev/null
+++ b/Assets/Obi/Editor/Resources/PropertyGradientMaterial.shader
@@ -0,0 +1,95 @@
+Shader "Obi/PropertyGradientMaterial" {
+
+	Properties {
+        _MainTex ("Base (RGB)", 2D) = "white" {}
+    }
+
+	SubShader { 
+
+		Pass {
+       
+            Offset 0, -50
+			Cull Back 
+			Fog { Mode Off }
+
+            CGPROGRAM
+            #pragma vertex vert
+            #pragma fragment frag
+
+            #include "UnityCG.cginc"
+
+			struct vin{
+				float4 vertex   : POSITION;
+				fixed4 color    : COLOR;
+				float2 texcoord  : TEXCOORD0;
+			};
+
+            struct v2f {
+                float4 pos: POSITION;
+                fixed4 color    : COLOR;
+				float2 texcoord  : TEXCOORD0;
+            };
+
+			sampler2D _MainTex;
+
+            v2f vert(vin v) {
+                v2f o;
+                o.pos = UnityObjectToClipPos (v.vertex);
+                o.texcoord = v.texcoord;
+				o.color = v.color;
+                return o;
+            }
+
+            fixed4 frag(v2f i) : SV_Target {
+                return i.color;
+            }
+
+            ENDCG
+        }
+
+        Pass {
+
+            Offset 0, -100
+            Cull Back 
+            ZWrite Off
+            Blend SrcAlpha OneMinusSrcAlpha
+            Fog { Mode Off }
+
+            CGPROGRAM
+            #pragma vertex vert
+            #pragma fragment frag
+
+            #include "UnityCG.cginc"
+
+            struct vin{
+                float4 vertex   : POSITION;
+                fixed4 color    : COLOR;
+                float2 texcoord  : TEXCOORD0;
+            };
+
+            struct v2f {
+                float4 pos: POSITION;
+                fixed4 color    : COLOR;
+                float2 texcoord  : TEXCOORD0;
+            };
+
+            sampler2D _MainTex;
+
+            v2f vert(vin v) {
+                v2f o;
+                o.pos = UnityObjectToClipPos (v.vertex);
+                o.texcoord = v.texcoord;
+                o.color = v.color;
+                return o;
+            }
+
+            fixed4 frag(v2f i) : SV_Target {
+                return i.color;
+            }
+
+            ENDCG
+        }
+ 
+	} 
+}
+
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new file mode 100644
index 000000000..2a3123aa1
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@@ -0,0 +1,9 @@
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new file mode 100644
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new file mode 100644
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new file mode 100644
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diff --git a/Assets/Obi/Editor/Resources/TextureIcon.psd b/Assets/Obi/Editor/Resources/TextureIcon.psd
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diff --git a/Assets/Obi/Editor/Resources/TopologyBorders.shader b/Assets/Obi/Editor/Resources/TopologyBorders.shader
new file mode 100644
index 000000000..923f6aa42
--- /dev/null
+++ b/Assets/Obi/Editor/Resources/TopologyBorders.shader
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+// Upgrade NOTE: replaced 'mul(UNITY_MATRIX_MVP,*)' with 'UnityObjectToClipPos(*)'
+
+
+Shader "Obi/TopologyBorders" {
+Properties {
+	_Color ("Main Color", Color) = (1,1,1,1)
+}
+
+SubShader {
+	Tags { "RenderType"="Opaque" }
+	LOD 100
+	
+	Pass {  
+
+		ZWrite Off 
+		ZTest always 
+		Cull Off 
+		Fog { Mode Off }
+
+		CGPROGRAM
+			#pragma vertex vert
+			#pragma fragment frag
+			#pragma multi_compile_fog
+			
+			#include "UnityCG.cginc"
+
+			struct appdata_t {
+				float4 vertex : POSITION;
+			};
+
+			struct v2f {
+				float4 vertex : SV_POSITION;
+			};
+
+			fixed4 _Color;
+			
+			v2f vert (appdata_t v)
+			{
+				v2f o;
+				o.vertex = UnityObjectToClipPos(v.vertex);
+				return o;
+			}
+			
+			fixed4 frag (v2f i) : COLOR
+			{
+				fixed4 col = _Color;
+				UNITY_OPAQUE_ALPHA(col.a);
+				return col;
+			}
+		ENDCG
+	}
+}
+
+}
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new file mode 100644
index 000000000..56d3d68c6
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+++ b/Assets/Obi/Editor/Resources/TopologyPreview.mat
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diff --git a/Assets/Obi/Editor/Resources/UVSpaceColor.shader b/Assets/Obi/Editor/Resources/UVSpaceColor.shader
new file mode 100644
index 000000000..c8b2ac3eb
--- /dev/null
+++ b/Assets/Obi/Editor/Resources/UVSpaceColor.shader
@@ -0,0 +1,47 @@
+Shader "Obi/UVSpaceColor"
+{
+	SubShader
+	{
+		Tags { "RenderType"="Opaque" }
+		LOD 100
+
+		Pass
+		{
+			CGPROGRAM
+			#pragma vertex vert
+			#pragma fragment frag
+			
+			#include "UnityCG.cginc"
+
+			struct appdata
+			{
+				float4 vertex : POSITION;
+                fixed4 color    : COLOR;
+				float2 uv : TEXCOORD0;
+			};
+
+			struct v2f
+			{
+				float2 uv : TEXCOORD0;
+                fixed4 color    : COLOR;
+				float4 vertex : SV_POSITION;
+			};
+			
+			v2f vert (appdata v)
+			{
+				v2f o;
+                o.uv = v.uv;
+                o.vertex = float4(v.uv.xy,0,1);
+				o.vertex = UnityObjectToClipPos(float4(v.uv,0,1));
+                o.color = v.color;
+				return o;
+			}
+			
+			fixed4 frag (v2f i) : SV_Target
+			{
+				return i.color;
+			}
+			ENDCG
+		}
+	}
+}
diff --git a/Assets/Obi/Editor/Resources/UVSpaceColor.shader.meta b/Assets/Obi/Editor/Resources/UVSpaceColor.shader.meta
new file mode 100644
index 000000000..367df23aa
--- /dev/null
+++ b/Assets/Obi/Editor/Resources/UVSpaceColor.shader.meta
@@ -0,0 +1,9 @@
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diff --git a/Assets/Obi/Editor/Resources/UVSpaceColorMaterial.mat b/Assets/Obi/Editor/Resources/UVSpaceColorMaterial.mat
new file mode 100644
index 000000000..5519f761d
--- /dev/null
+++ b/Assets/Obi/Editor/Resources/UVSpaceColorMaterial.mat
@@ -0,0 +1,80 @@
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diff --git a/Assets/Obi/Editor/Resources/UnpinButton.psd b/Assets/Obi/Editor/Resources/UnpinButton.psd
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new file mode 100644
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diff --git a/Assets/Obi/Editor/Resources/VoxelMaterial.mat b/Assets/Obi/Editor/Resources/VoxelMaterial.mat
new file mode 100644
index 000000000..48145edff
--- /dev/null
+++ b/Assets/Obi/Editor/Resources/VoxelMaterial.mat
@@ -0,0 +1,83 @@
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diff --git a/Assets/Obi/Editor/Resources/VoxelMaterial.mat.meta b/Assets/Obi/Editor/Resources/VoxelMaterial.mat.meta
new file mode 100644
index 000000000..344e7c4d4
--- /dev/null
+++ b/Assets/Obi/Editor/Resources/VoxelMaterial.mat.meta
@@ -0,0 +1,8 @@
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diff --git a/Assets/Obi/Editor/Resources/VoxelMaterial.shader b/Assets/Obi/Editor/Resources/VoxelMaterial.shader
new file mode 100644
index 000000000..55d1a82b4
--- /dev/null
+++ b/Assets/Obi/Editor/Resources/VoxelMaterial.shader
@@ -0,0 +1,63 @@
+Shader "Obi/VoxelMaterial" {
+
+	Properties {
+        _MainTex ("Base (RGB)", 2D) = "white" {}
+        _Size("Square size",Float) = 0.95
+        _InsideColor("Inside color",Color) = (1,1,1,1)
+        _OutsideColor("Outside color",Color) = (0,0,0,1)
+    }
+
+	SubShader { 
+
+		Pass {
+       
+			Cull Back 
+			Fog { Mode Off }
+
+            CGPROGRAM
+            #pragma vertex vert
+            #pragma fragment frag
+
+            #include "UnityCG.cginc"
+
+			struct vin{
+				float4 vertex   : POSITION;
+				fixed4 color    : COLOR;
+				float2 texcoord  : TEXCOORD0;
+			};
+
+            struct v2f {
+                float4 pos: POSITION;
+                fixed4 color    : COLOR;
+			   float2 texcoord  : TEXCOORD0;
+            };
+
+		   sampler2D _MainTex;
+            float _Size;
+            fixed4 _InsideColor;
+            fixed4 _OutsideColor;
+
+            v2f vert(vin v) {
+                v2f o;
+                o.pos = UnityObjectToClipPos (v.vertex);
+                o.texcoord = v.texcoord;
+			   o.color = v.color;
+                return o;
+            }
+
+            fixed4 frag(v2f i) : SV_Target {
+                
+                float2 centered = i.texcoord * 2 - 1;
+                float square = max(abs(centered.x), abs(centered.y)) - 0.05f/(2.0*1.4142);
+                float width = fwidth(square);
+                float alpha = smoothstep(_Size - width, _Size,  square);
+
+                return lerp(_InsideColor,_OutsideColor,alpha);
+            }
+
+            ENDCG
+        }
+ 
+	} 
+}
+
diff --git a/Assets/Obi/Editor/Resources/VoxelMaterial.shader.meta b/Assets/Obi/Editor/Resources/VoxelMaterial.shader.meta
new file mode 100644
index 000000000..d5800a63c
--- /dev/null
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@@ -0,0 +1,9 @@
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diff --git a/Assets/Obi/Editor/Resources/obi_editor_logo.png b/Assets/Obi/Editor/Resources/obi_editor_logo.png
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new file mode 100644
index 000000000..464725b23
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@@ -0,0 +1,59 @@
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diff --git a/Assets/Obi/Editor/RopeAndRod.meta b/Assets/Obi/Editor/RopeAndRod.meta
new file mode 100644
index 000000000..2f90f428d
--- /dev/null
+++ b/Assets/Obi/Editor/RopeAndRod.meta
@@ -0,0 +1,10 @@
+fileFormatVersion: 2
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+- ObiRope
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diff --git a/Assets/Obi/Editor/RopeAndRod/Blueprints.meta b/Assets/Obi/Editor/RopeAndRod/Blueprints.meta
new file mode 100644
index 000000000..2d99c2303
--- /dev/null
+++ b/Assets/Obi/Editor/RopeAndRod/Blueprints.meta
@@ -0,0 +1,8 @@
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diff --git a/Assets/Obi/Editor/RopeAndRod/Blueprints/ObiRopeBaseBlueprintEditor.cs b/Assets/Obi/Editor/RopeAndRod/Blueprints/ObiRopeBaseBlueprintEditor.cs
new file mode 100644
index 000000000..ff5c98e18
--- /dev/null
+++ b/Assets/Obi/Editor/RopeAndRod/Blueprints/ObiRopeBaseBlueprintEditor.cs
@@ -0,0 +1,58 @@
+using UnityEngine;
+using UnityEditor;
+using System.Collections.Generic;
+using System.Collections;
+using System;
+
+namespace Obi
+{
+    [CustomEditor(typeof(ObiRopeBlueprintBase), true)]
+    public class ObiRopeBaseBlueprintEditor : ObiActorBlueprintEditor
+    {
+
+        public override void OnEnable()
+        {
+            base.OnEnable();
+            Undo.undoRedoPerformed += UndoRedoPerformed;
+        }
+
+        public override void OnDisable()
+        {
+            base.OnDisable();
+            Undo.undoRedoPerformed -= UndoRedoPerformed;
+        }
+
+        void UndoRedoPerformed()
+        {
+            // Re-generate the blueprint after undo/redo.
+            if (blueprint != null)
+                blueprint.GenerateImmediate();
+        }
+
+        public override void OnInspectorGUI()
+        {
+
+            serializedObject.UpdateIfRequiredOrScript();
+
+            EditorGUILayout.BeginVertical(EditorStyles.inspectorDefaultMargins);
+            Editor.DrawPropertiesExcluding(serializedObject, "m_Script");
+
+            EditorGUILayout.EndVertical();
+
+            if (GUI.changed)
+            {
+                serializedObject.ApplyModifiedProperties();
+
+                // Re-generate the blueprint if any element has been changed.
+                if (blueprint != null)
+                    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.
+                EditorUtility.SetDirty(this);
+            }
+        }
+    }
+
+
+}
diff --git a/Assets/Obi/Editor/RopeAndRod/Blueprints/ObiRopeBaseBlueprintEditor.cs.meta b/Assets/Obi/Editor/RopeAndRod/Blueprints/ObiRopeBaseBlueprintEditor.cs.meta
new file mode 100644
index 000000000..c5925c274
--- /dev/null
+++ b/Assets/Obi/Editor/RopeAndRod/Blueprints/ObiRopeBaseBlueprintEditor.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 87efff4816bdd4fa4bda69ca33516658
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Editor/RopeAndRod/BonePropertyCurveDrawer.cs b/Assets/Obi/Editor/RopeAndRod/BonePropertyCurveDrawer.cs
new file mode 100644
index 000000000..8d240cdec
--- /dev/null
+++ b/Assets/Obi/Editor/RopeAndRod/BonePropertyCurveDrawer.cs
@@ -0,0 +1,29 @@
+using UnityEngine;
+using UnityEditor;
+
+namespace Obi
+{ 
+    [CustomPropertyDrawer(typeof(ObiBone.BonePropertyCurve))]
+    public class BonePropertyCurveDrawer : PropertyDrawer
+    {
+        public override void OnGUI(Rect position, SerializedProperty property, GUIContent label)
+        {
+            EditorGUI.BeginProperty(position, label, property);
+
+            float curveFieldWidth = (position.width - EditorGUIUtility.labelWidth) * 0.5f;
+
+            var multRect = new Rect(position.x, position.y, position.width - curveFieldWidth, position.height);
+            EditorGUI.PropertyField(multRect, property.FindPropertyRelative("multiplier"), label);
+
+            var indent = EditorGUI.indentLevel;
+            EditorGUI.indentLevel = 0;
+
+            var curveRect = new Rect(position.x + position.width - curveFieldWidth + 3, position.y, curveFieldWidth - 3, position.height);
+            EditorGUI.CurveField(curveRect, property.FindPropertyRelative("curve"), Color.green, new Rect(0, 0, 1, 1), GUIContent.none);
+
+            EditorGUI.indentLevel = indent;
+
+            EditorGUI.EndProperty();
+        }
+    }
+}
diff --git a/Assets/Obi/Editor/RopeAndRod/BonePropertyCurveDrawer.cs.meta b/Assets/Obi/Editor/RopeAndRod/BonePropertyCurveDrawer.cs.meta
new file mode 100644
index 000000000..3fb84d07b
--- /dev/null
+++ b/Assets/Obi/Editor/RopeAndRod/BonePropertyCurveDrawer.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: b78a1342294ee4644a9a0d6a247d3604
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Editor/RopeAndRod/IgnoredBoneDrawer.cs b/Assets/Obi/Editor/RopeAndRod/IgnoredBoneDrawer.cs
new file mode 100644
index 000000000..2ba8fccf2
--- /dev/null
+++ b/Assets/Obi/Editor/RopeAndRod/IgnoredBoneDrawer.cs
@@ -0,0 +1,30 @@
+using UnityEngine;
+using UnityEditor;
+
+namespace Obi
+{
+    [CustomPropertyDrawer(typeof(ObiBone.IgnoredBone))]
+    public class IgnoredBoneDrawer : PropertyDrawer
+    {
+        public override void OnGUI(Rect position, SerializedProperty property, GUIContent label)
+        {
+            EditorGUI.BeginProperty(position, label, property);
+
+            GUI.Box(EditorGUI.IndentedRect(position), GUIContent.none, ObiEditorUtils.GetToggleablePropertyGroupStyle());
+
+            var rect = new Rect(position.x + 4, position.y + EditorGUIUtility.standardVerticalSpacing, position.width - 8, EditorGUIUtility.singleLineHeight);
+            EditorGUI.PropertyField(rect, property.FindPropertyRelative("bone"), label);
+
+            rect.position = new Vector2(rect.position.x, rect.position.y + EditorGUIUtility.singleLineHeight + EditorGUIUtility.standardVerticalSpacing);
+            EditorGUI.PropertyField(rect, property.FindPropertyRelative("ignoreChildren"));
+
+            EditorGUI.EndProperty();
+        }
+
+        public override float GetPropertyHeight(SerializedProperty property, GUIContent label)
+        {
+            int lineCount = 2;
+            return EditorGUIUtility.singleLineHeight * lineCount + EditorGUIUtility.standardVerticalSpacing * (lineCount + 1);
+        }
+    }
+}
diff --git a/Assets/Obi/Editor/RopeAndRod/IgnoredBoneDrawer.cs.meta b/Assets/Obi/Editor/RopeAndRod/IgnoredBoneDrawer.cs.meta
new file mode 100644
index 000000000..f1da00749
--- /dev/null
+++ b/Assets/Obi/Editor/RopeAndRod/IgnoredBoneDrawer.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: f9e4bd0b2f9544e039fef4cd5d95232f
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Editor/RopeAndRod/ObiBoneEditor.cs b/Assets/Obi/Editor/RopeAndRod/ObiBoneEditor.cs
new file mode 100644
index 000000000..adf371436
--- /dev/null
+++ b/Assets/Obi/Editor/RopeAndRod/ObiBoneEditor.cs
@@ -0,0 +1,212 @@
+using UnityEditor;
+using UnityEngine;
+
+namespace Obi
+{
+
+    [CustomEditor(typeof(ObiBone))]
+    public class ObiBoneEditor : Editor
+    {
+        ObiBone bone;
+
+        SerializedProperty collisionMaterial;
+        SerializedProperty selfCollisions;
+        SerializedProperty surfaceCollisions;
+
+        SerializedProperty mass;
+        SerializedProperty rotationalMass;
+        SerializedProperty radius;
+
+        SerializedProperty skinConstraintsEnabled;
+        SerializedProperty skinCompliance;
+        SerializedProperty skinRadius;
+
+        SerializedProperty stretchShearConstraintsEnabled;
+        SerializedProperty stretchCompliance;
+        SerializedProperty shear1Compliance;
+        SerializedProperty shear2Compliance;
+
+        SerializedProperty bendTwistConstraintsEnabled;
+        SerializedProperty torsionCompliance;
+        SerializedProperty bend1Compliance;
+        SerializedProperty bend2Compliance;
+        SerializedProperty plasticYield;
+        SerializedProperty plasticCreep;
+
+        SerializedProperty fixRoot;
+        SerializedProperty stretchBones;
+        SerializedProperty ignored;
+
+        public void OnEnable()
+        {
+            bone = (ObiBone)target;
+
+            fixRoot = serializedObject.FindProperty("fixRoot");
+            stretchBones = serializedObject.FindProperty("stretchBones");
+            ignored = serializedObject.FindProperty("ignored");
+
+            collisionMaterial = serializedObject.FindProperty("m_CollisionMaterial");
+            selfCollisions = serializedObject.FindProperty("m_SelfCollisions");
+            surfaceCollisions = serializedObject.FindProperty("m_SurfaceCollisions");
+
+            mass = serializedObject.FindProperty("_mass");
+            rotationalMass = serializedObject.FindProperty("_rotationalMass");
+            radius = serializedObject.FindProperty("_radius");
+
+            skinConstraintsEnabled = serializedObject.FindProperty("_skinConstraintsEnabled");
+            skinRadius = serializedObject.FindProperty("_skinRadius");
+            skinCompliance = serializedObject.FindProperty("_skinCompliance");
+
+            stretchShearConstraintsEnabled = serializedObject.FindProperty("_stretchShearConstraintsEnabled");
+            stretchCompliance = serializedObject.FindProperty("_stretchCompliance");
+            shear1Compliance = serializedObject.FindProperty("_shear1Compliance");
+            shear2Compliance = serializedObject.FindProperty("_shear2Compliance");
+
+            bendTwistConstraintsEnabled = serializedObject.FindProperty("_bendTwistConstraintsEnabled");
+            torsionCompliance = serializedObject.FindProperty("_torsionCompliance");
+            bend1Compliance = serializedObject.FindProperty("_bend1Compliance");
+            bend2Compliance = serializedObject.FindProperty("_bend2Compliance");
+            plasticYield = serializedObject.FindProperty("_plasticYield");
+            plasticCreep = serializedObject.FindProperty("_plasticCreep");
+
+        }
+
+        public void OnDisable()
+        {
+            Tools.hidden = false;
+        }
+
+        public override void OnInspectorGUI()
+        {
+            serializedObject.UpdateIfRequiredOrScript();
+
+            EditorGUILayout.LabelField("Bones", EditorStyles.boldLabel);
+            EditorGUILayout.PropertyField(fixRoot);
+            EditorGUILayout.PropertyField(stretchBones);
+            EditorGUILayout.PropertyField(ignored);
+            EditorGUILayout.Space();
+
+            EditorGUILayout.LabelField("Collisions", EditorStyles.boldLabel);
+            EditorGUILayout.PropertyField(collisionMaterial, new GUIContent("Collision material"));
+            EditorGUI.BeginChangeCheck();
+            var newCategory = EditorGUILayout.Popup("Collision category", ObiUtils.GetCategoryFromFilter(bone.Filter), ObiUtils.categoryNames);
+            if (EditorGUI.EndChangeCheck())
+            {
+                foreach (ObiBone t in targets)
+                {
+                    Undo.RecordObject(t, "Set collision category");
+                    t.Filter = ObiUtils.MakeFilter(ObiUtils.GetMaskFromFilter(t.Filter), newCategory);
+                    PrefabUtility.RecordPrefabInstancePropertyModifications(t);
+                }
+            }
+
+            EditorGUI.BeginChangeCheck();
+            var newMask = EditorGUILayout.MaskField("Collides with", ObiUtils.GetMaskFromFilter(bone.Filter), ObiUtils.categoryNames);
+            if (EditorGUI.EndChangeCheck())
+            {
+                foreach (ObiBone t in targets)
+                {
+                    Undo.RecordObject(t, "Set collision mask");
+                    t.Filter = ObiUtils.MakeFilter(newMask, ObiUtils.GetCategoryFromFilter(t.Filter));
+                    PrefabUtility.RecordPrefabInstancePropertyModifications(t);
+                }
+            }
+            EditorGUILayout.PropertyField(selfCollisions, new GUIContent("Self collisions"));
+            EditorGUILayout.PropertyField(surfaceCollisions, new GUIContent("Surface-based collisions"));
+            EditorGUILayout.Space();
+
+            ObiEditorUtils.DoPropertyGroup(new GUIContent("Particles"),
+            () => {
+                EditorGUILayout.PropertyField(mass);
+                EditorGUILayout.PropertyField(rotationalMass);
+                EditorGUILayout.PropertyField(radius);
+            });
+
+            ObiEditorUtils.DoToggleablePropertyGroup(skinConstraintsEnabled, new GUIContent("Skin Constraints", Resources.Load<Texture2D>("Icons/ObiSkinConstraints Icon")),
+            () => {
+                EditorGUILayout.PropertyField(skinRadius, new GUIContent("Skin radius"));
+                EditorGUILayout.PropertyField(skinCompliance, new GUIContent("Skin compliance"));
+            });
+
+            ObiEditorUtils.DoToggleablePropertyGroup(stretchShearConstraintsEnabled, new GUIContent("Stretch & Shear Constraints", Resources.Load<Texture2D>("Icons/ObiStretchShearConstraints Icon")),
+            () => {
+                EditorGUILayout.PropertyField(stretchCompliance, new GUIContent("Stretch compliance"));
+                EditorGUILayout.PropertyField(shear1Compliance, new GUIContent("Shear compliance X"));
+                EditorGUILayout.PropertyField(shear2Compliance, new GUIContent("Shear compliance Y"));
+            });
+
+            ObiEditorUtils.DoToggleablePropertyGroup(bendTwistConstraintsEnabled, new GUIContent("Bend & Twist Constraints", Resources.Load<Texture2D>("Icons/ObiBendTwistConstraints Icon")),
+            () => {
+                EditorGUILayout.PropertyField(torsionCompliance, new GUIContent("Torsion compliance"));
+                EditorGUILayout.PropertyField(bend1Compliance, new GUIContent("Bend compliance X"));
+                EditorGUILayout.PropertyField(bend2Compliance, new GUIContent("Bend compliance Y"));
+                EditorGUILayout.PropertyField(plasticYield, new GUIContent("Plastic yield"));
+                EditorGUILayout.PropertyField(plasticCreep, new GUIContent("Plastic creep"));
+            });
+
+            if (GUI.changed)
+                serializedObject.ApplyModifiedProperties();
+
+        }
+
+
+        [DrawGizmo(GizmoType.Selected)]
+        private static void DrawGizmos(ObiBone actor, GizmoType gizmoType)
+        {
+            if (actor.boneBlueprint != null && actor.isLoaded)
+            {
+                var color = new Color(1, 1, 1, 0.5f);
+                var upColor = new Color(0, 1, 0, 1);
+
+                for (int i = 0; i < actor.boneBlueprint.parentIndices.Count; ++i)
+                {
+                    int parent = actor.boneBlueprint.parentIndices[i];
+                    if (parent >= 0)
+                    {
+                        var index = actor.solverIndices[parent];
+                        var nextIndex = actor.solverIndices[i];
+
+                        var pos = actor.GetParticlePosition(index);
+                        var npos = actor.GetParticlePosition(nextIndex);
+                        var or = actor.GetParticleOrientation(index);
+                        var nor = actor.GetParticleOrientation(nextIndex);
+                        var rad = actor.GetParticleMaxRadius(index);
+                        var nrad = actor.GetParticleMaxRadius(nextIndex);
+
+                        var up = pos + or * Vector3.up * rad;
+                        var down = pos + or * Vector3.down * rad;
+                        var left = pos + or * Vector3.left * rad;
+                        var right = pos + or * Vector3.right * rad;
+
+                        var nup = npos + nor * Vector3.up * nrad;
+                        var ndown = npos + nor * Vector3.down * nrad;
+                        var nleft = npos + nor * Vector3.left * nrad;
+                        var nright = npos + nor * Vector3.right * nrad;
+
+                        Handles.color = upColor;
+                        Handles.DrawLine(up, nup);
+
+                        Handles.color = color;
+                        Handles.DrawLine(down, ndown);
+                        Handles.DrawLine(left, nleft);
+                        Handles.DrawLine(right, nright);
+                        Handles.DrawWireDisc(npos, nor * Vector3.forward, nrad);
+                    }
+                }
+                if (actor.particleCount > 0)
+                {
+                    var index = actor.solverIndices[0];
+                    var pos = actor.GetParticlePosition(index);
+                    var or = actor.GetParticleOrientation(index);
+                    var rad = actor.GetParticleMaxRadius(index);
+
+                    Handles.DrawWireDisc(pos, or * Vector3.forward, rad);
+                }
+            }
+        }
+
+    }
+
+}
+
+
diff --git a/Assets/Obi/Editor/RopeAndRod/ObiBoneEditor.cs.meta b/Assets/Obi/Editor/RopeAndRod/ObiBoneEditor.cs.meta
new file mode 100644
index 000000000..2f33c8d3c
--- /dev/null
+++ b/Assets/Obi/Editor/RopeAndRod/ObiBoneEditor.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 1f25827f322514e1bb93fd309cd801bf
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Editor/RopeAndRod/ObiDraggableIcon.cs b/Assets/Obi/Editor/RopeAndRod/ObiDraggableIcon.cs
new file mode 100644
index 000000000..1d41c3b92
--- /dev/null
+++ b/Assets/Obi/Editor/RopeAndRod/ObiDraggableIcon.cs
@@ -0,0 +1,73 @@
+using UnityEngine;
+using UnityEditor;
+using System.Collections;
+
+namespace Obi{
+public class ObiDraggableIcon {
+	
+	public static bool Draw(bool selected, int id, ref Vector2 position, Color color){
+
+		Texture texture = Resources.Load<Texture2D>("Dot");
+
+		int controlID = GUIUtility.GetControlID(id,FocusType.Passive);		
+
+		// select vertex on mouse click:
+		switch (Event.current.GetTypeForControl(controlID)){
+			
+		case EventType.MouseDown: 
+			
+			Rect area = new Rect (position.x-5, position.y-5, 10, 10);
+
+			if (area.Contains(Event.current.mousePosition))
+            {
+				selected = true;
+				GUIUtility.hotControl = controlID;
+				Event.current.Use();
+			}else if ((Event.current.modifiers & EventModifiers.Shift) == 0 && (Event.current.modifiers & EventModifiers.Command) == 0){
+				
+				selected = false;
+
+			}
+			
+			break;
+			
+		case EventType.MouseDrag:
+			
+			if (GUIUtility.hotControl == controlID){
+				
+				position = Event.current.mousePosition;
+				GUI.changed = true;
+
+				Event.current.Use();
+
+			}
+			
+			break;
+			
+		case EventType.MouseUp:
+			
+			if (GUIUtility.hotControl == controlID){
+				
+				GUIUtility.hotControl = 0;
+				Event.current.Use();
+
+			}
+			
+			break;
+
+		case EventType.Repaint:
+
+                Color oldColor = GUI.color;
+                GUI.color = selected ? ObiEditorSettings.GetOrCreateSettings().selectedParticleColor : ObiEditorSettings.GetOrCreateSettings().particleColor;
+                Rect rect = new Rect (position.x-2, position.y-2, 4, 4);
+                GUI.Box(rect,EditorGUIUtility.whiteTexture);
+                GUI.color = oldColor;
+
+			break;
+			
+		}
+
+		return selected;	
+	}
+}
+}
diff --git a/Assets/Obi/Editor/RopeAndRod/ObiDraggableIcon.cs.meta b/Assets/Obi/Editor/RopeAndRod/ObiDraggableIcon.cs.meta
new file mode 100644
index 000000000..d2449d026
--- /dev/null
+++ b/Assets/Obi/Editor/RopeAndRod/ObiDraggableIcon.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: c736a38cd50af4bccbd08b83993abbdb
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Editor/RopeAndRod/ObiPathEditor.cs b/Assets/Obi/Editor/RopeAndRod/ObiPathEditor.cs
new file mode 100644
index 000000000..df630acf4
--- /dev/null
+++ b/Assets/Obi/Editor/RopeAndRod/ObiPathEditor.cs
@@ -0,0 +1,1224 @@
+using UnityEngine;
+using UnityEditor;
+using UnityEditor.EditorTools;
+using System;
+
+namespace Obi
+{
+    [EditorTool("Obi Path Editor Tool",typeof(ObiRopeBase))]
+    public class ObiPathEditor : EditorTool
+    {
+        enum PathEditorTool
+        {
+            TranslatePoints,
+            RotatePoints,
+            ScalePoints,
+            OrientPoints,
+            InsertPoints,
+            RemovePoints
+        }
+
+        ObiPath path;
+
+        Quaternion prevRot = Quaternion.identity;
+        Vector3 prevScale = Vector3.one;
+
+        PathEditorTool currentTool = PathEditorTool.TranslatePoints;
+        bool showTangentHandles = true;
+        bool showThicknessHandles = true;
+
+        public bool needsRepaint = false;
+
+        protected bool[] selectedStatus;
+        protected int lastSelected = 0;
+        protected int selectedCount = 0;
+        protected Vector3 selectionAverage;
+        protected bool useOrientation = false;
+
+        protected static Color handleColor = new Color(1, 0.55f, 0.1f);
+        protected GUIContent m_IconContent;
+
+        public override GUIContent toolbarIcon
+        {
+            get
+            {
+                if (m_IconContent == null)
+                {
+                    m_IconContent = new GUIContent()
+                    {
+                        image = Resources.Load<Texture2D>("EditCurves"),
+                        text = "Obi Path Editor Tool",
+                        tooltip = "Obi Path Editor Tool"
+                    };
+                }
+                return m_IconContent;
+            }
+        }
+
+        ObiRopeBlueprintBase blueprint
+        {
+            get { return (target as ObiRopeBase).sharedBlueprint as ObiRopeBlueprintBase; }
+        }
+
+        public void OnEnable()
+        {
+            this.useOrientation = target is ObiRod;
+            selectedStatus = new bool[0];
+        }
+
+        public void ResizeCPArrays()
+        {
+            Array.Resize(ref selectedStatus, path.ControlPointCount);
+        }
+
+        int windowId;
+        public override void OnToolGUI(EditorWindow window)
+        {
+            needsRepaint = false;
+
+            float thicknessScale = blueprint.thickness;
+            this.path = (target as ObiRopeBase).path;
+            var matrix = (target as ObiRopeBase).transform.localToWorldMatrix;
+
+            ResizeCPArrays();
+
+            HandleUtility.AddDefaultControl(GUIUtility.GetControlID(FocusType.Passive));
+
+            // get a window ID:
+            if (Event.current.type != EventType.Used)
+                windowId = GUIUtility.GetControlID(FocusType.Passive);
+
+            Matrix4x4 prevMatrix = Handles.matrix;
+            Handles.matrix = matrix;
+
+            // Draw control points:
+            Handles.color = handleColor;
+            for (int i = 0; i < path.ControlPointCount; ++i)
+            {
+                needsRepaint |= DrawControlPoint(i);
+            }
+
+            // Control point selection handle:
+            needsRepaint |= ObiPathHandles.SplineCPSelector(path, selectedStatus);
+
+            // Count selected and calculate average position:
+            selectionAverage = GetControlPointAverage(out lastSelected, out selectedCount);
+
+            // Draw cp tool handles:
+            needsRepaint |= SplineCPTools(matrix);
+
+            if (showThicknessHandles)
+                needsRepaint |= DoThicknessHandles(thicknessScale);
+
+            // Sceneview GUI:
+            Handles.BeginGUI();
+            GUILayout.Window(windowId, new Rect(10, 28, 0, 0), DrawUIWindow, "Path editor");
+            Handles.EndGUI();
+
+            Handles.matrix = prevMatrix;
+
+            // During edit mode, allow to add/remove control points.
+            if (currentTool == PathEditorTool.InsertPoints)
+                AddControlPointsMode(matrix);
+
+            if (currentTool == PathEditorTool.RemovePoints)
+                RemoveControlPointsMode(matrix);
+
+            if (needsRepaint)
+                window.Repaint();
+
+        }
+
+        private void AddControlPointsMode(Matrix4x4 matrix)
+        {
+
+            float mu = ScreenPointToCurveMu(path, Event.current.mousePosition, matrix);
+
+            Vector3 pointOnSpline = matrix.MultiplyPoint3x4(path.points.GetPositionAtMu(path.Closed, mu));
+
+            float size = HandleUtility.GetHandleSize(pointOnSpline) * 0.12f;
+
+            Ray ray = HandleUtility.GUIPointToWorldRay(Event.current.mousePosition);
+            Handles.color = Color.green;
+            Handles.DrawDottedLine(pointOnSpline, ray.origin, 4);
+            Handles.SphereHandleCap(0, pointOnSpline, Quaternion.identity, size, Event.current.type);
+
+
+            if (Event.current.type == EventType.MouseDown && Event.current.modifiers == EventModifiers.None)
+            {
+                Undo.RecordObject(blueprint, "Add");
+
+                int newIndex = path.InsertControlPoint(mu);
+                if (newIndex >= 0)
+                {
+                    ResizeCPArrays();
+                    for (int i = 0; i < selectedStatus.Length; ++i)
+                        selectedStatus[i] = false;
+                    selectedStatus[newIndex] = true;
+                }
+
+                path.FlushEvents();
+                Event.current.Use();
+            }
+
+            // Repaint the scene, so that the add control point helpers are updated every frame.
+            SceneView.RepaintAll();
+
+        }
+
+        private void RemoveControlPointsMode(Matrix4x4 matrix)
+        {
+
+            float mu = ScreenPointToCurveMu(path, Event.current.mousePosition, matrix);
+
+            Vector3 pointOnSpline = matrix.MultiplyPoint3x4(path.points.GetPositionAtMu(path.Closed, mu));
+
+            float size = HandleUtility.GetHandleSize(pointOnSpline) * 0.12f;
+
+            Ray ray = HandleUtility.GUIPointToWorldRay(Event.current.mousePosition);
+
+            Handles.color = Color.red;
+            Handles.DrawDottedLine(pointOnSpline, ray.origin, 4);
+
+            int index = path.GetClosestControlPointIndex(mu);
+            Handles.SphereHandleCap(0, matrix.MultiplyPoint3x4(path.points[index].position), Quaternion.identity, size, Event.current.type);
+
+            if (Event.current.type == EventType.MouseDown && Event.current.modifiers == EventModifiers.None && index >= 0 && path.ControlPointCount > 2)
+            {
+                Undo.RecordObject(blueprint, "Remove");
+
+                path.RemoveControlPoint(index);
+                ResizeCPArrays();
+                for (int i = 0; i < selectedStatus.Length; ++i)
+                    selectedStatus[i] = false;
+
+                path.FlushEvents();
+                Event.current.Use();
+            }
+
+            // Repaint the scene, so that the add control point helpers are updated every frame.
+            SceneView.RepaintAll();
+
+        }
+
+        protected bool DrawControlPoint(int i)
+        {
+            bool repaint = false;
+            var wp = path.points[i];
+            float size = HandleUtility.GetHandleSize(wp.position) * 0.04f;
+
+            if (selectedStatus[i] && showTangentHandles)
+            {
+
+                Handles.color = handleColor;
+
+                if (!(i == 0 && !path.Closed))
+                {
+                    Vector3 tangentPosition = wp.inTangentEndpoint;
+
+                    if (Event.current.type == EventType.Repaint)
+                        Handles.DrawDottedLine(tangentPosition, wp.position, 2);
+
+                    EditorGUI.BeginChangeCheck();
+                    Handles.DotHandleCap(0, tangentPosition, Quaternion.identity, size, Event.current.type);
+                    Vector3 newTangent = Handles.PositionHandle(tangentPosition, Quaternion.identity);
+                    if (EditorGUI.EndChangeCheck())
+                    {
+                        Undo.RecordObject(blueprint, "Modify tangent");
+                        wp.SetInTangentEndpoint(newTangent);
+                        path.points[i] = wp;
+                        path.FlushEvents();
+                        repaint = true;
+                    }
+                }
+
+                if (!(i == path.ControlPointCount - 1 && !path.Closed))
+                {
+                    Vector3 tangentPosition = wp.outTangentEndpoint;
+
+                    if (Event.current.type == EventType.Repaint)
+                        Handles.DrawDottedLine(tangentPosition, wp.position, 2);
+
+                    EditorGUI.BeginChangeCheck();
+                    Handles.DotHandleCap(0, tangentPosition, Quaternion.identity, size, Event.current.type);
+                    Vector3 newTangent = Handles.PositionHandle(tangentPosition, Quaternion.identity);
+                    if (EditorGUI.EndChangeCheck())
+                    {
+                        Undo.RecordObject(blueprint, "Modify tangent");
+                        wp.SetOutTangentEndpoint(newTangent);
+                        path.points[i] = wp;
+                        path.FlushEvents();
+                        repaint = true;
+                    }
+                }
+            }
+
+            if (Event.current.type == EventType.Repaint)
+            {
+
+                Handles.color = selectedStatus[i] ? handleColor : Color.white;
+                Vector3 pos = wp.position;
+
+                if (currentTool == PathEditorTool.OrientPoints)
+                {
+                    Handles.ArrowHandleCap(0, pos, Quaternion.LookRotation(path.normals[i]), HandleUtility.GetHandleSize(pos), EventType.Repaint);
+                }
+
+                Handles.SphereHandleCap(0, pos, Quaternion.identity, size * 3, EventType.Repaint);
+
+            }
+            return repaint;
+        }
+
+        protected Vector3 GetControlPointAverage(out int lastSelected, out int selectedCount)
+        {
+
+            lastSelected = -1;
+            selectedCount = 0;
+            Vector3 averagePos = Vector3.zero;
+
+            // Find center of all selected control points:
+            for (int i = 0; i < path.ControlPointCount; ++i)
+            {
+                if (selectedStatus[i])
+                {
+
+                    averagePos += path.points[i].position;
+                    selectedCount++;
+                    lastSelected = i;
+
+                }
+            }
+            if (selectedCount > 0)
+                averagePos /= selectedCount;
+            return averagePos;
+
+        }
+
+        protected bool SplineCPTools(Matrix4x4 matrix)
+        {
+            bool repaint = false;
+
+            // Calculate handle rotation, for local or world pivot modes.
+            Quaternion handleRotation = Tools.pivotRotation == PivotRotation.Local ? Quaternion.identity : Quaternion.Inverse(matrix.rotation);
+
+            // Reset initial handle rotation/orientation after using a tool:
+            if (GUIUtility.hotControl == 0)
+            {
+
+                prevRot = handleRotation;
+                prevScale = Vector3.one;
+
+                if (selectedCount == 1 && Tools.pivotRotation == PivotRotation.Local && currentTool == PathEditorTool.OrientPoints)
+                {
+                    //prevRot = Quaternion.LookRotation(GetNormal(lastSelected));
+                }
+            }
+
+            // Transform handles:
+            if (selectedCount > 0)
+            {
+
+                if (useOrientation && currentTool == PathEditorTool.OrientPoints)
+                {
+                    repaint |= OrientTool(selectionAverage, handleRotation);
+                }
+                else
+                {
+                    switch (currentTool)
+                    {
+                        case PathEditorTool.TranslatePoints:
+                            {
+                                repaint |= MoveTool(selectionAverage, handleRotation);
+                            }
+                            break;
+
+                        case PathEditorTool.ScalePoints:
+                            {
+                                repaint |= ScaleTool(selectionAverage, handleRotation);
+                            }
+                            break;
+
+                        case PathEditorTool.RotatePoints:
+                            {
+                                repaint |= RotateTool(selectionAverage, handleRotation);
+                            }
+                            break;
+                    }
+                }
+            }
+            return repaint;
+        }
+
+        protected bool MoveTool(Vector3 handlePosition, Quaternion handleRotation)
+        {
+
+            EditorGUI.BeginChangeCheck();
+            Vector3 newPos = Handles.PositionHandle(handlePosition, handleRotation);
+            if (EditorGUI.EndChangeCheck())
+            {
+
+                Undo.RecordObject(blueprint, "Move control point");
+
+                Vector3 delta = newPos - handlePosition;
+
+                for (int i = 0; i < path.ControlPointCount; ++i)
+                {
+                    if (selectedStatus[i])
+                    {
+                        var wp = path.points[i];
+                        wp.Transform(delta, Quaternion.identity, Vector3.one);
+                        path.points[i] = wp;
+                    }
+                }
+
+                path.FlushEvents();
+                return true;
+            }
+            return false;
+        }
+
+        protected bool ScaleTool(Vector3 handlePosition, Quaternion handleRotation)
+        {
+
+            EditorGUI.BeginChangeCheck();
+            Vector3 scale = Handles.ScaleHandle(prevScale, handlePosition, handleRotation, HandleUtility.GetHandleSize(handlePosition));
+
+            if (EditorGUI.EndChangeCheck())
+            {
+
+                Vector3 deltaScale = new Vector3(scale.x / prevScale.x, scale.y / prevScale.y, scale.z / prevScale.z);
+                prevScale = scale;
+
+                Undo.RecordObject(blueprint, "Scale control point");
+
+                if (Tools.pivotMode == PivotMode.Center && selectedCount > 1)
+                {
+                    for (int i = 0; i < path.ControlPointCount; ++i)
+                    {
+                        if (selectedStatus[i])
+                        {
+                            var wp = path.points[i];
+                            Vector3 newPos = handlePosition + Vector3.Scale(wp.position - handlePosition, deltaScale);
+                            wp.Transform(newPos - wp.position, Quaternion.identity, Vector3.one);
+                            path.points[i] = wp;
+                        }
+                    }
+                }
+                else
+                {
+                    // Scale all handles of selected control points relative to their control point:
+                    for (int i = 0; i < path.ControlPointCount; ++i)
+                    {
+                        if (selectedStatus[i])
+                        {
+                            var wp = path.points[i];
+                            wp.Transform(Vector3.zero, Quaternion.identity, deltaScale);
+                            path.points[i] = wp;
+                        }
+                    }
+                }
+
+                path.FlushEvents();
+                return true;
+            }
+            return false;
+        }
+
+        protected bool RotateTool(Vector3 handlePosition, Quaternion handleRotation)
+        {
+
+            EditorGUI.BeginChangeCheck();
+
+            // TODO: investigate weird rotation gizmo:
+            Quaternion newRotation = Handles.RotationHandle(prevRot, handlePosition);
+
+            if (EditorGUI.EndChangeCheck())
+            {
+
+                Quaternion delta = newRotation * Quaternion.Inverse(prevRot);
+                prevRot = newRotation;
+
+                Undo.RecordObject(blueprint, "Rotate control point");
+
+                if (Tools.pivotMode == PivotMode.Center && selectedCount > 1)
+                {
+
+                    // Rotate all selected control points around their average:
+                    for (int i = 0; i < path.ControlPointCount; ++i)
+                    {
+                        if (selectedStatus[i])
+                        {
+                            var wp = path.points[i];
+                            Vector3 newPos = handlePosition + delta * (wp.position - handlePosition);
+                            wp.Transform(newPos - wp.position, Quaternion.identity, Vector3.one);
+                            path.points[i] = wp;
+                        }
+                    }
+
+                }
+                else
+                {
+
+                    // Rotate all handles of selected control points around their control point:
+                    for (int i = 0; i < path.ControlPointCount; ++i)
+                    {
+                        if (selectedStatus[i])
+                        {
+                            var wp = path.points[i];
+                            wp.Transform(Vector3.zero, delta, Vector3.one);
+                            path.points[i] = wp;
+                        }
+                    }
+                }
+
+                path.FlushEvents();
+                return true;
+            }
+            return false;
+        }
+
+        protected bool OrientTool(Vector3 averagePos, Quaternion pivotRotation)
+        {
+
+            EditorGUI.BeginChangeCheck();
+            Quaternion newRotation = Handles.RotationHandle(prevRot, averagePos);
+
+            if (EditorGUI.EndChangeCheck())
+            {
+
+                Quaternion delta = newRotation * Quaternion.Inverse(prevRot);
+                prevRot = newRotation;
+
+                Undo.RecordObject(blueprint, "Orient control point");
+
+                // Rotate all selected control points around their average:
+                for (int i = 0; i < path.ControlPointCount; ++i)
+                {
+                    if (selectedStatus[i])
+                    {
+                        path.normals[i] = delta * path.normals[i];
+                    }
+                }
+
+                path.FlushEvents();
+                return true;
+            }
+            return false;
+        }
+
+
+        protected bool DoThicknessHandles(float scale)
+        {
+            Color oldColor = Handles.color;
+            Handles.color = handleColor;
+
+            EditorGUI.BeginChangeCheck();
+            for (int i = 0; i < path.ControlPointCount; ++i)
+            {
+                if (selectedStatus[i])
+                {
+                    Vector3 position = path.points[i].position;
+
+                    var tangent = path.points.GetTangent(i);
+                    if (!tangent.Equals(Vector3.zero))
+                    {
+                        Quaternion orientation = Quaternion.LookRotation(tangent);
+
+                        float offset = 0.05f;
+                        float thickness = (path.thicknesses[i] * scale) + offset;
+
+                        EditorGUI.BeginChangeCheck();
+                        thickness = DoRadiusHandle(orientation, position, thickness);
+                        if (EditorGUI.EndChangeCheck())
+                        {
+                            Undo.RecordObject(blueprint, "Change control point thickness");
+                            path.thicknesses[i] = Mathf.Max(0, (thickness - offset) / scale);
+                            path.FlushEvents();
+                            return true;
+                        }
+                    }
+                }
+            }
+            Handles.color = oldColor;
+
+            return false;
+        }
+
+        public void DrawUIWindow(int windowID)
+        {
+
+            DrawToolButtons();
+
+            DrawControlPointInspector();
+
+        }
+
+        private void DrawToolButtons()
+        {
+            GUILayout.BeginHorizontal();
+
+            EditorGUI.BeginChangeCheck();
+            GUILayout.Toggle(currentTool == PathEditorTool.TranslatePoints, new GUIContent(Resources.Load<Texture2D>("TranslateControlPoint"), "Translate CPs"), "Button", GUILayout.MaxHeight(24), GUILayout.Width(38));
+            if (EditorGUI.EndChangeCheck())
+            {
+                currentTool = PathEditorTool.TranslatePoints;
+            }
+
+            EditorGUI.BeginChangeCheck();
+            GUILayout.Toggle(currentTool == PathEditorTool.RotatePoints, new GUIContent(Resources.Load<Texture2D>("RotateControlPoint"), "Rotate CPs"), "Button", GUILayout.MaxHeight(24), GUILayout.Width(38));
+            if (EditorGUI.EndChangeCheck())
+            {
+                currentTool = PathEditorTool.RotatePoints;
+            }
+
+            EditorGUI.BeginChangeCheck();
+            GUILayout.Toggle(currentTool == PathEditorTool.ScalePoints, new GUIContent(Resources.Load<Texture2D>("ScaleControlPoint"), "Scale CPs"), "Button", GUILayout.MaxHeight(24), GUILayout.Width(38));
+            if (EditorGUI.EndChangeCheck())
+            {
+                currentTool = PathEditorTool.ScalePoints;
+            }
+
+            EditorGUI.BeginChangeCheck();
+            GUILayout.Toggle(currentTool == PathEditorTool.InsertPoints, new GUIContent(Resources.Load<Texture2D>("AddControlPoint"), "Add CPs"), "Button", GUILayout.MaxHeight(24), GUILayout.Width(38));
+            if (EditorGUI.EndChangeCheck())
+            {
+                currentTool = PathEditorTool.InsertPoints;
+            }
+
+            EditorGUI.BeginChangeCheck();
+            GUILayout.Toggle(currentTool == PathEditorTool.RemovePoints, new GUIContent(Resources.Load<Texture2D>("RemoveControlPoint"), "Remove CPs"), "Button", GUILayout.MaxHeight(24), GUILayout.Width(38));
+            if (EditorGUI.EndChangeCheck())
+            {
+                currentTool = PathEditorTool.RemovePoints;
+            }
+
+            EditorGUI.BeginChangeCheck();
+            bool closed = GUILayout.Toggle(path.Closed, new GUIContent(Resources.Load<Texture2D>("OpenCloseCurve"), "Open/Close the path"), "Button", GUILayout.MaxHeight(24), GUILayout.Width(38));
+            if (EditorGUI.EndChangeCheck())
+            {
+                Undo.RecordObject(blueprint, "Open/close path");
+                path.Closed = closed;
+                path.FlushEvents();
+                needsRepaint = true;
+            }
+
+            if (useOrientation)
+            {
+                EditorGUI.BeginChangeCheck();
+                GUILayout.Toggle(currentTool == PathEditorTool.OrientPoints, new GUIContent(Resources.Load<Texture2D>("OrientControlPoint"), "Orientation tool"), "Button", GUILayout.MaxHeight(24), GUILayout.Width(38));
+                if (EditorGUI.EndChangeCheck())
+                {
+                    currentTool = PathEditorTool.OrientPoints;
+                }
+            }
+
+            showTangentHandles = GUILayout.Toggle(showTangentHandles, new GUIContent(Resources.Load<Texture2D>("ShowTangentHandles"), "Show tangent handles"), "Button", GUILayout.MaxHeight(24), GUILayout.Width(38));
+            showThicknessHandles = GUILayout.Toggle(showThicknessHandles, new GUIContent(Resources.Load<Texture2D>("ShowThicknessHandles"), "Show thickness handles"), "Button", GUILayout.MaxHeight(24), GUILayout.Width(38));
+
+            GUILayout.EndHorizontal();
+        }
+
+        private void DrawPositionField(Rect rect, string label, int index)
+        {
+            EditorGUI.showMixedValue = false;
+            float pos = 0;
+            bool firstSelected = true;
+            for (int i = 0; i < path.ControlPointCount; ++i)
+            {
+                if (selectedStatus[i])
+                {
+                    if (firstSelected)
+                    {
+                        pos = path.points[i].position[index];
+                        firstSelected = false;
+                    }
+                    else if (!Mathf.Approximately(pos,path.points[i].position[index]))
+                    {
+                        EditorGUI.showMixedValue = true;
+                        break;
+                    }
+                }
+            }
+
+            EditorGUI.BeginChangeCheck();
+                float oldLabelWidth = EditorGUIUtility.labelWidth;
+                EditorGUIUtility.labelWidth = 10;
+                pos = EditorGUI.FloatField(rect, label, pos);
+                EditorGUIUtility.labelWidth = oldLabelWidth;
+                EditorGUI.showMixedValue = false;
+            if (EditorGUI.EndChangeCheck())
+            {
+
+                Undo.RecordObject(blueprint, "Change control points position");
+
+                for (int i = 0; i < path.ControlPointCount; ++i)
+                {
+                    if (selectedStatus[i])
+                    {
+                        var wp = path.points[i];
+                        wp.position[index] = pos;
+                        path.points[i] = wp;
+                    }
+                }
+                path.FlushEvents();
+                needsRepaint = true;
+            }
+        }
+
+        private void DrawInTangentField(Rect rect, string label, int index)
+        {
+            EditorGUI.showMixedValue = false;
+            float pos = 0;
+            bool firstSelected = true;
+            for (int i = 0; i < path.ControlPointCount; ++i)
+            {
+                if (selectedStatus[i])
+                {
+                    if (firstSelected)
+                    {
+                        pos = path.points[i].inTangent[index];
+                        firstSelected = false;
+                    }
+                    else if (!Mathf.Approximately(pos, path.points[i].inTangent[index]))
+                    {
+                        EditorGUI.showMixedValue = true;
+                        break;
+                    }
+                }
+            }
+
+            EditorGUI.BeginChangeCheck();
+                float oldLabelWidth = EditorGUIUtility.labelWidth;
+                EditorGUIUtility.labelWidth = 10;
+                pos = EditorGUI.FloatField(rect, label, pos);
+                EditorGUIUtility.labelWidth = oldLabelWidth;
+                EditorGUI.showMixedValue = false;
+            if (EditorGUI.EndChangeCheck())
+            {
+
+                Undo.RecordObject(blueprint, "Change control points tangent");
+
+                for (int i = 0; i < path.ControlPointCount; ++i)
+                {
+                    if (selectedStatus[i])
+                    {
+                        var wp = path.points[i];
+                        var newInTangent = wp.inTangent;
+                        newInTangent[index] = pos;
+                        wp.SetInTangent(newInTangent);
+                        path.points[i] = wp;
+                    }
+                }
+                path.FlushEvents();
+                needsRepaint = true;
+            }
+        }
+
+        private void DrawOutTangentField(Rect rect, string label, int index)
+        {
+            EditorGUI.showMixedValue = false;
+            float pos = 0;
+            bool firstSelected = true;
+            for (int i = 0; i < path.ControlPointCount; ++i)
+            {
+                if (selectedStatus[i])
+                {
+                    if (firstSelected)
+                    {
+                        pos = path.points[i].outTangent[index];
+                        firstSelected = false;
+                    }
+                    else if (!Mathf.Approximately(pos, path.points[i].outTangent[index]))
+                    {
+                        EditorGUI.showMixedValue = true;
+                        break;
+                    }
+                }
+            }
+
+            EditorGUI.BeginChangeCheck();
+                float oldLabelWidth = EditorGUIUtility.labelWidth;
+                EditorGUIUtility.labelWidth = 10;
+                pos = EditorGUI.FloatField(rect, label, pos);
+                EditorGUIUtility.labelWidth = oldLabelWidth;
+                EditorGUI.showMixedValue = false;
+            if (EditorGUI.EndChangeCheck())
+            {
+
+                Undo.RecordObject(blueprint, "Change control points tangent");
+
+                for (int i = 0; i < path.ControlPointCount; ++i)
+                {
+                    if (selectedStatus[i])
+                    {
+                        var wp = path.points[i];
+                        var newOutTangent = wp.outTangent;
+                        newOutTangent[index] = pos;
+                        wp.SetOutTangent(newOutTangent);
+                        path.points[i] = wp;
+                    }
+                }
+                path.FlushEvents();
+                needsRepaint = true;
+            }
+        }
+
+        private void DrawControlPointInspector()
+        {
+
+            GUI.enabled = selectedCount > 0;
+
+            bool wideMode = EditorGUIUtility.wideMode;
+            EditorGUIUtility.wideMode = true;
+            EditorGUIUtility.labelWidth = 100;
+
+            EditorGUILayout.BeginVertical();
+
+            GUILayout.Box("", ObiEditorUtils.GetSeparatorLineStyle());
+
+            // position:
+            var rect = EditorGUILayout.GetControlRect();
+            rect = EditorGUI.PrefixLabel(rect, GUIUtility.GetControlID(FocusType.Passive), new GUIContent("Position"));
+            rect.width /= 3.0f;
+            DrawPositionField(rect,"X",0); rect.x += rect.width;
+            DrawPositionField(rect,"Y",1); rect.x += rect.width;
+            DrawPositionField(rect,"Z",2); rect.x += rect.width;
+
+            // in tangent:
+            rect = EditorGUILayout.GetControlRect();
+            rect = EditorGUI.PrefixLabel(rect, GUIUtility.GetControlID(FocusType.Passive), new GUIContent("In Tangent"));
+            rect.width /= 3.0f;
+            DrawInTangentField(rect, "X", 0); rect.x += rect.width;
+            DrawInTangentField(rect, "Y", 1); rect.x += rect.width;
+            DrawInTangentField(rect, "Z", 2); rect.x += rect.width;
+
+            // out tangent:
+            rect = EditorGUILayout.GetControlRect();
+            rect = EditorGUI.PrefixLabel(rect, GUIUtility.GetControlID(FocusType.Passive), new GUIContent("Out Tangent"));
+            rect.width /= 3.0f;
+            DrawOutTangentField(rect, "X", 0); rect.x += rect.width;
+            DrawOutTangentField(rect, "Y", 1); rect.x += rect.width;
+            DrawOutTangentField(rect, "Z", 2); rect.x += rect.width;
+
+            // tangent mode:
+            EditorGUI.showMixedValue = false;
+            var mode = ObiWingedPoint.TangentMode.Free;
+            bool firstSelected = true;
+            for (int i = 0; i < path.ControlPointCount; ++i)
+            {
+                if (selectedStatus[i])
+                {
+                    if (firstSelected)
+                    {
+                        mode = path.points[i].tangentMode;
+                        firstSelected = false;
+                    }
+                    else if (mode != path.points[i].tangentMode)
+                    {
+                        EditorGUI.showMixedValue = true;
+                        break;
+                    }
+                }
+            }
+
+            EditorGUI.BeginChangeCheck();
+            var newMode = (ObiWingedPoint.TangentMode)EditorGUILayout.EnumPopup("Tangent mode", mode, GUILayout.MinWidth(94));
+            EditorGUI.showMixedValue = false;
+            if (EditorGUI.EndChangeCheck())
+            {
+
+                Undo.RecordObject(blueprint, "Change control points mode");
+
+                for (int i = 0; i < path.ControlPointCount; ++i)
+                {
+                    if (selectedStatus[i])
+                    {
+                        var wp = path.points[i];
+                        wp.tangentMode = newMode;
+                        path.points[i] = wp;
+                    }
+                }
+                path.FlushEvents();
+                needsRepaint = true;
+            }
+
+            // thickness:
+            EditorGUI.showMixedValue = false;
+            float thickness = 0;
+            firstSelected = true;
+            for (int i = 0; i < path.ControlPointCount; ++i)
+            {
+                if (selectedStatus[i])
+                {
+                    if (firstSelected)
+                    {
+                        thickness = path.thicknesses[i];
+                        firstSelected = false;
+                    }
+                    else if (!Mathf.Approximately(thickness, path.thicknesses[i]))
+                    {
+                        EditorGUI.showMixedValue = true;
+                        break;
+                    }
+                }
+            }
+
+            EditorGUI.BeginChangeCheck();
+            thickness = EditorGUILayout.FloatField("Thickness", thickness, GUILayout.MinWidth(94));
+            EditorGUI.showMixedValue = false;
+            if (EditorGUI.EndChangeCheck())
+            {
+
+                Undo.RecordObject(blueprint, "Change control point thickness");
+
+                for (int i = 0; i < path.ControlPointCount; ++i)
+                {
+                    if (selectedStatus[i])
+                        path.thicknesses[i] = Mathf.Max(0, thickness);
+                }
+                path.FlushEvents();
+                needsRepaint = true;
+            }
+
+            // mass:
+            EditorGUI.showMixedValue = false;
+            float mass = 0;
+            firstSelected = true;
+            for (int i = 0; i < path.ControlPointCount; ++i)
+            {
+                if (selectedStatus[i])
+                {
+                    if (firstSelected)
+                    {
+                        mass = path.masses[i];
+                        firstSelected = false;
+                    }
+                    else if (!Mathf.Approximately(mass, path.masses[i]))
+                    {
+                        EditorGUI.showMixedValue = true;
+                        break;
+                    }
+                }
+            }
+
+            EditorGUI.BeginChangeCheck();
+            mass = EditorGUILayout.FloatField("Mass", mass, GUILayout.MinWidth(94));
+            EditorGUI.showMixedValue = false;
+            if (EditorGUI.EndChangeCheck())
+            {
+
+                Undo.RecordObject(blueprint, "Change control point mass");
+
+                for (int i = 0; i < path.ControlPointCount; ++i)
+                {
+                    if (selectedStatus[i])
+                        path.masses[i] = mass;
+                }
+                path.FlushEvents();
+                needsRepaint = true;
+            }
+
+            if (useOrientation)
+            {
+                // rotational mass:
+                EditorGUI.showMixedValue = false;
+                float rotationalMass = 0;
+                firstSelected = true;
+                for (int i = 0; i < path.ControlPointCount; ++i)
+                {
+                    if (selectedStatus[i])
+                    {
+                        if (firstSelected)
+                        {
+                            rotationalMass = path.rotationalMasses[i];
+                            firstSelected = false;
+                        }
+                        else if (!Mathf.Approximately(rotationalMass, path.rotationalMasses[i]))
+                        {
+                            EditorGUI.showMixedValue = true;
+                            break;
+                        }
+                    }
+                }
+
+                EditorGUI.BeginChangeCheck();
+                rotationalMass = EditorGUILayout.FloatField("Rotational mass", rotationalMass, GUILayout.MinWidth(94));
+                EditorGUI.showMixedValue = false;
+                if (EditorGUI.EndChangeCheck())
+                {
+
+                    Undo.RecordObject(blueprint, "Change control point rotational mass");
+
+                    for (int i = 0; i < path.ControlPointCount; ++i)
+                    {
+                        if (selectedStatus[i])
+                            path.rotationalMasses[i] = rotationalMass;
+                    }
+                    path.FlushEvents();
+                    needsRepaint = true;
+                }
+            }
+
+            // category:
+            EditorGUI.showMixedValue = false;
+            int category = 0;
+            firstSelected = true;
+            for (int i = 0; i < path.ControlPointCount; ++i)
+            {
+                if (selectedStatus[i])
+                {
+                    if (firstSelected)
+                    {
+                        category = ObiUtils.GetCategoryFromFilter(path.filters[i]);
+                        firstSelected = false;
+                    }
+                    else if (!Mathf.Approximately(category, ObiUtils.GetCategoryFromFilter(path.filters[i])))
+                    {
+                        EditorGUI.showMixedValue = true;
+                        break;
+                    }
+                }
+            }
+
+            EditorGUI.BeginChangeCheck();
+            category = EditorGUILayout.Popup("Category", category, ObiUtils.categoryNames, GUILayout.MinWidth(94));
+            EditorGUI.showMixedValue = false;
+            if (EditorGUI.EndChangeCheck())
+            {
+                Undo.RecordObject(blueprint, "Change control point category");
+
+                for (int i = 0; i < path.ControlPointCount; ++i)
+                {
+                    if (selectedStatus[i])
+                        path.filters[i] = ObiUtils.MakeFilter(ObiUtils.GetMaskFromFilter(path.filters[i]),category);
+                }
+                path.FlushEvents();
+                needsRepaint = true;
+            }
+
+            // mask:
+            EditorGUI.showMixedValue = false;
+            int mask = 0;
+            firstSelected = true;
+            for (int i = 0; i < path.ControlPointCount; ++i)
+            {
+                if (selectedStatus[i])
+                {
+                    if (firstSelected)
+                    {
+                        mask = ObiUtils.GetMaskFromFilter(path.filters[i]);
+                        firstSelected = false;
+                    }
+                    else if (!Mathf.Approximately(mask, ObiUtils.GetMaskFromFilter(path.filters[i])))
+                    {
+                        EditorGUI.showMixedValue = true;
+                        break;
+                    }
+                }
+            }
+
+            EditorGUI.BeginChangeCheck();
+            mask = EditorGUILayout.MaskField("Collides with", mask, ObiUtils.categoryNames, GUILayout.MinWidth(94));
+            EditorGUI.showMixedValue = false;
+            if (EditorGUI.EndChangeCheck())
+            {
+                Undo.RecordObject(blueprint, "Change control point mask");
+
+                for (int i = 0; i < path.ControlPointCount; ++i)
+                {
+                    if (selectedStatus[i])
+                        path.filters[i] = ObiUtils.MakeFilter(mask,ObiUtils.GetCategoryFromFilter(path.filters[i]));
+                }
+                path.FlushEvents();
+                needsRepaint = true;
+            }
+
+            // color:
+            EditorGUI.showMixedValue = false;
+            Color color = Color.white;
+            firstSelected = true;
+            for (int i = 0; i < path.ControlPointCount; ++i)
+            {
+                if (selectedStatus[i])
+                {
+                    if (firstSelected)
+                    {
+                        color = path.colors[i];
+                        firstSelected = false;
+                    }
+                    else if (color != path.colors[i])
+                    {
+                        EditorGUI.showMixedValue = true;
+                        break;
+                    }
+                }
+            }
+
+            EditorGUI.BeginChangeCheck();
+            color = EditorGUILayout.ColorField("Color", color, GUILayout.MinWidth(94));
+            EditorGUI.showMixedValue = false;
+            if (EditorGUI.EndChangeCheck())
+            {
+
+                Undo.RecordObject(blueprint, "Change control point color");
+
+                for (int i = 0; i < path.ControlPointCount; ++i)
+                {
+                    if (selectedStatus[i])
+                        path.colors[i] = color;
+                }
+                path.FlushEvents();
+                needsRepaint = true;
+            }
+
+            // name:
+            EditorGUI.showMixedValue = false;
+            string cpname = "";
+            firstSelected = true;
+            for (int i = 0; i < path.ControlPointCount; ++i)
+            {
+                if (selectedStatus[i])
+                {
+                    if (firstSelected)
+                    {
+                        cpname = path.GetName(i);
+                        firstSelected = false;
+                    }
+                    else if (cpname != path.GetName(i))
+                    {
+                        EditorGUI.showMixedValue = true;
+                        break;
+                    }
+                }
+            }
+
+            EditorGUI.BeginChangeCheck();
+            cpname = EditorGUILayout.DelayedTextField("Name", cpname, GUILayout.MinWidth(94));
+            EditorGUI.showMixedValue = false;
+            if (EditorGUI.EndChangeCheck())
+            {
+
+                Undo.RecordObject(blueprint, "Change control point name");
+
+                for (int i = 0; i < path.ControlPointCount; ++i)
+                {
+                    if (selectedStatus[i])
+                        path.SetName(i, cpname);
+                }
+                path.FlushEvents();
+                needsRepaint = true;
+            }
+
+
+            EditorGUILayout.EndVertical();
+
+            EditorGUIUtility.wideMode = wideMode;
+
+            GUI.enabled = true;
+        }
+
+        internal static float DoRadiusHandle(Quaternion rotation, Vector3 position, float radius)
+        {
+            Vector3[] vector3Array;
+
+            Vector3 camToPosition;
+            if (Camera.current.orthographic)
+            {
+                camToPosition = Camera.current.transform.forward;
+                Handles.DrawWireDisc(position, camToPosition, radius);
+
+                vector3Array = new Vector3[4]
+                {
+                    Camera.current.transform.right,
+                    Camera.current.transform.up,
+                    -Camera.current.transform.right,
+                    -Camera.current.transform.up,
+                };
+
+            }
+            else
+            {
+                camToPosition = position - Camera.current.transform.position;
+                Handles.DrawWireDisc(position, rotation * Vector3.forward, radius);
+
+                vector3Array = new Vector3[4]
+                {
+                    rotation * Vector3.right,
+                    rotation * Vector3.up,
+                    rotation * -Vector3.right,
+                    rotation * -Vector3.up,
+                };
+            }
+
+            for (int index = 0; index < 4; ++index)
+            {
+                int controlId = GUIUtility.GetControlID("ObiPathThicknessHandle".GetHashCode(), FocusType.Keyboard);
+                Vector3 position1 = position + radius * vector3Array[index];
+                bool changed = GUI.changed;
+                GUI.changed = false;
+                Vector3 a = Handles.Slider(controlId, position1, vector3Array[index], HandleUtility.GetHandleSize(position1) * 0.03f, Handles.DotHandleCap, 0.0f);
+                if (GUI.changed)
+                    radius = Vector3.Distance(a, position);
+                GUI.changed |= changed;
+            }
+
+            return radius;
+        }
+
+        public static float ScreenPointToCurveMu(ObiPath path, Vector2 screenPoint, Matrix4x4 referenceFrame, int samples = 30)
+        {
+
+            if (path.ControlPointCount >= 2)
+            {
+
+                samples = Mathf.Max(1, samples);
+                float step = 1 / (float)samples;
+
+                float closestMu = 0;
+                float minDistance = float.MaxValue;
+
+                for (int k = 0; k < path.GetSpanCount(); ++k)
+                {
+                    int nextCP = (k + 1) % path.ControlPointCount;
+
+                    var wp1 = path.points[k];
+                    var wp2 = path.points[nextCP];
+
+                    Vector3 _p = referenceFrame.MultiplyPoint3x4(wp1.position);
+                    Vector3 p = referenceFrame.MultiplyPoint3x4(wp1.outTangentEndpoint);
+                    Vector3 p_ = referenceFrame.MultiplyPoint3x4(wp2.inTangentEndpoint);
+                    Vector3 p__ = referenceFrame.MultiplyPoint3x4(wp2.position);
+
+                    Vector2 lastPoint = HandleUtility.WorldToGUIPoint(path.m_Points.Evaluate(_p, p, p_, p__, 0));
+                    for (int i = 1; i <= samples; ++i)
+                    {
+
+                        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);
+
+                        if (distance < minDistance)
+                        {
+                            minDistance = distance;
+                            closestMu = (k + (i - 1) * step + mu / samples) / (float)path.GetSpanCount();
+                        }
+                        lastPoint = currentPoint;
+                    }
+
+                }
+
+                return closestMu;
+
+            }
+            else
+            {
+                Debug.LogWarning("Curve needs at least 2 control points to be defined.");
+            }
+            return 0;
+
+        }
+
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Editor/RopeAndRod/ObiPathEditor.cs.meta b/Assets/Obi/Editor/RopeAndRod/ObiPathEditor.cs.meta
new file mode 100644
index 000000000..32c490bc1
--- /dev/null
+++ b/Assets/Obi/Editor/RopeAndRod/ObiPathEditor.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 0cb694bcadb6a4909b593111507e1eb3
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Editor/RopeAndRod/ObiPathHandles.cs b/Assets/Obi/Editor/RopeAndRod/ObiPathHandles.cs
new file mode 100644
index 000000000..9e47ccaca
--- /dev/null
+++ b/Assets/Obi/Editor/RopeAndRod/ObiPathHandles.cs
@@ -0,0 +1,273 @@
+using UnityEngine;
+using UnityEditor;
+using System;
+using System.Collections;
+using System.Collections.Generic;
+
+namespace Obi
+{
+
+    public class ObiPathHandles
+    {
+
+        static int splineSelectorHash = "ObiPathSelectorHash".GetHashCode();
+        const int minSelectionDistance = 5;
+
+        static Vector2 startPos;
+        static Vector2 currentPos;
+        static bool dragging = false;
+        static Rect marquee;
+
+        public static bool SplineCPSelector(ObiPath path, bool[] selectionStatus)
+        {
+
+            int controlID = GUIUtility.GetControlID(splineSelectorHash, FocusType.Passive);
+            int selectedCPIndex = -1;
+            bool selectionStatusChanged = false;
+
+            // 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;
+
+                        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(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:
+                            GUIUtility.hotControl = controlID;
+                            Event.current.Use();
+
+                        }
+                        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)
+                    {
+
+                        currentPos = Event.current.mousePosition;
+                        if (!dragging && Vector2.Distance(startPos, currentPos) > 5)
+                        {
+                            dragging = true;
+                        }
+                        else
+                        {
+                            GUIUtility.hotControl = controlID;
+                            Event.current.Use();
+                        }
+
+                        //update marquee rect:
+                        float left = Mathf.Min(startPos.x, currentPos.x);
+                        float right = Mathf.Max(startPos.x, currentPos.x);
+                        float bottom = Mathf.Min(startPos.y, currentPos.y);
+                        float top = Mathf.Max(startPos.y, currentPos.y);
+
+                        marquee = new Rect(left, bottom, right - left, top - bottom);
+
+                    }
+
+                    break;
+
+                case EventType.MouseUp:
+
+                    if (GUIUtility.hotControl == controlID)
+                    {
+
+                        dragging = false;
+
+                        for (int i = 0; i < path.ControlPointCount; i++)
+                        {
+
+                            // get particle position in gui space:
+                            Vector2 pos = HandleUtility.WorldToGUIPoint(path.points[i].position);
+
+                            if (pos.x > marquee.xMin && pos.x < marquee.xMax && pos.y > marquee.yMin && pos.y < marquee.yMax)
+                            {
+                                selectionStatus[i] = true;
+                                selectionStatusChanged = true;
+                            }
+
+                        }
+
+                        GUIUtility.hotControl = 0;
+                        Event.current.Use();
+                    }
+
+                    break;
+
+                case EventType.Repaint:
+
+                    if (dragging)
+                    {
+                        GUISkin oldSkin = GUI.skin;
+                        GUI.skin = EditorGUIUtility.GetBuiltinSkin(EditorSkin.Scene);
+                        Handles.BeginGUI();
+                        GUI.Box(new Rect(marquee.xMin, marquee.yMin, marquee.width, marquee.height), "");
+                        Handles.EndGUI();
+                        GUI.skin = oldSkin;
+                    }
+
+                    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;
+        }
+
+        private static void DrawControlPointArcs(ObiPath path, float thicknessScale)
+        {
+            for (int i = 0; i < path.ControlPointCount; ++i)
+            {
+                Vector3 position = path.points[i].position;
+                Vector3 tangent = path.points.GetTangent(i);
+                Vector3 right = Vector3.Cross(tangent, path.normals[i]).normalized;
+                float thickness = path.thicknesses[i] * thicknessScale + 0.05f;
+
+                Handles.DrawWireArc(position, tangent, right, -180, thickness);
+            }
+        }
+
+        private static void DrawPathPolylines(Vector3[] samples, Vector3[] leftSamples, Vector3[] rightSamples, Vector3[] upSamples, bool drawOrientation)
+        {
+            Handles.DrawPolyLine(samples);
+            if (drawOrientation)
+            {
+                Handles.DrawPolyLine(leftSamples);
+                Handles.DrawPolyLine(upSamples);
+                Handles.DrawPolyLine(rightSamples);
+            }
+        }
+
+        public static void DrawPathHandle(ObiPath path, Matrix4x4 referenceFrame, float thicknessScale, int resolution, bool drawOrientation = true)
+        {
+
+            if (path == null || path.GetSpanCount() == 0) return;
+
+            Matrix4x4 prevMatrix = Handles.matrix;
+            Handles.matrix = referenceFrame;
+
+            // Draw the curve:
+            int curveSegments = path.GetSpanCount() * resolution;
+            Vector3[] samples = new Vector3[curveSegments + 1];
+            Vector3[] leftSamples = new Vector3[curveSegments + 1];
+            Vector3[] rightSamples = new Vector3[curveSegments + 1];
+            Vector3[] upSamples = new Vector3[curveSegments + 1];
+
+            for (int i = 0; i <= curveSegments; ++i)
+            {
+
+                float mu = i / (float)curveSegments;
+                samples[i] = path.points.GetPositionAtMu(path.Closed,mu);
+
+                if (drawOrientation)
+                {
+                    Vector3 tangent = path.points.GetTangentAtMu(path.Closed,mu);
+                    Vector3 right = Vector3.Cross(tangent, path.normals.GetAtMu(path.Closed,mu)).normalized;
+                    Vector3 up = Vector3.Cross(right, tangent).normalized;
+                    float thickness = path.thicknesses.GetAtMu(path.Closed,mu) * thicknessScale + 0.05f;
+
+                    leftSamples[i] = samples[i] - right * thickness;
+                    rightSamples[i] = samples[i] + right * thickness;
+                    upSamples[i] = samples[i] + up * thickness;
+
+                    if (i % 5 == 0)
+                    {
+                        Handles.DrawLine(leftSamples[i], rightSamples[i]);
+                        Handles.DrawLine(samples[i], samples[i] + up * thickness);
+                    }
+                }
+            }
+
+            if (drawOrientation)
+                DrawControlPointArcs(path, thicknessScale);
+
+            DrawPathPolylines(samples, leftSamples, rightSamples, upSamples, drawOrientation);
+            DrawPathPolylines(samples, leftSamples, rightSamples, upSamples, drawOrientation);
+
+            Handles.matrix = prevMatrix;
+        }
+
+
+    }
+}
+
diff --git a/Assets/Obi/Editor/RopeAndRod/ObiPathHandles.cs.meta b/Assets/Obi/Editor/RopeAndRod/ObiPathHandles.cs.meta
new file mode 100644
index 000000000..8df16e491
--- /dev/null
+++ b/Assets/Obi/Editor/RopeAndRod/ObiPathHandles.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: f3c12ceb831344c47af02f0d6bf73de7
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Editor/RopeAndRod/ObiPathSmootherEditor.cs b/Assets/Obi/Editor/RopeAndRod/ObiPathSmootherEditor.cs
new file mode 100644
index 000000000..068bc64ab
--- /dev/null
+++ b/Assets/Obi/Editor/RopeAndRod/ObiPathSmootherEditor.cs
@@ -0,0 +1,37 @@
+using UnityEditor;
+using UnityEngine;
+using System;
+using System.Collections;
+using System.Collections.Generic;
+
+namespace Obi
+{
+
+    [CustomEditor(typeof(ObiPathSmoother), true), CanEditMultipleObjects]
+    public class ObiPathSmootherEditor : Editor
+    {
+
+        ObiPathSmoother shape;
+
+        public void OnEnable()
+        {
+            shape = (ObiPathSmoother)target;
+        }
+
+        public override void OnInspectorGUI()
+        {
+
+            serializedObject.UpdateIfRequiredOrScript();
+
+            Editor.DrawPropertiesExcluding(serializedObject, "m_Script");
+
+            // Apply changes to the serializedProperty
+            if (GUI.changed)
+                serializedObject.ApplyModifiedProperties();
+
+        }
+
+    }
+
+}
+
diff --git a/Assets/Obi/Editor/RopeAndRod/ObiPathSmootherEditor.cs.meta b/Assets/Obi/Editor/RopeAndRod/ObiPathSmootherEditor.cs.meta
new file mode 100644
index 000000000..4b3fca50d
--- /dev/null
+++ b/Assets/Obi/Editor/RopeAndRod/ObiPathSmootherEditor.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: a01b6dc95e7284e2583513863858d670
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Editor/RopeAndRod/ObiRodEditor.cs b/Assets/Obi/Editor/RopeAndRod/ObiRodEditor.cs
new file mode 100644
index 000000000..dd519a094
--- /dev/null
+++ b/Assets/Obi/Editor/RopeAndRod/ObiRodEditor.cs
@@ -0,0 +1,176 @@
+using UnityEditor;
+using UnityEditor.EditorTools;
+using UnityEditorInternal;
+using UnityEngine;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+
+
+namespace Obi
+{
+
+    [CustomEditor(typeof(ObiRod))]
+    public class ObiRodEditor : Editor
+    {
+        [MenuItem("GameObject/3D Object/Obi/Obi Rod", false, 301)]
+        static void CreateObiRod(MenuCommand menuCommand)
+        {
+            GameObject go = new GameObject("Obi Rod", typeof(ObiRod), typeof(ObiRopeExtrudedRenderer));
+            ObiEditorUtils.PlaceActorRoot(go, menuCommand);
+        }
+
+        ObiRod actor;
+
+        SerializedProperty rodBlueprint;
+
+        SerializedProperty collisionMaterial;
+        SerializedProperty selfCollisions;
+        SerializedProperty surfaceCollisions; 
+
+        SerializedProperty stretchShearConstraintsEnabled;
+        SerializedProperty stretchCompliance;
+        SerializedProperty shear1Compliance;
+        SerializedProperty shear2Compliance;
+
+        SerializedProperty bendTwistConstraintsEnabled;
+        SerializedProperty torsionCompliance;
+        SerializedProperty bend1Compliance;
+        SerializedProperty bend2Compliance;
+        SerializedProperty plasticYield;
+        SerializedProperty plasticCreep;
+
+        SerializedProperty chainConstraintsEnabled;
+        SerializedProperty tightness;
+
+        GUIStyle editLabelStyle;
+
+        public void OnEnable()
+        {
+            actor = (ObiRod)target;
+
+            rodBlueprint = serializedObject.FindProperty("m_RodBlueprint");
+
+            collisionMaterial = serializedObject.FindProperty("m_CollisionMaterial");
+            selfCollisions = serializedObject.FindProperty("m_SelfCollisions");
+            surfaceCollisions = serializedObject.FindProperty("m_SurfaceCollisions");
+
+            stretchShearConstraintsEnabled = serializedObject.FindProperty("_stretchShearConstraintsEnabled");
+            stretchCompliance = serializedObject.FindProperty("_stretchCompliance");
+            shear1Compliance = serializedObject.FindProperty("_shear1Compliance");
+            shear2Compliance = serializedObject.FindProperty("_shear2Compliance");
+
+            bendTwistConstraintsEnabled = serializedObject.FindProperty("_bendTwistConstraintsEnabled");
+            torsionCompliance = serializedObject.FindProperty("_torsionCompliance");
+            bend1Compliance = serializedObject.FindProperty("_bend1Compliance");
+            bend2Compliance = serializedObject.FindProperty("_bend2Compliance");
+            plasticYield = serializedObject.FindProperty("_plasticYield");
+            plasticCreep = serializedObject.FindProperty("_plasticCreep");
+
+            chainConstraintsEnabled = serializedObject.FindProperty("_chainConstraintsEnabled");
+            tightness = serializedObject.FindProperty("_tightness");
+        }
+
+        private void DoEditButton()
+        {
+            using (new EditorGUI.DisabledScope(actor.rodBlueprint == null))
+            {
+                EditorGUILayout.BeginHorizontal();
+                GUILayout.Space(EditorGUIUtility.labelWidth);
+                EditorGUI.BeginChangeCheck();
+                bool edit = GUILayout.Toggle(ToolManager.activeToolType == typeof(ObiPathEditor), new GUIContent(Resources.Load<Texture2D>("EditCurves")), "Button", GUILayout.MaxWidth(36), GUILayout.MaxHeight(24));
+                EditorGUILayout.LabelField("Edit path", editLabelStyle, GUILayout.ExpandHeight(true), GUILayout.MaxHeight(24));
+                if (EditorGUI.EndChangeCheck())
+                {
+                    if (edit)
+                        ToolManager.SetActiveTool<ObiPathEditor>();
+                    else
+                        ToolManager.RestorePreviousPersistentTool();
+
+                    SceneView.RepaintAll();
+                }
+                EditorGUILayout.EndHorizontal();
+            }
+        }
+
+        public override void OnInspectorGUI()
+        {
+            if (editLabelStyle == null)
+            {
+                editLabelStyle = new GUIStyle(GUI.skin.label);
+                editLabelStyle.alignment = TextAnchor.MiddleLeft;
+            }
+
+            serializedObject.UpdateIfRequiredOrScript();
+
+            if (actor.rodBlueprint != null && actor.rodBlueprint.path.ControlPointCount < 2)
+            {
+                actor.rodBlueprint.GenerateImmediate();
+            }
+
+            using (new EditorGUI.DisabledScope(ToolManager.activeToolType == typeof(ObiPathEditor)))
+            {
+                EditorGUI.BeginChangeCheck();
+                EditorGUILayout.PropertyField(rodBlueprint, new GUIContent("Blueprint"));
+                if (EditorGUI.EndChangeCheck())
+                {
+                    foreach (var t in targets)
+                    {
+                        (t as ObiRod).RemoveFromSolver();
+                        (t as ObiRod).ClearState();
+                    }
+                    serializedObject.ApplyModifiedProperties();
+                    foreach (var t in targets)
+                        (t as ObiRod).AddToSolver();
+                }
+            }
+
+            DoEditButton();
+
+            EditorGUILayout.Space();
+            EditorGUILayout.LabelField("Collisions", EditorStyles.boldLabel);
+            EditorGUILayout.PropertyField(collisionMaterial, new GUIContent("Collision material"));
+            EditorGUILayout.PropertyField(selfCollisions, new GUIContent("Self collisions"));
+            EditorGUILayout.PropertyField(surfaceCollisions, new GUIContent("Surface-based collisions"));
+
+            EditorGUILayout.Space();
+            ObiEditorUtils.DoToggleablePropertyGroup(stretchShearConstraintsEnabled, new GUIContent("Stretch & Shear Constraints", Resources.Load<Texture2D>("Icons/ObiStretchShearConstraints Icon")),
+            () => {
+                EditorGUILayout.PropertyField(stretchCompliance, new GUIContent("Stretch compliance"));
+                EditorGUILayout.PropertyField(shear1Compliance, new GUIContent("Shear compliance X"));
+                EditorGUILayout.PropertyField(shear2Compliance, new GUIContent("Shear compliance Y"));
+            });
+
+            ObiEditorUtils.DoToggleablePropertyGroup(bendTwistConstraintsEnabled, new GUIContent("Bend & Twist Constraints", Resources.Load<Texture2D>("Icons/ObiBendTwistConstraints Icon")),
+            () => {
+                EditorGUILayout.PropertyField(torsionCompliance, new GUIContent("Torsion compliance"));
+                EditorGUILayout.PropertyField(bend1Compliance, new GUIContent("Bend compliance X"));
+                EditorGUILayout.PropertyField(bend2Compliance, new GUIContent("Bend compliance Y"));
+                EditorGUILayout.PropertyField(plasticYield, new GUIContent("Plastic yield"));
+                EditorGUILayout.PropertyField(plasticCreep, new GUIContent("Plastic creep"));
+            });
+
+            ObiEditorUtils.DoToggleablePropertyGroup(chainConstraintsEnabled, new GUIContent("Chain Constraints", Resources.Load<Texture2D>("Icons/ObiChainConstraints Icon")),
+            () => {
+                EditorGUILayout.PropertyField(tightness, new GUIContent("Tightness"));
+            });
+
+
+            if (GUI.changed)
+                serializedObject.ApplyModifiedProperties();
+
+        }
+
+        [DrawGizmo(GizmoType.Selected)]
+        private static void DrawGizmos(ObiRod actor, GizmoType gizmoType)
+        {
+            Handles.color = Color.white;
+            if (actor.rodBlueprint != null)
+                ObiPathHandles.DrawPathHandle(actor.rodBlueprint.path, actor.transform.localToWorldMatrix, actor.rodBlueprint.thickness ,20);
+        }
+
+    }
+
+}
+
+
diff --git a/Assets/Obi/Editor/RopeAndRod/ObiRodEditor.cs.meta b/Assets/Obi/Editor/RopeAndRod/ObiRodEditor.cs.meta
new file mode 100644
index 000000000..43404e2f0
--- /dev/null
+++ b/Assets/Obi/Editor/RopeAndRod/ObiRodEditor.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: d55c0f03ad50c414cacd39520aef2087
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Editor/RopeAndRod/ObiRopeChainRendererEditor.cs b/Assets/Obi/Editor/RopeAndRod/ObiRopeChainRendererEditor.cs
new file mode 100644
index 000000000..cace6a09d
--- /dev/null
+++ b/Assets/Obi/Editor/RopeAndRod/ObiRopeChainRendererEditor.cs
@@ -0,0 +1,40 @@
+using UnityEditor;
+using UnityEngine;
+using System;
+using System.Collections;
+using System.Collections.Generic;
+
+namespace Obi{
+	
+	[CustomEditor(typeof(ObiRopeChainRenderer)), CanEditMultipleObjects] 
+	public class  ObiRopeChainRendererEditor : Editor
+	{
+		
+		ObiRopeChainRenderer renderer;
+		
+		public void OnEnable(){
+			renderer = (ObiRopeChainRenderer)target;
+		}
+		
+		public override void OnInspectorGUI() {
+			
+			serializedObject.UpdateIfRequiredOrScript();
+			
+			Editor.DrawPropertiesExcluding(serializedObject,"m_Script");
+			
+			// Apply changes to the serializedProperty
+			if (GUI.changed){
+				
+				serializedObject.ApplyModifiedProperties();
+				
+				renderer.ClearChainLinkInstances();
+                renderer.CreateChainLinkInstances(renderer.GetComponent<ObiRopeBase>());
+                renderer.UpdateRenderer(renderer.GetComponent<ObiRopeBase>());
+				
+			}
+			
+		}
+		
+	}
+}
+
diff --git a/Assets/Obi/Editor/RopeAndRod/ObiRopeChainRendererEditor.cs.meta b/Assets/Obi/Editor/RopeAndRod/ObiRopeChainRendererEditor.cs.meta
new file mode 100644
index 000000000..f99530421
--- /dev/null
+++ b/Assets/Obi/Editor/RopeAndRod/ObiRopeChainRendererEditor.cs.meta
@@ -0,0 +1,13 @@
+fileFormatVersion: 2
+guid: 0efaf4d397fcc4b87842866f9a69f07b
+labels:
+- ObiRope
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Editor/RopeAndRod/ObiRopeCursorEditor.cs b/Assets/Obi/Editor/RopeAndRod/ObiRopeCursorEditor.cs
new file mode 100644
index 000000000..18d81009f
--- /dev/null
+++ b/Assets/Obi/Editor/RopeAndRod/ObiRopeCursorEditor.cs
@@ -0,0 +1,98 @@
+using UnityEditor;
+using UnityEngine;
+using System;
+using System.Collections;
+using System.Collections.Generic;
+
+namespace Obi
+{
+
+    [CustomEditor(typeof(ObiRopeCursor)), CanEditMultipleObjects]
+    public class ObiRopeCursorEditor : Editor
+    {
+        SerializedProperty cursorMu;
+        SerializedProperty sourceMu;
+        SerializedProperty direction;
+
+        public void OnEnable()
+        {
+            cursorMu = serializedObject.FindProperty("m_CursorMu");
+            sourceMu = serializedObject.FindProperty("m_SourceMu");
+            direction = serializedObject.FindProperty("direction"); 
+        }
+
+        public override void OnInspectorGUI()
+        {
+            serializedObject.UpdateIfRequiredOrScript();
+
+            EditorGUI.BeginChangeCheck();
+            EditorGUILayout.PropertyField(cursorMu);
+            if (EditorGUI.EndChangeCheck())
+            {
+                foreach (var t in targets)
+                    (t as ObiRopeCursor).UpdateCursor();
+            }
+
+            EditorGUI.BeginChangeCheck();
+            EditorGUILayout.PropertyField(sourceMu);
+            if (EditorGUI.EndChangeCheck())
+            {
+                foreach (var t in targets)
+                    (t as ObiRopeCursor).UpdateSource();
+            }
+
+            EditorGUILayout.PropertyField(direction);
+
+            // Apply changes to the serializedProperty
+            if (GUI.changed)
+                serializedObject.ApplyModifiedProperties();
+
+        }
+
+        private static void DrawArrow()
+        {
+            Gizmos.DrawLine(Vector3.left, Vector3.up);
+            Gizmos.DrawLine(Vector3.right, Vector3.up);
+            Gizmos.DrawLine(Vector3.left, Vector3.down);
+            Gizmos.DrawLine(Vector3.right, Vector3.down);
+            Gizmos.DrawLine(Vector3.left, Vector3.forward);
+            Gizmos.DrawLine(Vector3.right, Vector3.forward);
+            Gizmos.DrawLine(Vector3.up, Vector3.forward);
+            Gizmos.DrawLine(Vector3.down, Vector3.forward);
+        }
+
+        [DrawGizmo(GizmoType.Selected)]
+        private static void DrawGizmos(ObiRopeCursor cursor, GizmoType gizmoType)
+        {
+            var rope = cursor.GetComponent<ObiRope>();
+            if (rope.solver != null)
+            {
+                Gizmos.color = new Color(1, 0.5f, 0, 0.75f);
+
+                // 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);
+                }
+
+                // draw cursor:
+                var element = cursor.cursorElement;
+
+                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 direction = pos2 - pos;
+
+                    float size = HandleUtility.GetHandleSize(pos) * 0.4f;
+                    Gizmos.matrix = Matrix4x4.TRS(pos, Quaternion.LookRotation(direction), Vector3.one * size);
+                    DrawArrow();
+                }
+            }
+        }
+    }
+}
+
diff --git a/Assets/Obi/Editor/RopeAndRod/ObiRopeCursorEditor.cs.meta b/Assets/Obi/Editor/RopeAndRod/ObiRopeCursorEditor.cs.meta
new file mode 100644
index 000000000..f740a0b2a
--- /dev/null
+++ b/Assets/Obi/Editor/RopeAndRod/ObiRopeCursorEditor.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: e3ec1bf77ba7a47b596abdc62069c72b
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Editor/RopeAndRod/ObiRopeEditor.cs b/Assets/Obi/Editor/RopeAndRod/ObiRopeEditor.cs
new file mode 100644
index 000000000..6dc04ad7f
--- /dev/null
+++ b/Assets/Obi/Editor/RopeAndRod/ObiRopeEditor.cs
@@ -0,0 +1,180 @@
+using UnityEditor;
+using UnityEditor.EditorTools;
+using UnityEditorInternal;
+using UnityEngine;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+
+
+namespace Obi
+{
+
+    [CustomEditor(typeof(ObiRope))]
+    public class ObiRopeEditor : Editor
+    {
+
+        [MenuItem("GameObject/3D Object/Obi/Obi Rope", false, 300)]
+        static void CreateObiRope(MenuCommand menuCommand)
+        {
+            GameObject go = new GameObject("Obi Rope", typeof(ObiRope), typeof(ObiRopeExtrudedRenderer));
+            ObiEditorUtils.PlaceActorRoot(go, menuCommand);
+        }
+
+        ObiRope actor;
+
+        SerializedProperty ropeBlueprint;
+
+        SerializedProperty collisionMaterial;
+        SerializedProperty selfCollisions;
+        SerializedProperty surfaceCollisions;
+
+        SerializedProperty distanceConstraintsEnabled;
+        SerializedProperty stretchingScale;
+        SerializedProperty stretchCompliance;
+        SerializedProperty maxCompression;
+
+        SerializedProperty bendConstraintsEnabled;
+        SerializedProperty bendCompliance;
+        SerializedProperty maxBending;
+        SerializedProperty plasticYield;
+        SerializedProperty plasticCreep;
+
+        SerializedProperty tearingEnabled;
+        SerializedProperty tearResistanceMultiplier;
+        SerializedProperty tearRate;
+
+        GUIStyle editLabelStyle;
+
+        public void OnEnable()
+        {
+            actor = (ObiRope)target;
+
+            ropeBlueprint = serializedObject.FindProperty("m_RopeBlueprint");
+
+            collisionMaterial = serializedObject.FindProperty("m_CollisionMaterial");
+            selfCollisions = serializedObject.FindProperty("m_SelfCollisions");
+            surfaceCollisions = serializedObject.FindProperty("m_SurfaceCollisions");
+
+            distanceConstraintsEnabled = serializedObject.FindProperty("_distanceConstraintsEnabled");
+            stretchingScale = serializedObject.FindProperty("_stretchingScale");
+            stretchCompliance = serializedObject.FindProperty("_stretchCompliance");
+            maxCompression = serializedObject.FindProperty("_maxCompression");
+
+            bendConstraintsEnabled = serializedObject.FindProperty("_bendConstraintsEnabled");
+            bendCompliance = serializedObject.FindProperty("_bendCompliance");
+            maxBending = serializedObject.FindProperty("_maxBending");
+            plasticYield = serializedObject.FindProperty("_plasticYield");
+            plasticCreep = serializedObject.FindProperty("_plasticCreep");
+
+            tearingEnabled = serializedObject.FindProperty("tearingEnabled");
+            tearResistanceMultiplier = serializedObject.FindProperty("tearResistanceMultiplier");
+            tearRate = serializedObject.FindProperty("tearRate");
+
+        }
+
+        private void DoEditButton()
+        {
+            using (new EditorGUI.DisabledScope(actor.ropeBlueprint == null))
+            {
+                EditorGUILayout.BeginHorizontal();
+                GUILayout.Space(EditorGUIUtility.labelWidth);
+                EditorGUI.BeginChangeCheck();
+                bool edit = GUILayout.Toggle(ToolManager.activeToolType == typeof(ObiPathEditor), new GUIContent(Resources.Load<Texture2D>("EditCurves")), "Button", GUILayout.MaxWidth(36), GUILayout.MaxHeight(24));
+                EditorGUILayout.LabelField("Edit path", editLabelStyle, GUILayout.ExpandHeight(true), GUILayout.MaxHeight(24));
+                if (EditorGUI.EndChangeCheck())
+                {
+                    if (edit)
+                        ToolManager.SetActiveTool<ObiPathEditor>();
+                    else
+                        ToolManager.RestorePreviousPersistentTool();
+
+                    SceneView.RepaintAll();
+                }
+                EditorGUILayout.EndHorizontal();
+            }
+        }
+
+        public override void OnInspectorGUI()
+        {
+            if (editLabelStyle == null)
+            {
+                editLabelStyle = new GUIStyle(GUI.skin.label);
+                editLabelStyle.alignment = TextAnchor.MiddleLeft;
+            }
+
+            serializedObject.UpdateIfRequiredOrScript();
+
+            if (actor.sourceBlueprint != null && actor.ropeBlueprint.path.ControlPointCount < 2)
+            {
+                actor.ropeBlueprint.GenerateImmediate();
+            }
+
+            using (new EditorGUI.DisabledScope(ToolManager.activeToolType == typeof(ObiPathEditor)))
+            {
+                EditorGUI.BeginChangeCheck();
+                EditorGUILayout.PropertyField(ropeBlueprint, new GUIContent("Blueprint"));
+                if (EditorGUI.EndChangeCheck())
+                {
+                    foreach (var t in targets)
+                    {
+                        (t as ObiRope).RemoveFromSolver();
+                        (t as ObiRope).ClearState();
+                    }
+                    serializedObject.ApplyModifiedProperties();
+                    foreach (var t in targets)
+                        (t as ObiRope).AddToSolver();
+                }
+            }
+
+            DoEditButton();
+
+            EditorGUILayout.Space();
+            EditorGUILayout.LabelField("Collisions", EditorStyles.boldLabel);
+            EditorGUILayout.PropertyField(collisionMaterial, new GUIContent("Collision material"));
+            EditorGUILayout.PropertyField(selfCollisions, new GUIContent("Self collisions"));
+            EditorGUILayout.PropertyField(surfaceCollisions, new GUIContent("Surface-based collisions"));
+
+            EditorGUILayout.Space();
+            ObiEditorUtils.DoToggleablePropertyGroup(tearingEnabled, new GUIContent("Tearing"),
+            () =>
+            {
+                EditorGUILayout.PropertyField(tearResistanceMultiplier, new GUIContent("Tear resistance"));
+                EditorGUILayout.PropertyField(tearRate, new GUIContent("Tear rate"));
+            });
+            ObiEditorUtils.DoToggleablePropertyGroup(distanceConstraintsEnabled, new GUIContent("Distance Constraints", Resources.Load<Texture2D>("Icons/ObiDistanceConstraints Icon")),
+            () =>
+            {
+                EditorGUILayout.PropertyField(stretchingScale, new GUIContent("Stretching scale"));
+                EditorGUILayout.PropertyField(stretchCompliance, new GUIContent("Stretch compliance"));
+                EditorGUILayout.PropertyField(maxCompression, new GUIContent("Max compression"));
+            });
+
+            ObiEditorUtils.DoToggleablePropertyGroup(bendConstraintsEnabled, new GUIContent("Bend Constraints", Resources.Load<Texture2D>("Icons/ObiBendConstraints Icon")),
+            () =>
+            {
+                EditorGUILayout.PropertyField(bendCompliance, new GUIContent("Bend compliance"));
+                EditorGUILayout.PropertyField(maxBending, new GUIContent("Max bending"));
+                EditorGUILayout.PropertyField(plasticYield, new GUIContent("Plastic yield"));
+                EditorGUILayout.PropertyField(plasticCreep, new GUIContent("Plastic creep"));
+            });
+
+
+            if (GUI.changed)
+                serializedObject.ApplyModifiedProperties();
+
+        }
+
+        [DrawGizmo(GizmoType.Selected)]
+        private static void DrawGizmos(ObiRope actor, GizmoType gizmoType)
+        {
+            Handles.color = Color.white;
+            if (actor.ropeBlueprint != null)
+                ObiPathHandles.DrawPathHandle(actor.ropeBlueprint.path, actor.transform.localToWorldMatrix, actor.ropeBlueprint.thickness, 20, false);
+        }
+
+    }
+
+}
+
+
diff --git a/Assets/Obi/Editor/RopeAndRod/ObiRopeEditor.cs.meta b/Assets/Obi/Editor/RopeAndRod/ObiRopeEditor.cs.meta
new file mode 100644
index 000000000..78df88c8d
--- /dev/null
+++ b/Assets/Obi/Editor/RopeAndRod/ObiRopeEditor.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: b7e5f7e0daf504c86885734478e9c965
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Editor/RopeAndRod/ObiRopeExtrudedRendererEditor.cs b/Assets/Obi/Editor/RopeAndRod/ObiRopeExtrudedRendererEditor.cs
new file mode 100644
index 000000000..de1b48fbc
--- /dev/null
+++ b/Assets/Obi/Editor/RopeAndRod/ObiRopeExtrudedRendererEditor.cs
@@ -0,0 +1,51 @@
+using UnityEditor;
+using UnityEngine;
+using System;
+using System.Collections;
+using System.Collections.Generic;
+
+namespace Obi{
+	
+	[CustomEditor(typeof(ObiRopeExtrudedRenderer)), CanEditMultipleObjects] 
+	public class  ObiRopeExtrudedRendererEditor : Editor
+	{
+		
+		ObiRopeExtrudedRenderer renderer;
+		
+		public void OnEnable(){
+			renderer = (ObiRopeExtrudedRenderer)target;
+		}
+
+        private void BakeMesh()
+        {
+            if (renderer != null && renderer.extrudedMesh != null)
+            {
+                ObiEditorUtils.SaveMesh(renderer.extrudedMesh, "Save extruded mesh", "rope mesh");
+            }
+        }
+
+        public override void OnInspectorGUI() {
+			
+			serializedObject.UpdateIfRequiredOrScript();
+
+            if (GUILayout.Button("BakeMesh"))
+            {
+                BakeMesh();
+            }
+			
+			Editor.DrawPropertiesExcluding(serializedObject,"m_Script");
+			
+			// Apply changes to the serializedProperty
+			if (GUI.changed){
+				
+				serializedObject.ApplyModifiedProperties();
+				
+                renderer.UpdateRenderer(renderer.GetComponent<ObiRopeBase>());
+				
+			}
+			
+		}
+		
+	}
+}
+
diff --git a/Assets/Obi/Editor/RopeAndRod/ObiRopeExtrudedRendererEditor.cs.meta b/Assets/Obi/Editor/RopeAndRod/ObiRopeExtrudedRendererEditor.cs.meta
new file mode 100644
index 000000000..50deeab9a
--- /dev/null
+++ b/Assets/Obi/Editor/RopeAndRod/ObiRopeExtrudedRendererEditor.cs.meta
@@ -0,0 +1,13 @@
+fileFormatVersion: 2
+guid: 0d0e145ce66cd47e798bf4b926eddfc2
+labels:
+- ObiRope
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Editor/RopeAndRod/ObiRopeLineRendererEditor.cs b/Assets/Obi/Editor/RopeAndRod/ObiRopeLineRendererEditor.cs
new file mode 100644
index 000000000..4e21bf8ce
--- /dev/null
+++ b/Assets/Obi/Editor/RopeAndRod/ObiRopeLineRendererEditor.cs
@@ -0,0 +1,38 @@
+using UnityEditor;
+using UnityEngine;
+using System;
+using System.Collections;
+using System.Collections.Generic;
+
+namespace Obi{
+	
+	[CustomEditor(typeof(ObiRopeLineRenderer)), CanEditMultipleObjects] 
+	public class  ObiRopeLineRendererEditor : Editor
+	{
+		
+		ObiRopeLineRenderer renderer;
+		
+		public void OnEnable(){
+			renderer = (ObiRopeLineRenderer)target;
+		}
+		
+		public override void OnInspectorGUI() {
+			
+			serializedObject.UpdateIfRequiredOrScript();
+			
+			Editor.DrawPropertiesExcluding(serializedObject,"m_Script");
+			
+			// Apply changes to the serializedProperty
+			if (GUI.changed){
+				
+				serializedObject.ApplyModifiedProperties();
+				
+                renderer.UpdateRenderer(null);
+				
+			}
+			
+		}
+		
+	}
+}
+
diff --git a/Assets/Obi/Editor/RopeAndRod/ObiRopeLineRendererEditor.cs.meta b/Assets/Obi/Editor/RopeAndRod/ObiRopeLineRendererEditor.cs.meta
new file mode 100644
index 000000000..5accc43c8
--- /dev/null
+++ b/Assets/Obi/Editor/RopeAndRod/ObiRopeLineRendererEditor.cs.meta
@@ -0,0 +1,13 @@
+fileFormatVersion: 2
+guid: c0a72c38772bb454dabc7efc5b8f03be
+labels:
+- ObiRope
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Editor/RopeAndRod/ObiRopeMeshRendererEditor.cs b/Assets/Obi/Editor/RopeAndRod/ObiRopeMeshRendererEditor.cs
new file mode 100644
index 000000000..8263a50a6
--- /dev/null
+++ b/Assets/Obi/Editor/RopeAndRod/ObiRopeMeshRendererEditor.cs
@@ -0,0 +1,51 @@
+using UnityEditor;
+using UnityEngine;
+using System;
+using System.Collections;
+using System.Collections.Generic;
+
+namespace Obi{
+	
+	[CustomEditor(typeof(ObiRopeMeshRenderer)), CanEditMultipleObjects] 
+	public class  ObiRopeMeshRendererEditor : Editor
+	{
+		
+		ObiRopeMeshRenderer renderer;
+		
+		public void OnEnable(){
+			renderer = (ObiRopeMeshRenderer)target;
+		}
+
+        private void BakeMesh()
+        {
+            if (renderer != null && renderer.deformedMesh != null)
+            {
+                ObiEditorUtils.SaveMesh(renderer.deformedMesh, "Save deformed mesh", "rope mesh");
+            }
+        }
+
+        public override void OnInspectorGUI() {
+			
+			serializedObject.UpdateIfRequiredOrScript();
+
+            if (GUILayout.Button("BakeMesh"))
+            {
+                BakeMesh();
+            }
+
+            Editor.DrawPropertiesExcluding(serializedObject,"m_Script");
+			
+			// Apply changes to the serializedProperty
+			if (GUI.changed){
+				
+				serializedObject.ApplyModifiedProperties();
+				
+                renderer.UpdateRenderer(renderer.GetComponent<ObiRopeBase>());
+				
+			}
+			
+		}
+		
+	}
+}
+
diff --git a/Assets/Obi/Editor/RopeAndRod/ObiRopeMeshRendererEditor.cs.meta b/Assets/Obi/Editor/RopeAndRod/ObiRopeMeshRendererEditor.cs.meta
new file mode 100644
index 000000000..6a6c6a27a
--- /dev/null
+++ b/Assets/Obi/Editor/RopeAndRod/ObiRopeMeshRendererEditor.cs.meta
@@ -0,0 +1,13 @@
+fileFormatVersion: 2
+guid: 297abfc8979aa46329f3a7e914866adc
+labels:
+- ObiRope
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Editor/RopeAndRod/ObiRopeSectionEditor.cs b/Assets/Obi/Editor/RopeAndRod/ObiRopeSectionEditor.cs
new file mode 100644
index 000000000..b5c6fe481
--- /dev/null
+++ b/Assets/Obi/Editor/RopeAndRod/ObiRopeSectionEditor.cs
@@ -0,0 +1,213 @@
+using UnityEditor;
+using UnityEngine;
+using System;
+using System.Collections;
+using System.Collections.Generic;
+
+namespace Obi{
+	
+	/**
+	 * Custom inspector for ObiParticleRenderer component. 
+	 */
+
+	[CustomEditor(typeof(ObiRopeSection))] 
+	public class ObiRopeSectionEditor : Editor
+	{
+	
+		ObiRopeSection section;
+		bool[] selected = new bool[0];
+
+		Color previewBck = new Color(0.2f,0.2f,0.2f,1);
+		Color previewLines = new Color(0.15f,0.15f,0.15f,1);
+
+		public void OnEnable(){
+			section = (ObiRopeSection)target;
+		}
+		
+		public override bool HasPreviewGUI(){
+			return true;
+		}
+
+		private void ResetSelection(){
+			selected = new bool[section.Segments];
+		}
+
+		public override void OnInspectorGUI() {
+			
+			serializedObject.UpdateIfRequiredOrScript();
+			
+			Editor.DrawPropertiesExcluding(serializedObject,"m_Script");
+
+			GUI.enabled = !EditorApplication.isPlaying;
+			GUILayout.Label("Presets");
+
+			GUILayout.BeginHorizontal();
+			if (GUILayout.Button("4-segment circle")){
+				Undo.RecordObject(section, "Set rope section preset");
+				section.CirclePreset(4);
+				ResetSelection();
+			}
+
+			if (GUILayout.Button("8-segment circle")){
+				Undo.RecordObject(section, "Set rope section preset");
+				section.CirclePreset(8);
+				ResetSelection();
+			}
+			GUILayout.EndHorizontal();
+
+			GUILayout.BeginHorizontal();
+			if (GUILayout.Button("12-segment circle")){
+				Undo.RecordObject(section, "Set rope section preset");
+				section.CirclePreset(12);
+				ResetSelection();
+			}
+
+			if (GUILayout.Button("16-segment circle")){
+				Undo.RecordObject(section, "Set rope section preset");
+				section.CirclePreset(16);
+				ResetSelection();				
+			}
+			GUILayout.EndHorizontal();
+
+			GUILayout.Label("Tools");
+			if (GUILayout.Button("Add vertex")){
+				Undo.RecordObject(section, "Add rope vertex");
+				section.vertices.Add(Vector2.zero);
+			}
+
+			if (GUILayout.Button("Remove selected vertices")){
+				Undo.RecordObject(section, "Remove rope vertices");
+				for (int i = selected.Length-1; i > 0; --i){
+					if (selected[i] && section.vertices.Count > 3)
+						section.vertices.RemoveAt(i);
+				}
+				// special cases: first vertex:
+				if (selected[0] && section.vertices.Count > 3){
+					section.vertices.RemoveAt(0);
+					section.vertices[section.vertices.Count-1] = section.vertices[0];
+				}
+
+				ResetSelection();
+			}
+			GUI.enabled = true;
+						
+			// Apply changes to the serializedProperty
+			if (GUI.changed){
+				serializedObject.ApplyModifiedProperties();
+                EditorUtility.SetDirty(target);
+			}
+			
+		}
+
+		private void DrawSectionOutline(Rect region, Color color){
+			// Draw segment lines:
+			Handles.BeginGUI( );
+			Color oldColor = Handles.color;
+			Handles.color = color;
+			Vector3[] points = new Vector3[section.vertices.Count];
+			for (int i = 0; i < section.vertices.Count; i++){
+				points[i] = new Vector3(region.center.x + section.vertices[i].x * region.width * 0.5f,
+										region.center.y + section.vertices[i].y * region.height * 0.5f,0);		
+			}
+			Handles.DrawAAPolyLine(points);
+			Handles.EndGUI();
+			Handles.color = oldColor;
+		}
+
+		private void DrawDrawingArea(Rect region){
+			// Draw drawing area grid:
+			Handles.BeginGUI();
+			Handles.DrawSolidRectangleWithOutline(region,previewBck,previewLines);
+
+			Color oldColor = Handles.color;
+			Handles.color = previewLines;
+
+			if (section.snapX > 5){
+				float x = region.center.x;
+				while (x < region.xMax){
+					Handles.DrawLine(new Vector3(x,region.yMin,0),new Vector3(x,region.yMax,0));
+					x += section.snapX;
+				}
+				x = region.center.x - section.snapX;
+				while (x > region.xMin){
+					Handles.DrawLine(new Vector3(x,region.yMin,0),new Vector3(x,region.yMax,0));
+					x -= section.snapX;
+				}
+			}
+
+			if (section.snapY > 5){
+				float y = region.center.y;
+				while (y < region.yMax){
+					Handles.DrawLine(new Vector3(region.xMin,y,0),new Vector3(region.xMax,y,0));
+					y += section.snapY;
+				}
+				y = region.center.y - section.snapY;
+				while (y > region.yMin){
+					Handles.DrawLine(new Vector3(region.xMin,y,0),new Vector3(region.xMax,y,0));
+					y -= section.snapY;
+				}
+			}
+
+			Handles.color = oldColor;
+			Handles.EndGUI();
+		}
+
+		public override void OnPreviewGUI(Rect region, GUIStyle background)
+		{
+			DrawSectionOutline(region, Color.red);
+		}
+
+		public override void OnInteractivePreviewGUI(Rect region, GUIStyle background)
+		{
+			Array.Resize(ref selected,section.Segments);
+		
+			// Calculate drawing area rect:
+			Vector2 oldCenter = region.center;
+			if (region.width > region.height)
+				region.width = region.height;
+			if (region.height > region.width)
+				region.height = region.width;
+
+			region.width -= 10;
+			region.height -= 15;
+			
+			region.center = oldCenter;
+		
+			// Draw background and lines:
+			DrawDrawingArea(region);
+
+			// Draw the section outline:
+			DrawSectionOutline(region, Color.white);
+
+			// Draw all draggable vertices:
+			for (int i = 0; i < section.Segments; i++){
+
+				float x = region.center.x + section.vertices[i].x * region.width * 0.5f;
+				float y = region.center.y + section.vertices[i].y * region.height * 0.5f;
+				Vector2 pos = new Vector2(x,y);
+				
+				bool oldSelection = selected[i];
+				Vector2 olsPos = pos;
+				selected[i] = ObiDraggableIcon.Draw(selected[i],i,ref pos,Color.red);
+
+				if (selected[i] != oldSelection)
+					this.Repaint();
+
+				if (pos != olsPos){
+
+					pos.x = Mathf.Clamp(ObiRopeSection.SnapTo(pos.x - region.center.x,section.snapX,5) / (region.width * 0.5f),-1,1);
+					pos.y = Mathf.Clamp(ObiRopeSection.SnapTo(pos.y - region.center.y,section.snapY,5) / (region.height * 0.5f),-1,1);
+					section.vertices[i] = pos;
+					if (i == 0)
+						section.vertices[section.Segments] = pos;
+					
+                    EditorUtility.SetDirty(target);
+				}
+			}
+			
+		}
+		
+	}
+
+}
+
diff --git a/Assets/Obi/Editor/RopeAndRod/ObiRopeSectionEditor.cs.meta b/Assets/Obi/Editor/RopeAndRod/ObiRopeSectionEditor.cs.meta
new file mode 100644
index 000000000..c12c5c628
--- /dev/null
+++ b/Assets/Obi/Editor/RopeAndRod/ObiRopeSectionEditor.cs.meta
@@ -0,0 +1,13 @@
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+- ObiRope
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+  executionOrder: 0
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diff --git a/Assets/Obi/Plugins.meta b/Assets/Obi/Plugins.meta
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diff --git a/Assets/Obi/Plugins/Android.meta b/Assets/Obi/Plugins/Android.meta
new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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diff --git a/Assets/Obi/Plugins/iOS/Oni.h b/Assets/Obi/Plugins/iOS/Oni.h
new file mode 100644
index 000000000..4927e7747
--- /dev/null
+++ b/Assets/Obi/Plugins/iOS/Oni.h
@@ -0,0 +1,435 @@
+/*
+ *  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
new file mode 100644
index 000000000..7b98e3ed4
--- /dev/null
+++ b/Assets/Obi/Plugins/iOS/OniHelpers.h
@@ -0,0 +1,72 @@
+/*
+ *  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
new file mode 100644
index 000000000..5675557e1
--- /dev/null
+++ b/Assets/Obi/Plugins/iOS/OniHelpers.h.meta
@@ -0,0 +1,90 @@
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diff --git a/Assets/Obi/Plugins/iOS/libOni.a b/Assets/Obi/Plugins/iOS/libOni.a
new file mode 100644
index 000000000..bc6079fbd
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diff --git a/Assets/Obi/Plugins/iOS/libOni.a.meta b/Assets/Obi/Plugins/iOS/libOni.a.meta
new file mode 100644
index 000000000..d532c806e
--- /dev/null
+++ b/Assets/Obi/Plugins/iOS/libOni.a.meta
@@ -0,0 +1,105 @@
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+        Exclude LinuxUniversal: 1
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+        Exclude Win: 1
+        Exclude Win64: 1
+        Exclude iOS: 0
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+      enabled: 1
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+        CompileFlags: 
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diff --git a/Assets/Obi/Plugins/libOni.bundle.meta b/Assets/Obi/Plugins/libOni.bundle.meta
new file mode 100644
index 000000000..ba94bc967
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diff --git a/Assets/Obi/Plugins/libOni.bundle/Contents.meta b/Assets/Obi/Plugins/libOni.bundle/Contents.meta
new file mode 100644
index 000000000..8bdbdc030
--- /dev/null
+++ b/Assets/Obi/Plugins/libOni.bundle/Contents.meta
@@ -0,0 +1,8 @@
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diff --git a/Assets/Obi/Plugins/libOni.bundle/Contents/Info.plist b/Assets/Obi/Plugins/libOni.bundle/Contents/Info.plist
new file mode 100644
index 000000000..cfc875948
--- /dev/null
+++ b/Assets/Obi/Plugins/libOni.bundle/Contents/Info.plist
@@ -0,0 +1,50 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE plist PUBLIC "-//Apple//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
+<plist version="1.0">
+<dict>
+	<key>BuildMachineOSBuild</key>
+	<string>19E266</string>
+	<key>CFBundleDevelopmentRegion</key>
+	<string>en</string>
+	<key>CFBundleExecutable</key>
+	<string>Oni</string>
+	<key>CFBundleIdentifier</key>
+	<string>com.Ark.Oni</string>
+	<key>CFBundleInfoDictionaryVersion</key>
+	<string>6.0</string>
+	<key>CFBundleName</key>
+	<string>Oni</string>
+	<key>CFBundlePackageType</key>
+	<string>BNDL</string>
+	<key>CFBundleShortVersionString</key>
+	<string>1.0</string>
+	<key>CFBundleSignature</key>
+	<string>????</string>
+	<key>CFBundleSupportedPlatforms</key>
+	<array>
+		<string>MacOSX</string>
+	</array>
+	<key>CFBundleVersion</key>
+	<string>1</string>
+	<key>DTCompiler</key>
+	<string>com.apple.compilers.llvm.clang.1_0</string>
+	<key>DTPlatformBuild</key>
+	<string>12D4e</string>
+	<key>DTPlatformName</key>
+	<string>macosx</string>
+	<key>DTPlatformVersion</key>
+	<string>11.1</string>
+	<key>DTSDKBuild</key>
+	<string>20C63</string>
+	<key>DTSDKName</key>
+	<string>macosx11.1</string>
+	<key>DTXcode</key>
+	<string>1240</string>
+	<key>DTXcodeBuild</key>
+	<string>12D4e</string>
+	<key>LSMinimumSystemVersion</key>
+	<string>10.11</string>
+	<key>NSHumanReadableCopyright</key>
+	<string>Copyright © 2016 Ark. All rights reserved.</string>
+</dict>
+</plist>
diff --git a/Assets/Obi/Plugins/libOni.bundle/Contents/MacOS.meta b/Assets/Obi/Plugins/libOni.bundle/Contents/MacOS.meta
new file mode 100644
index 000000000..1354871a0
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diff --git a/Assets/Obi/Plugins/libOni.bundle/Contents/MacOS/Oni b/Assets/Obi/Plugins/libOni.bundle/Contents/MacOS/Oni
new file mode 100644
index 000000000..86f77bea8
Binary files /dev/null and b/Assets/Obi/Plugins/libOni.bundle/Contents/MacOS/Oni differ
diff --git a/Assets/Obi/Plugins/libOni.bundle/Contents/Resources.meta b/Assets/Obi/Plugins/libOni.bundle/Contents/Resources.meta
new file mode 100644
index 000000000..22b2f5c7b
--- /dev/null
+++ b/Assets/Obi/Plugins/libOni.bundle/Contents/Resources.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
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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
new file mode 100644
index 000000000..9eb502b79
--- /dev/null
+++ b/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/CMakeLists.txt
@@ -0,0 +1,19 @@
+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
new file mode 100644
index 000000000..1332b540d
--- /dev/null
+++ b/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/Cholesky
@@ -0,0 +1,46 @@
+// 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
new file mode 100644
index 000000000..bed8924d3
--- /dev/null
+++ b/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/CholmodSupport
@@ -0,0 +1,48 @@
+// 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
new file mode 100644
index 000000000..b923b8c00
--- /dev/null
+++ b/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/Core
@@ -0,0 +1,537 @@
+// 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
new file mode 100644
index 000000000..5768910bd
--- /dev/null
+++ b/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/Dense
@@ -0,0 +1,7 @@
+#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
new file mode 100644
index 000000000..654c8dc63
--- /dev/null
+++ b/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/Eigen
@@ -0,0 +1,2 @@
+#include "Dense"
+#include "Sparse"
diff --git a/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/Eigenvalues b/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/Eigenvalues
new file mode 100644
index 000000000..f3f661b07
--- /dev/null
+++ b/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/Eigenvalues
@@ -0,0 +1,61 @@
+// 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
new file mode 100644
index 000000000..716d52952
--- /dev/null
+++ b/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/Geometry
@@ -0,0 +1,62 @@
+// 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
new file mode 100644
index 000000000..89cd81b1a
--- /dev/null
+++ b/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/Householder
@@ -0,0 +1,30 @@
+// 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
new file mode 100644
index 000000000..957d5750b
--- /dev/null
+++ b/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/IterativeLinearSolvers
@@ -0,0 +1,48 @@
+// 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
new file mode 100644
index 000000000..17c1d785a
--- /dev/null
+++ b/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/Jacobi
@@ -0,0 +1,33 @@
+// 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
new file mode 100644
index 000000000..6418a86e1
--- /dev/null
+++ b/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/LU
@@ -0,0 +1,50 @@
+// 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
new file mode 100644
index 000000000..85c41bf34
--- /dev/null
+++ b/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/MetisSupport
@@ -0,0 +1,35 @@
+// 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
new file mode 100644
index 000000000..d8ea36193
--- /dev/null
+++ b/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/OrderingMethods
@@ -0,0 +1,73 @@
+// 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
new file mode 100644
index 000000000..de3a63b4d
--- /dev/null
+++ b/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/PaStiXSupport
@@ -0,0 +1,48 @@
+// 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
new file mode 100644
index 000000000..340edf51f
--- /dev/null
+++ b/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/PardisoSupport
@@ -0,0 +1,35 @@
+// 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
new file mode 100644
index 000000000..c7e914469
--- /dev/null
+++ b/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/QR
@@ -0,0 +1,51 @@
+// 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
new file mode 100644
index 000000000..4f07df02a
--- /dev/null
+++ b/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/QtAlignedMalloc
@@ -0,0 +1,40 @@
+// 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
new file mode 100644
index 000000000..f70390c17
--- /dev/null
+++ b/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/SPQRSupport
@@ -0,0 +1,34 @@
+// 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
new file mode 100644
index 000000000..5d0e75f7f
--- /dev/null
+++ b/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/SVD
@@ -0,0 +1,51 @@
+// 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
new file mode 100644
index 000000000..136e681a1
--- /dev/null
+++ b/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/Sparse
@@ -0,0 +1,36 @@
+// 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
new file mode 100644
index 000000000..b6a320c40
--- /dev/null
+++ b/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/SparseCholesky
@@ -0,0 +1,45 @@
+// 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
new file mode 100644
index 000000000..76966c4c4
--- /dev/null
+++ b/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/SparseCore
@@ -0,0 +1,69 @@
+// 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
new file mode 100644
index 000000000..38b38b531
--- /dev/null
+++ b/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/SparseLU
@@ -0,0 +1,46 @@
+// 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
new file mode 100644
index 000000000..a6f3b7f7d
--- /dev/null
+++ b/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/SparseQR
@@ -0,0 +1,37 @@
+// 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
new file mode 100644
index 000000000..bc68397be
--- /dev/null
+++ b/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/StdDeque
@@ -0,0 +1,27 @@
+// 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
new file mode 100644
index 000000000..4c6262c08
--- /dev/null
+++ b/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/StdList
@@ -0,0 +1,26 @@
+// 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
new file mode 100644
index 000000000..0c4697ad5
--- /dev/null
+++ b/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/StdVector
@@ -0,0 +1,27 @@
+// 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
new file mode 100644
index 000000000..59312a82d
--- /dev/null
+++ b/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/SuperLUSupport
@@ -0,0 +1,64 @@
+// 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
new file mode 100644
index 000000000..00eec8087
--- /dev/null
+++ b/Assets/Obi/Plugins/libOni.bundle/Contents/Resources/UmfPackSupport
@@ -0,0 +1,40 @@
+// 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
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new file mode 100644
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new file mode 100644
index 000000000..578027da5
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+		<data>
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+\deftab720
+\pard\pardeftab720\partightenfactor0
+
+\f0\b\fs26 \cf0 \expnd0\expndtw0\kerning0
+OFFICIAL OBI WEBPAGE:\
+{\field{\*\fldinst{HYPERLINK "http://obi.virtualmethodstudio.com"}}{\fldrslt 
+\f1\b0 http://obi.virtualmethodstudio.com}}\
+\
+OFFICIAL FORUM:\
+{\field{\*\fldinst{HYPERLINK "http://obi.virtualmethodstudio.com/forum"}}{\fldrslt 
+\f1\b0 http://obi.virtualmethodstudio.com/forum}}\
+\
+CREDITS:
+\f1\b0 \
+\
+\ul Programming, design:\ulnone \
+Jos\'e9 Mar\'eda \'93ArK\'94 M\'e9ndez Gonz\'e1lez\
+\
+\ul Support, Community management and Web/Forum maintenance:\ulnone \
+Lidia Mart\'ednez Prado 	\
+\
+\ul Special thanks to:\ulnone \
+VargaPD 					(testing and debugging)\
+theANMATOR2b 				(testing)\
+Hanging Cui				(testing, help with vectorization issues)\
+Janne Ramstedt 			(debugging and suggestions)\
+Tigrero Tiger				(debugging)\
+Hatchling 				(feedback regarding collision filtering and spatial query API)\
+\
+all the folks at the Unity forums and of course, all Obi users.\
+\
+\
+}
\ No newline at end of file
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+		{
+			CGPROGRAM
+			#pragma vertex vert
+			#pragma fragment frag
+			
+			#include "UnityCG.cginc"
+
+			struct appdata
+			{
+				float4 vertex : POSITION;
+				float2 uv : TEXCOORD0;
+			};
+
+			struct v2f
+			{
+				float2 uv : TEXCOORD0;
+				float4 vertex : SV_POSITION;
+			};
+
+			sampler2D _MainTex;
+			float4 _MainTex_ST;
+			
+			v2f vert (appdata v)
+			{
+				v2f o;
+				o.vertex = UnityObjectToClipPos(v.vertex);
+				o.uv = TRANSFORM_TEX(v.uv, _MainTex);
+				return o;
+			}
+			
+			half4 frag (v2f i) : SV_Target
+			{
+				half dist = tex2D(_MainTex, i.uv).x-0.5; // signed distance
+				half adist = abs(dist);					 // absolute distance
+				half isofunc = sin(adist*40);			 // isolines function
+
+				// antialiased isolines:
+				half change = fwidth(isofunc);
+				half isolines = smoothstep(-change,change,isofunc);
+
+				// antialiazed sign:
+				change = fwidth(dist);
+				half sign = smoothstep(-change,change,dist);
+				
+				half final = (1-adist) * (0.85+isolines*0.15);
+
+				return half4(final,final*sign,final*sign,1);
+			}
+			ENDCG
+		}
+	}
+}
diff --git a/Assets/Obi/Resources/ObiMaterials/DistanceFieldSlice.shader.meta b/Assets/Obi/Resources/ObiMaterials/DistanceFieldSlice.shader.meta
new file mode 100644
index 000000000..e48de3bb9
--- /dev/null
+++ b/Assets/Obi/Resources/ObiMaterials/DistanceFieldSlice.shader.meta
@@ -0,0 +1,9 @@
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+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/ObiMaterials/InstancedStandard.mat b/Assets/Obi/Resources/ObiMaterials/InstancedStandard.mat
new file mode 100644
index 000000000..62f2fec4a
--- /dev/null
+++ b/Assets/Obi/Resources/ObiMaterials/InstancedStandard.mat
@@ -0,0 +1,84 @@
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diff --git a/Assets/Obi/Resources/ObiMaterials/InstancedStandard.mat.meta b/Assets/Obi/Resources/ObiMaterials/InstancedStandard.mat.meta
new file mode 100644
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+++ b/Assets/Obi/Resources/ObiMaterials/InstancedStandard.mat.meta
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diff --git a/Assets/Obi/Resources/ObiMaterials/ObiEllipsoids.cginc b/Assets/Obi/Resources/ObiMaterials/ObiEllipsoids.cginc
new file mode 100644
index 000000000..157d9d0b5
--- /dev/null
+++ b/Assets/Obi/Resources/ObiMaterials/ObiEllipsoids.cginc
@@ -0,0 +1,85 @@
+#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;
+}
+
+// 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.
+float IntersectEllipsoid(float3 v, float4 mapping, float3 a2, float3 a3, out float3 eyePos, out float3 eyeNormal)
+{
+	float r2 = dot(mapping.xy, mapping.xy);
+	float iq = 1 - r2/mapping.w;
+	clip(iq); // the ray does not intersect the sphere.
+
+	float sqrtiq = sqrt(iq);
+	float lambda = 1/(1 + mapping.z * sqrtiq);
+
+	eyePos = lambda * v;
+	eyeNormal = normalize(a2 + lambda * a3);
+
+	// return gaussian-falloff thickness.
+	return 2 * sqrtiq * exp(-r2*2.0f);
+}
+
+void BuildParameterSpaceMatrices(float4 t0, float4 t1, float4 t2, 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(mul(O,S),IO);
+	IP = mul(mul(O,IS),IO);
+}
+
+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);
+	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;
+	float 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);
+
+	return radius;
+}
+
+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]
+}
+
+#endif
diff --git a/Assets/Obi/Resources/ObiMaterials/ObiEllipsoids.cginc.meta b/Assets/Obi/Resources/ObiMaterials/ObiEllipsoids.cginc.meta
new file mode 100644
index 000000000..f4ed8219d
--- /dev/null
+++ b/Assets/Obi/Resources/ObiMaterials/ObiEllipsoids.cginc.meta
@@ -0,0 +1,9 @@
+fileFormatVersion: 2
+guid: 083c49fc96643477889bfd68e70cf998
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+  userData: 
+  assetBundleName: 
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diff --git a/Assets/Obi/Resources/ObiMaterials/ObiLightingBuiltIn.cginc b/Assets/Obi/Resources/ObiMaterials/ObiLightingBuiltIn.cginc
new file mode 100644
index 000000000..35ff81bb9
--- /dev/null
+++ b/Assets/Obi/Resources/ObiMaterials/ObiLightingBuiltIn.cginc
@@ -0,0 +1,19 @@
+#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/ObiLightingBuiltIn.cginc.meta b/Assets/Obi/Resources/ObiMaterials/ObiLightingBuiltIn.cginc.meta
new file mode 100644
index 000000000..761c6bcb2
--- /dev/null
+++ b/Assets/Obi/Resources/ObiMaterials/ObiLightingBuiltIn.cginc.meta
@@ -0,0 +1,9 @@
+fileFormatVersion: 2
+guid: 135872c7cdf2b43bf89b8c57d067d4de
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+  externalObjects: {}
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diff --git a/Assets/Obi/Resources/ObiMaterials/ObiParticles.cginc b/Assets/Obi/Resources/ObiMaterials/ObiParticles.cginc
new file mode 100644
index 000000000..b2e8f8f40
--- /dev/null
+++ b/Assets/Obi/Resources/ObiMaterials/ObiParticles.cginc
@@ -0,0 +1,24 @@
+#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
new file mode 100644
index 000000000..a08cdc8ea
--- /dev/null
+++ b/Assets/Obi/Resources/ObiMaterials/ObiParticles.cginc.meta
@@ -0,0 +1,9 @@
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diff --git a/Assets/Obi/Resources/ObiMaterials/ObiUtils.cginc b/Assets/Obi/Resources/ObiMaterials/ObiUtils.cginc
new file mode 100644
index 000000000..bd161f27c
--- /dev/null
+++ b/Assets/Obi/Resources/ObiMaterials/ObiUtils.cginc
@@ -0,0 +1,28 @@
+#ifndef OBIUTILS_INCLUDED
+#define OBIUTILS_INCLUDED
+
+float4x4 _Camera_to_World;
+
+// abstract texture declaration/sampling over built-in and SRPs:
+#ifndef TEXTURE2D
+#define TEXTURE2D(name) sampler2D name
+#endif
+
+#ifndef TEXTURE2D_HALF
+#define TEXTURE2D_HALF(name) sampler2D_half name
+#endif
+
+#ifndef TEXTURE2D_FLOAT
+#define TEXTURE2D_FLOAT(name) sampler2D_float name
+#endif
+
+#ifndef SAMPLE_TEXTURE2D
+#define SAMPLE_TEXTURE2D(textureName, samplerName, coord2) tex2D(textureName,coord2)
+#endif
+
+#ifndef SAMPLER
+#define SAMPLER(samplerName)
+#endif
+
+
+#endif
diff --git a/Assets/Obi/Resources/ObiMaterials/ObiUtils.cginc.meta b/Assets/Obi/Resources/ObiMaterials/ObiUtils.cginc.meta
new file mode 100644
index 000000000..d7668afa6
--- /dev/null
+++ b/Assets/Obi/Resources/ObiMaterials/ObiUtils.cginc.meta
@@ -0,0 +1,9 @@
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+timeCreated: 1445285630
+licenseType: Store
+ShaderImporter:
+  defaultTextures: []
+  userData: 
+  assetBundleName: 
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diff --git a/Assets/Obi/Resources/ObiMaterials/Particle.mat b/Assets/Obi/Resources/ObiMaterials/Particle.mat
new file mode 100644
index 000000000..6cda4517e
--- /dev/null
+++ b/Assets/Obi/Resources/ObiMaterials/Particle.mat
@@ -0,0 +1,83 @@
+%YAML 1.1
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+    - _RadiusScale: 1
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diff --git a/Assets/Obi/Resources/ObiMaterials/Particle.mat.meta b/Assets/Obi/Resources/ObiMaterials/Particle.mat.meta
new file mode 100644
index 000000000..c37067413
--- /dev/null
+++ b/Assets/Obi/Resources/ObiMaterials/Particle.mat.meta
@@ -0,0 +1,8 @@
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diff --git a/Assets/Obi/Resources/ObiMaterials/ParticleShader.shader b/Assets/Obi/Resources/ObiMaterials/ParticleShader.shader
new file mode 100644
index 000000000..941d682f9
--- /dev/null
+++ b/Assets/Obi/Resources/ObiMaterials/ParticleShader.shader
@@ -0,0 +1,215 @@
+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/ParticleShader.shader.meta b/Assets/Obi/Resources/ObiMaterials/ParticleShader.shader.meta
new file mode 100644
index 000000000..b7373631e
--- /dev/null
+++ b/Assets/Obi/Resources/ObiMaterials/ParticleShader.shader.meta
@@ -0,0 +1,9 @@
+fileFormatVersion: 2
+guid: 801733041f66b49e1b3c2101471db877
+timeCreated: 1438934781
+licenseType: Store
+ShaderImporter:
+  defaultTextures: []
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/ObiMaterials/SimpleParticleShader.shader b/Assets/Obi/Resources/ObiMaterials/SimpleParticleShader.shader
new file mode 100644
index 000000000..b6b0f89aa
--- /dev/null
+++ b/Assets/Obi/Resources/ObiMaterials/SimpleParticleShader.shader
@@ -0,0 +1,131 @@
+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/SimpleParticleShader.shader.meta b/Assets/Obi/Resources/ObiMaterials/SimpleParticleShader.shader.meta
new file mode 100644
index 000000000..d7b7965c7
--- /dev/null
+++ b/Assets/Obi/Resources/ObiMaterials/SimpleParticleShader.shader.meta
@@ -0,0 +1,9 @@
+fileFormatVersion: 2
+guid: 87908c483837f4df49e97fa1aa0dacda
+timeCreated: 1489574725
+licenseType: Store
+ShaderImporter:
+  defaultTextures: []
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/ObiMaterials/StandardVertexColors.shader b/Assets/Obi/Resources/ObiMaterials/StandardVertexColors.shader
new file mode 100644
index 000000000..346c696cf
--- /dev/null
+++ b/Assets/Obi/Resources/ObiMaterials/StandardVertexColors.shader
@@ -0,0 +1,51 @@
+// Upgrade NOTE: upgraded instancing buffer 'Props' to new syntax.
+
+Shader "Standard (Vertex Colors)" {
+	Properties {
+		_Color ("Color", Color) = (1,1,1,1)
+		_MainTex ("Albedo (RGB)", 2D) = "white" {}
+		_Glossiness ("Smoothness", Range(0,1)) = 0.5
+		_Metallic ("Metallic", Range(0,1)) = 0.0
+	}
+	SubShader {
+		Tags { "RenderType"="Opaque" }
+		LOD 200
+		
+		CGPROGRAM
+		// Physically based Standard lighting model, and enable shadows on all light types
+		#pragma surface surf Standard fullforwardshadows
+
+		// Use shader model 3.0 target, to get nicer looking lighting
+		#pragma target 3.0
+
+		sampler2D _MainTex;
+
+		struct Input {
+	        float2 uv_MainTex;
+	        float4 vcolor : COLOR;
+	    };
+
+		half _Glossiness;
+		half _Metallic;
+		fixed4 _Color;
+
+		// Add instancing support for this shader. You need to check 'Enable Instancing' on materials that use the shader.
+		// See https://docs.unity3d.com/Manual/GPUInstancing.html for more information about instancing.
+		// #pragma instancing_options assumeuniformscaling
+		UNITY_INSTANCING_BUFFER_START(Props)
+			// put more per-instance properties here
+		UNITY_INSTANCING_BUFFER_END(Props)
+
+		void surf (Input IN, inout SurfaceOutputStandard o) {
+			// Albedo comes from a texture tinted by color
+			fixed4 c = tex2D (_MainTex, IN.uv_MainTex) * _Color * IN.vcolor;
+			o.Albedo = c.rgb;
+			// Metallic and smoothness come from slider variables
+			o.Metallic = _Metallic;
+			o.Smoothness = _Glossiness;
+			o.Alpha = c.a;
+		}
+		ENDCG
+	}
+	FallBack "Diffuse"
+}
diff --git a/Assets/Obi/Resources/ObiMaterials/StandardVertexColors.shader.meta b/Assets/Obi/Resources/ObiMaterials/StandardVertexColors.shader.meta
new file mode 100644
index 000000000..c15af5724
--- /dev/null
+++ b/Assets/Obi/Resources/ObiMaterials/StandardVertexColors.shader.meta
@@ -0,0 +1,9 @@
+fileFormatVersion: 2
+guid: 96c602bba0bc94471862812f91285c9a
+timeCreated: 1505116095
+licenseType: Store
+ShaderImporter:
+  defaultTextures: []
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/ObiMaterials/URP.meta b/Assets/Obi/Resources/ObiMaterials/URP.meta
new file mode 100644
index 000000000..0507e4054
--- /dev/null
+++ b/Assets/Obi/Resources/ObiMaterials/URP.meta
@@ -0,0 +1,8 @@
+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
new file mode 100644
index 000000000..aa1019617
--- /dev/null
+++ b/Assets/Obi/Resources/ObiMaterials/URP/ObiLightingURP.cginc
@@ -0,0 +1,36 @@
+#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
new file mode 100644
index 000000000..7a766777a
--- /dev/null
+++ b/Assets/Obi/Resources/ObiMaterials/URP/ObiLightingURP.cginc.meta
@@ -0,0 +1,9 @@
+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
new file mode 100644
index 000000000..7d20e3601
--- /dev/null
+++ b/Assets/Obi/Resources/ObiMaterials/URP/ParticleShaderURP.shader
@@ -0,0 +1,236 @@
+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
new file mode 100644
index 000000000..c201e984d
--- /dev/null
+++ b/Assets/Obi/Resources/ObiMaterials/URP/ParticleShaderURP.shader.meta
@@ -0,0 +1,9 @@
+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
new file mode 100644
index 000000000..95d2ee5d8
--- /dev/null
+++ b/Assets/Obi/Resources/ObiMaterials/URP/SimpleParticleShaderURP.shader
@@ -0,0 +1,145 @@
+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/Resources/ObiMaterials/URP/SimpleParticleShaderURP.shader.meta b/Assets/Obi/Resources/ObiMaterials/URP/SimpleParticleShaderURP.shader.meta
new file mode 100644
index 000000000..72d99fd08
--- /dev/null
+++ b/Assets/Obi/Resources/ObiMaterials/URP/SimpleParticleShaderURP.shader.meta
@@ -0,0 +1,9 @@
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+ShaderImporter:
+  externalObjects: {}
+  defaultTextures: []
+  nonModifiableTextures: []
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Resources/ObiMaterials/particle.png b/Assets/Obi/Resources/ObiMaterials/particle.png
new file mode 100644
index 000000000..1eea413c7
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diff --git a/Assets/Obi/Resources/ObiMaterials/particle.png.meta b/Assets/Obi/Resources/ObiMaterials/particle.png.meta
new file mode 100644
index 000000000..7fc10cacb
--- /dev/null
+++ b/Assets/Obi/Resources/ObiMaterials/particle.png.meta
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+TextureImporter:
+  fileIDToRecycleName: {}
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+  mipmaps:
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+    fadeOut: 0
+    borderMipMap: 0
+    mipMapFadeDistanceStart: 1
+    mipMapFadeDistanceEnd: 3
+  bumpmap:
+    convertToNormalMap: 0
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+    normalMapFilter: 0
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diff --git a/Assets/Obi/Samples.meta b/Assets/Obi/Samples.meta
new file mode 100644
index 000000000..086e2007c
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+++ b/Assets/Obi/Samples.meta
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diff --git a/Assets/Obi/Samples/Common.meta b/Assets/Obi/Samples/Common.meta
new file mode 100644
index 000000000..7f1f79bf4
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+++ b/Assets/Obi/Samples/Common.meta
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new file mode 100644
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diff --git a/Assets/Obi/Samples/Common/SampleResources/Animations.meta b/Assets/Obi/Samples/Common/SampleResources/Animations.meta
new file mode 100644
index 000000000..9ccfd3f01
--- /dev/null
+++ b/Assets/Obi/Samples/Common/SampleResources/Animations.meta
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diff --git a/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidCrouch.fbx b/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidCrouch.fbx
new file mode 100644
index 000000000..6bbd1c368
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new file mode 100644
index 000000000..a307593f6
--- /dev/null
+++ b/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidCrouch.fbx.meta
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diff --git a/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidIdle.fbx b/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidIdle.fbx
new file mode 100644
index 000000000..4ae25cb2e
Binary files /dev/null and b/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidIdle.fbx differ
diff --git a/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidIdle.fbx.meta b/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidIdle.fbx.meta
new file mode 100644
index 000000000..64095f575
--- /dev/null
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diff --git a/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidIdleJumpUp.fbx b/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidIdleJumpUp.fbx
new file mode 100644
index 000000000..46919337f
Binary files /dev/null and b/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidIdleJumpUp.fbx differ
diff --git a/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidIdleJumpUp.fbx.meta b/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidIdleJumpUp.fbx.meta
new file mode 100644
index 000000000..77ccf6a46
--- /dev/null
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+      1: 100286
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+      1: 100288
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+      1: 100290
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+      4: 400118
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+      4: 400120
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+      4: 400122
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+      4: 400124
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+      4: 400126
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+      4: 400128
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+      4: 400150
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+      4: 400152
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+      4: 400154
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+      4: 400158
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+      4: 400160
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+      4: 400166
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+      4: 400170
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+      4: 400184
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+      4: 400188
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+      4: 400194
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+      4: 400198
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+      4: 400202
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+      4: 400206
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+      4: 400208
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+      4: 400232
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+      4: 400234
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+      4: 400238
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+      4: 400240
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+      4: 400242
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+      4: 400244
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+      4: 400246
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+      4: 400248
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+      4: 400250
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+      4: 400254
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+      4: 400258
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+      4: 400262
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+      4: 400284
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+      4: 400286
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+      4: 400290
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diff --git a/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidJumpAndFall.fbx b/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidJumpAndFall.fbx
new file mode 100644
index 000000000..419e2d788
Binary files /dev/null and b/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidJumpAndFall.fbx differ
diff --git a/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidJumpAndFall.fbx.meta b/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidJumpAndFall.fbx.meta
new file mode 100644
index 000000000..e56742994
--- /dev/null
+++ b/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidJumpAndFall.fbx.meta
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+    upperLegTwist: 0.5
+    legTwist: 0.5
+    armStretch: 0.05
+    legStretch: 0.05
+    feetSpacing: 0
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+    rootMotionBoneName: 
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+    hasExtraRoot: 0
+    skeletonHasParents: 0
+  lastHumanDescriptionAvatarSource: {instanceID: 0}
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+  humanoidOversampling: 1
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diff --git a/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidMidAir.fbx b/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidMidAir.fbx
new file mode 100644
index 000000000..80f6e2408
Binary files /dev/null and b/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidMidAir.fbx differ
diff --git a/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidMidAir.fbx.meta b/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidMidAir.fbx.meta
new file mode 100644
index 000000000..15d8aea00
--- /dev/null
+++ b/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidMidAir.fbx.meta
@@ -0,0 +1,2641 @@
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+- ObiRope
+- ObiSoftbody
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+      4: 400090
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+      4: 400102
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+      4: 400104
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+      4: 400110
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+      4: 400114
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+      4: 400116
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+      4: 400118
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+      4: 400120
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+      4: 400122
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+      4: 400124
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+      4: 400126
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+      4: 400128
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+      4: 400130
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+      4: 400132
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+      4: 400134
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+      4: 400138
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+      4: 400140
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+      4: 400142
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+      4: 400144
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+      4: 400150
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+      4: 400152
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+      4: 400154
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+      4: 400156
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+      4: 400158
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+      4: 400160
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+      4: 400162
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+      4: 400164
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+      4: 400166
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+      4: 400168
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+      4: 400170
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+      4: 400172
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+      4: 400174
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+      4: 400176
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+      4: 400178
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+      4: 400180
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+      4: 400182
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+      4: 400184
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+      4: 400188
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+      4: 400190
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+      4: 400192
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+      4: 400194
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+      4: 400196
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+      4: 400198
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+      4: 400200
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+      4: 400202
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+      4: 400204
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+      4: 400206
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+      4: 400208
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+      4: 400210
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+      4: 400212
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+      4: 400216
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+      4: 400218
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+      4: 400224
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+      4: 400226
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+      4: 400228
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+      4: 400230
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+      4: 400232
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+      4: 400234
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+      4: 400238
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+      4: 400240
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+      4: 400242
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+      4: 400244
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+      4: 400246
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+      4: 400248
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+      4: 400250
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+      4: 400252
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+      4: 400254
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+      4: 400256
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+      4: 400258
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+      4: 400260
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+      4: 400262
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+      4: 400264
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+      4: 400266
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+      4: 400268
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+      4: 400276
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+      4: 400280
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+      4: 400282
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+      4: 400284
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+      4: 400286
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+      4: 400288
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+      4: 400290
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+      4: 400292
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+      23: 2300034
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diff --git a/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidRun.fbx b/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidRun.fbx
new file mode 100644
index 000000000..72673a5ba
Binary files /dev/null and b/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidRun.fbx differ
diff --git a/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidRun.fbx.meta b/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidRun.fbx.meta
new file mode 100644
index 000000000..301b3af29
--- /dev/null
+++ b/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidRun.fbx.meta
@@ -0,0 +1,2814 @@
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+      4: 400012
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+      4: 400026
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+      4: 400028
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+      4: 400030
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+      4: 400058
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+      4: 400068
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+      4: 400078
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+      4: 400102
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+      4: 400210
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+      4: 400212
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+      4: 400242
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+      4: 400308
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+      4: 400310
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+      4: 400314
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+      4: 400316
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+      4: 400350
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+      4: 400400
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+      4: 400404
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+      4: 400406
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+      4: 400414
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+      4: 400418
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+      4: 400426
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+      4: 400428
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+      4: 400430
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+      4: 400434
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+      4: 400436
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diff --git a/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidRunTurn.fbx b/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidRunTurn.fbx
new file mode 100644
index 000000000..d115096f8
Binary files /dev/null and b/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidRunTurn.fbx differ
diff --git a/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidRunTurn.fbx.meta b/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidRunTurn.fbx.meta
new file mode 100644
index 000000000..1bba047aa
--- /dev/null
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+      4: 400068
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+      4: 400070
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+      4: 400072
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+      4: 400074
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+      4: 400076
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+      4: 400078
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+      4: 400080
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+      4: 400082
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+      4: 400084
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+      4: 400086
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+      4: 400088
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+      4: 400090
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+      4: 400092
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+      4: 400094
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+      4: 400096
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+      4: 400098
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+      4: 400100
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+      4: 400102
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+      4: 400104
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+      4: 400106
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+      4: 400108
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+      4: 400110
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+      4: 400112
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+      4: 400114
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+      4: 400116
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+      4: 400118
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+      4: 400120
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+      4: 400122
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+      4: 400124
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+      4: 400126
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+      4: 400128
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+      4: 400130
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+      4: 400132
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+      4: 400134
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+      4: 400136
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+  - first:
+      4: 400138
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+      4: 400140
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+      4: 400142
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+      4: 400144
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+      4: 400146
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+      4: 400148
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+      4: 400150
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+      4: 400152
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+      4: 400154
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+      4: 400156
+    second: LToeBase_End3
+  - first:
+      4: 400158
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+      4: 400160
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+  - first:
+      4: 400162
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+      4: 400164
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+      4: 400166
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+      4: 400168
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+      4: 400170
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+      4: 400172
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+      4: 400174
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+      4: 400176
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+      4: 400178
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+      4: 400180
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+      4: 400182
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+      4: 400184
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+  - first:
+      4: 400186
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+  - first:
+      4: 400188
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+  - first:
+      4: 400190
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+      4: 400192
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+  - first:
+      4: 400194
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+  - first:
+      4: 400196
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+  - first:
+      4: 400198
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+  - first:
+      4: 400200
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+  - first:
+      4: 400202
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+  - first:
+      4: 400204
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+  - first:
+      4: 400206
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+  - first:
+      4: 400208
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+  - first:
+      4: 400210
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+      4: 400212
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+  - first:
+      4: 400214
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+      4: 400216
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+      4: 400218
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+  - first:
+      4: 400220
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+  - first:
+      4: 400222
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+  - first:
+      4: 400224
+    second: RightEyelidUpper
+  - first:
+      4: 400226
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+  - first:
+      4: 400228
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+  - first:
+      4: 400230
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+      4: 400232
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+      4: 400234
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+  - first:
+      4: 400236
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+      4: 400238
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+  - first:
+      4: 400240
+    second: RightHandMiddle2
+  - first:
+      4: 400242
+    second: RightHandMiddle3
+  - first:
+      4: 400244
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+      4: 400246
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+  - first:
+      4: 400248
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+  - first:
+      4: 400250
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+      4: 400252
+    second: RightHandRing2
+  - first:
+      4: 400254
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+  - first:
+      4: 400256
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+  - first:
+      4: 400258
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+  - first:
+      4: 400260
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+  - first:
+      4: 400262
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+  - first:
+      4: 400264
+    second: RightIOuterBrow
+  - first:
+      4: 400266
+    second: RightLeg
+  - first:
+      4: 400268
+    second: RightLipCorner
+  - first:
+      4: 400270
+    second: RightLipLower
+  - first:
+      4: 400272
+    second: RightLipUpper
+  - first:
+      4: 400274
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+  - first:
+      4: 400276
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+  - first:
+      4: 400278
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+  - first:
+      4: 400280
+    second: RightUpLeg
+  - first:
+      4: 400282
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+      4: 400284
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+      4: 400286
+    second: spineProxy_geo
+  - first:
+      4: 400288
+    second: TongueBack
+  - first:
+      4: 400290
+    second: TongueTip
+  - first:
+      4: 400292
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+  - first:
+      4: 400294
+    second: UNI_01_TongueBaseProxy
+  - first:
+      4: 400296
+    second: UNI_01_TongueTipProxy
+  - first:
+      4: 400298
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+      23: 2300000
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+      23: 2300002
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+      23: 2300004
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+      23: 2300006
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+      23: 2300008
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+      23: 2300010
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+      23: 2300012
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+      23: 2300014
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+      23: 2300016
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+      23: 2300018
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+      23: 2300020
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+      23: 2300022
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+      23: 2300024
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+      23: 2300026
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+      23: 2300028
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+      23: 2300030
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+      23: 2300032
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+      23: 2300034
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+      23: 2300036
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+      23: 2300038
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+      23: 2300040
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+      23: 2300042
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+      23: 2300044
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+      23: 2300046
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+  - first:
+      23: 2300048
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+  - first:
+      23: 2300050
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+      23: 2300052
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+  - first:
+      23: 2300054
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+      23: 2300056
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+      23: 2300058
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+      23: 2300060
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+      23: 2300062
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+      23: 2300064
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+      23: 2300066
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+      23: 2300068
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+      23: 2300070
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+      23: 2300072
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+      23: 2300074
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+      23: 2300076
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+      23: 2300078
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+      23: 2300080
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+      23: 2300082
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+      23: 2300084
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+      23: 2300086
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+      23: 2300088
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+      23: 2300092
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+      23: 2300094
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+      23: 2300096
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+      23: 2300098
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+  - first:
+      23: 2300100
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+      23: 2300102
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+      23: 2300104
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+      23: 2300106
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+      23: 2300108
+    second: UNI_01_Lower_teethProxy
+  - first:
+      23: 2300110
+    second: UNI_01_TongueBaseProxy
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+      23: 2300112
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+      23: 2300114
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+      33: 3300000
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+      33: 3300002
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+      33: 3300004
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+      33: 3300006
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+      33: 3300008
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+      33: 3300010
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+      33: 3300012
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+      33: 3300014
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+      33: 3300016
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+      33: 3300018
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+      33: 3300020
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+      33: 3300022
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+      33: 3300024
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+      33: 3300026
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+      33: 3300028
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+      33: 3300030
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+      33: 3300032
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+      33: 3300034
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+      33: 3300036
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+      33: 3300038
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+      33: 3300040
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+      33: 3300042
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+      33: 3300044
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+      33: 3300046
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+      33: 3300048
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+      33: 3300050
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+      33: 3300052
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+      33: 3300054
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+      33: 3300056
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+      33: 3300058
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+      33: 3300060
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+      33: 3300062
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+      33: 3300064
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+      33: 3300070
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+      33: 3300072
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+      33: 3300078
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+      33: 3300080
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+      33: 3300082
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+      33: 3300084
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+      33: 3300086
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+      33: 3300088
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+      33: 3300092
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+      33: 3300094
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+      33: 3300096
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+      33: 3300098
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+      33: 3300100
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+      33: 3300102
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+      33: 3300104
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+  - first:
+      33: 3300106
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+      33: 3300108
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+  - first:
+      33: 3300110
+    second: UNI_01_TongueBaseProxy
+  - first:
+      33: 3300112
+    second: UNI_01_TongueTipProxy
+  - first:
+      33: 3300114
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+      43: 4300000
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+      43: 4300002
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+      43: 4300004
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+      43: 4300006
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+      43: 4300008
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+      43: 4300010
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+  - first:
+      43: 4300012
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+  - first:
+      43: 4300014
+    second: UNI_01_Upper_teethProxy
+  - first:
+      43: 4300016
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+      43: 4300018
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+      43: 4300020
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+      43: 4300022
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+      43: 4300024
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+      43: 4300026
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+      43: 4300028
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+      43: 4300030
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+      43: 4300032
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+      43: 4300034
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+      43: 4300036
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+      43: 4300038
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+      43: 4300040
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+      43: 4300042
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+      43: 4300044
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+  - first:
+      43: 4300046
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+  - first:
+      43: 4300048
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+      43: 4300050
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+      43: 4300052
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+      43: 4300054
+    second: r_clavicleProxy_geo
+  - first:
+      43: 4300056
+    second: chestProxy_geo
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+      43: 4300058
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+      43: 4300060
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+      43: 4300062
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+      43: 4300064
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+      43: 4300066
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+      43: 4300068
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+      43: 4300070
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+      43: 4300072
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+      43: 4300074
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+      43: 4300076
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+      43: 4300078
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+      43: 4300080
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+      43: 4300082
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+      43: 4300084
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+      43: 4300086
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+      43: 4300088
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+      43: 4300090
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+      43: 4300092
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+      43: 4300094
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+  - first:
+      43: 4300096
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+      43: 4300098
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+      43: 4300100
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+      43: 4300102
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+      43: 4300104
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+      43: 4300106
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+      43: 4300108
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+      43: 4300110
+    second: l_ankleProxy_geo
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diff --git a/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidStandTurn.fbx b/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidStandTurn.fbx
new file mode 100644
index 000000000..ec67bcdd7
Binary files /dev/null and b/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidStandTurn.fbx differ
diff --git a/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidStandTurn.fbx.meta b/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidStandTurn.fbx.meta
new file mode 100644
index 000000000..06779db0c
--- /dev/null
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+      1: 100336
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+      1: 100398
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+      1: 100400
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+      1: 100402
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+      1: 100404
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+      1: 100406
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+      1: 100412
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+      1: 100414
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+      1: 100416
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+      1: 100418
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+      1: 100420
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+      1: 100422
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+      1: 100424
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+      1: 100426
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+      1: 100428
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+      1: 100434
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+      1: 100436
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+      1: 100438
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+      4: 400008
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+      4: 400012
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+      4: 400014
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+      4: 400016
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+      4: 400018
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+      4: 400020
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+      4: 400022
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+      4: 400024
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+      4: 400026
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+      4: 400028
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+      4: 400030
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+      4: 400032
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+      4: 400034
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+      4: 400036
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+      4: 400046
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+      4: 400048
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+      4: 400052
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+      4: 400058
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+      4: 400060
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+      4: 400064
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+      4: 400066
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+      4: 400068
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+      4: 400070
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+      4: 400072
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+      4: 400076
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+      4: 400078
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+      4: 400086
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+      4: 400088
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+      4: 400096
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+      4: 400098
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+      4: 400100
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+      4: 400102
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+      4: 400106
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+      4: 400108
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+      4: 400110
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+      4: 400112
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+      4: 400114
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+      4: 400116
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+      4: 400122
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+      4: 400124
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+      4: 400126
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+      4: 400136
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+      4: 400138
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+      4: 400168
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+      4: 400170
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+      4: 400172
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+      4: 400176
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+      4: 400206
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+      4: 400210
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+      4: 400212
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+      4: 400214
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+      4: 400216
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+      4: 400218
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+      4: 400220
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+      4: 400222
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+      4: 400224
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+      4: 400230
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+      4: 400232
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+      4: 400236
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+      4: 400238
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+      4: 400240
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+      4: 400242
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+      4: 400244
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+      4: 400284
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+      4: 400288
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+      4: 400290
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+      4: 400292
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+      4: 400294
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+      4: 400300
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+      4: 400302
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+      4: 400304
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+      4: 400306
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+      4: 400308
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+      4: 400310
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+      4: 400312
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+      4: 400314
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+      4: 400316
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+      4: 400320
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+      4: 400322
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+      4: 400324
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+      4: 400330
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+      4: 400332
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+      4: 400350
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+      4: 400376
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+      4: 400394
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+      4: 400398
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+      4: 400400
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+      4: 400402
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+      4: 400404
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+      4: 400406
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+      4: 400414
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+      4: 400416
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+      4: 400418
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+      4: 400420
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+      4: 400422
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+      4: 400424
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+      4: 400426
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+      4: 400428
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+      4: 400430
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+      4: 400432
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+      4: 400434
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+      4: 400436
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+      4: 400438
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+      4: 400440
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+      4: 400442
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+      4: 400446
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+      23: 2300002
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+      23: 2300004
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+      23: 2300006
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+      23: 2300008
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+      23: 2300018
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+      23: 2300022
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+      23: 2300036
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+      23: 2300038
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+      23: 2300040
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+      23: 2300042
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+      23: 2300044
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+      23: 2300046
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+      23: 2300048
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+  - first:
+      23: 2300050
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+      23: 2300052
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+    second: pelvisProxy_geo
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diff --git a/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidWalk.fbx b/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidWalk.fbx
new file mode 100644
index 000000000..7f7a2c5b3
Binary files /dev/null and b/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidWalk.fbx differ
diff --git a/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidWalk.fbx.meta b/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidWalk.fbx.meta
new file mode 100644
index 000000000..9a171ad57
--- /dev/null
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+      4: 400058
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+      4: 400064
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+      4: 400066
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+      4: 400070
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+      4: 400076
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+      4: 400078
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+      4: 400080
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+      4: 400082
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+      4: 400084
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+      4: 400086
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+      4: 400088
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+      4: 400090
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+      4: 400092
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+      4: 400094
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+      4: 400096
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+      4: 400098
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+      4: 400100
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+      4: 400102
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+      4: 400104
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+      4: 400106
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+      4: 400108
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+      4: 400116
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+      4: 400120
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+      4: 400122
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+      4: 400124
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+      4: 400126
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+      4: 400128
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+      4: 400130
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+      4: 400134
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+      4: 400138
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+      4: 400140
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+      4: 400142
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+      4: 400144
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+      4: 400146
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+      4: 400148
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+      4: 400150
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+      4: 400152
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+      4: 400156
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+  - first:
+      4: 400158
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+      4: 400160
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+      4: 400162
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+      4: 400164
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+      4: 400166
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+      4: 400168
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+      4: 400180
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+      4: 400182
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+      4: 400184
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+      4: 400186
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+      4: 400188
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+      4: 400190
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+  - first:
+      4: 400192
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+      4: 400194
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+      4: 400196
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+      4: 400198
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+      4: 400200
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+      4: 400202
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+      4: 400204
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+  - first:
+      4: 400206
+    second: r_thumbProxy_03_geo
+  - first:
+      4: 400208
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+      4: 400210
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+      4: 400212
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+      4: 400214
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+      4: 400216
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+      4: 400218
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+      4: 400220
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+      4: 400222
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+      4: 400224
+    second: RightFoot
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+      4: 400226
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+      4: 400228
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+      4: 400230
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+      4: 400232
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+      4: 400234
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+      4: 400236
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+      4: 400238
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+  - first:
+      4: 400240
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+      4: 400242
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+      4: 400244
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+      4: 400246
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+      4: 400248
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+      4: 400250
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+      4: 400252
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+      4: 400254
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+      4: 400256
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+      4: 400258
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+      4: 400260
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+      4: 400262
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+      4: 400264
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+      4: 400266
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+      4: 400268
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+      4: 400270
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+      4: 400272
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+      4: 400274
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+      4: 400276
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+      4: 400278
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+      4: 400280
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+      4: 400282
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+  - first:
+      4: 400284
+    second: TongueBack
+  - first:
+      4: 400286
+    second: TongueTip
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+      4: 400288
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+      4: 400290
+    second: UNI_01_TongueBaseProxy
+  - first:
+      4: 400292
+    second: UNI_01_TongueTipProxy
+  - first:
+      4: 400294
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+      23: 2300000
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+      23: 2300002
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+      23: 2300004
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+      23: 2300006
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+      23: 2300008
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+      23: 2300010
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+      23: 2300012
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+      23: 2300016
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+      23: 2300022
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+      23: 2300030
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+      23: 2300032
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+      23: 2300034
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+      23: 2300036
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+      23: 2300038
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+      23: 2300040
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+      23: 2300042
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+      23: 2300044
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+      23: 2300046
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+      23: 2300048
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+      23: 2300050
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+      23: 2300052
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+      23: 2300054
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+      23: 2300056
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+      23: 2300058
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+      23: 2300060
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+      23: 2300062
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+      23: 2300102
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+      23: 2300106
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+      23: 2300108
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+  - first:
+      23: 2300110
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+      23: 2300112
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+      23: 2300114
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+      33: 3300000
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+      33: 3300004
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+      33: 3300006
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+      33: 3300008
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+      33: 3300044
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+      33: 3300096
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+      33: 3300100
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+      33: 3300108
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+  - first:
+      33: 3300110
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+      33: 3300112
+    second: UNI_01_TongueTipProxy
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+      33: 3300114
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+      43: 4300014
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+      43: 4300016
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+      43: 4300018
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+      43: 4300052
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+      43: 4300054
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+      43: 4300056
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+      43: 4300058
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+      43: 4300060
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+      43: 4300062
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+      43: 4300080
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+      43: 4300082
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+      43: 4300086
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+      43: 4300088
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+      43: 4300092
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+  - first:
+      43: 4300094
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+  - first:
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diff --git a/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidWalkTurn.fbx b/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidWalkTurn.fbx
new file mode 100644
index 000000000..1a84a3dd7
Binary files /dev/null and b/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidWalkTurn.fbx differ
diff --git a/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidWalkTurn.fbx.meta b/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidWalkTurn.fbx.meta
new file mode 100644
index 000000000..e961c46db
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+      1: 100140
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+  - first:
+      1: 100156
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+      1: 100158
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+      1: 100160
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+  - first:
+      1: 100162
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+      1: 100164
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+      1: 100224
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+      1: 100276
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+      1: 100286
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+      4: 400004
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+      4: 400006
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+      4: 400012
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+      4: 400284
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diff --git a/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidWalkTurnSharp.fbx b/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidWalkTurnSharp.fbx
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index 000000000..39425acdc
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diff --git a/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidWalkTurnSharp.fbx.meta b/Assets/Obi/Samples/Common/SampleResources/Animations/HumanoidWalkTurnSharp.fbx.meta
new file mode 100644
index 000000000..e677c2921
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diff --git a/Assets/Obi/Samples/Common/SampleResources/Animations/ThirdPersonAnimatorController.controller b/Assets/Obi/Samples/Common/SampleResources/Animations/ThirdPersonAnimatorController.controller
new file mode 100644
index 000000000..8318e73f3
--- /dev/null
+++ b/Assets/Obi/Samples/Common/SampleResources/Animations/ThirdPersonAnimatorController.controller
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diff --git a/Assets/Obi/Samples/Common/SampleResources/Materials/Walls.mat.meta b/Assets/Obi/Samples/Common/SampleResources/Materials/Walls.mat.meta
new file mode 100644
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diff --git a/Assets/Obi/Samples/Common/SampleResources/Scripts.meta b/Assets/Obi/Samples/Common/SampleResources/Scripts.meta
new file mode 100644
index 000000000..0961a1f0a
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+++ b/Assets/Obi/Samples/Common/SampleResources/Scripts.meta
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diff --git a/Assets/Obi/Samples/Common/SampleResources/Scripts/ActorCOMTransform.cs b/Assets/Obi/Samples/Common/SampleResources/Scripts/ActorCOMTransform.cs
new file mode 100644
index 000000000..051482236
--- /dev/null
+++ b/Assets/Obi/Samples/Common/SampleResources/Scripts/ActorCOMTransform.cs
@@ -0,0 +1,21 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using Obi;
+
+public class ActorCOMTransform : MonoBehaviour
+{
+   
+    public Vector3 offset;
+    public ObiActor actor;
+
+    public void Update()
+    {
+        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/ActorCOMTransform.cs.meta b/Assets/Obi/Samples/Common/SampleResources/Scripts/ActorCOMTransform.cs.meta
new file mode 100644
index 000000000..8d256b6fa
--- /dev/null
+++ b/Assets/Obi/Samples/Common/SampleResources/Scripts/ActorCOMTransform.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Samples/Common/SampleResources/Scripts/ActorSpawner.cs b/Assets/Obi/Samples/Common/SampleResources/Scripts/ActorSpawner.cs
new file mode 100644
index 000000000..5afb457fd
--- /dev/null
+++ b/Assets/Obi/Samples/Common/SampleResources/Scripts/ActorSpawner.cs
@@ -0,0 +1,35 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using Obi;
+
+public class ActorSpawner : MonoBehaviour {
+
+	public ObiActor template;
+
+	public int basePhase = 2;
+	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 () {
+
+		timeFromLastSpawn += Time.deltaTime;
+
+		if (Input.GetMouseButtonDown(0) && instances < maxInstances && timeFromLastSpawn > spawnDelay)
+		{
+			GameObject go = Instantiate(template.gameObject,transform.position,Quaternion.identity);
+            go.transform.SetParent(transform.parent);
+
+            go.GetComponent<ObiActor>().SetFilterCategory(basePhase + phase);
+
+			phase++;
+			instances++;
+			timeFromLastSpawn = 0;
+		}
+	}
+}
diff --git a/Assets/Obi/Samples/Common/SampleResources/Scripts/ActorSpawner.cs.meta b/Assets/Obi/Samples/Common/SampleResources/Scripts/ActorSpawner.cs.meta
new file mode 100644
index 000000000..e8de32b0f
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+++ b/Assets/Obi/Samples/Common/SampleResources/Scripts/ActorSpawner.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Samples/Common/SampleResources/Scripts/AddRandomVelocity.cs b/Assets/Obi/Samples/Common/SampleResources/Scripts/AddRandomVelocity.cs
new file mode 100644
index 000000000..9a1f94717
--- /dev/null
+++ b/Assets/Obi/Samples/Common/SampleResources/Scripts/AddRandomVelocity.cs
@@ -0,0 +1,16 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using Obi;
+
+[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);
+		}
+	}
+}
diff --git a/Assets/Obi/Samples/Common/SampleResources/Scripts/AddRandomVelocity.cs.meta b/Assets/Obi/Samples/Common/SampleResources/Scripts/AddRandomVelocity.cs.meta
new file mode 100644
index 000000000..fb9001537
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@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Samples/Common/SampleResources/Scripts/Blinker.cs b/Assets/Obi/Samples/Common/SampleResources/Scripts/Blinker.cs
new file mode 100644
index 000000000..897374084
--- /dev/null
+++ b/Assets/Obi/Samples/Common/SampleResources/Scripts/Blinker.cs
@@ -0,0 +1,23 @@
+using UnityEngine;
+
+public class Blinker : MonoBehaviour {
+
+	public Color highlightColor;
+
+ 	private Renderer rend;
+	private Color original;
+
+	void Awake(){
+		rend = GetComponent<Renderer>();
+		original = rend.material.color;
+	}
+
+	public void Blink(){
+		rend.material.color = highlightColor;
+	}
+
+	void LateUpdate(){
+		rend.material.color += (original - rend.material.color)*Time.deltaTime*5;
+	}
+
+}
diff --git a/Assets/Obi/Samples/Common/SampleResources/Scripts/Blinker.cs.meta b/Assets/Obi/Samples/Common/SampleResources/Scripts/Blinker.cs.meta
new file mode 100644
index 000000000..db54e62ff
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diff --git a/Assets/Obi/Samples/Common/SampleResources/Scripts/CharacterController.meta b/Assets/Obi/Samples/Common/SampleResources/Scripts/CharacterController.meta
new file mode 100644
index 000000000..428e0c8f9
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+++ b/Assets/Obi/Samples/Common/SampleResources/Scripts/CharacterController.meta
@@ -0,0 +1,9 @@
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diff --git a/Assets/Obi/Samples/Common/SampleResources/Scripts/CharacterController/ObiCharacter.cs b/Assets/Obi/Samples/Common/SampleResources/Scripts/CharacterController/ObiCharacter.cs
new file mode 100644
index 000000000..57807d600
--- /dev/null
+++ b/Assets/Obi/Samples/Common/SampleResources/Scripts/CharacterController/ObiCharacter.cs
@@ -0,0 +1,229 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+namespace Obi{
+
+	[RequireComponent(typeof(Rigidbody))]
+	[RequireComponent(typeof(CapsuleCollider))]
+	[RequireComponent(typeof(Animator))]
+	public class ObiCharacter : MonoBehaviour {
+	
+		[SerializeField] float m_MovingTurnSpeed = 360;
+		[SerializeField] float m_StationaryTurnSpeed = 180;
+		[SerializeField] float m_JumpPower = 12f;
+		[Range(1f, 4f)][SerializeField] float m_GravityMultiplier = 2f;
+		[SerializeField] float m_RunCycleLegOffset = 0.2f; //specific to the character in sample assets, will need to be modified to work with others
+		[SerializeField] float m_MoveSpeedMultiplier = 1f;
+		[SerializeField] float m_AnimSpeedMultiplier = 1f;
+		[SerializeField] float m_GroundCheckDistance = 0.1f;
+
+		Rigidbody m_Rigidbody;
+		Animator m_Animator;
+		bool m_IsGrounded;
+		float m_OrigGroundCheckDistance;
+		const float k_Half = 0.5f;
+		float m_TurnAmount;
+		float m_ForwardAmount;
+		Vector3 m_GroundNormal;
+		float m_CapsuleHeight;
+		Vector3 m_CapsuleCenter;
+		CapsuleCollider m_Capsule;
+		bool m_Crouching;
+
+		void Start()
+		{
+			Physics.IgnoreLayerCollision(LayerMask.NameToLayer("Default"),LayerMask.NameToLayer("Ignore Raycast"),true);
+
+			m_Animator = GetComponent<Animator>();
+			m_Rigidbody = GetComponent<Rigidbody>();
+			m_Capsule = GetComponent<CapsuleCollider>();
+			m_CapsuleHeight = m_Capsule.height;
+			m_CapsuleCenter = m_Capsule.center;
+
+			m_Rigidbody.constraints = RigidbodyConstraints.FreezeRotationX | RigidbodyConstraints.FreezeRotationY | RigidbodyConstraints.FreezeRotationZ;
+			m_OrigGroundCheckDistance = m_GroundCheckDistance;
+		}
+
+
+		public void Move(Vector3 move, bool crouch, bool jump)
+		{
+
+			// convert the world relative moveInput vector into a local-relative
+			// turn amount and forward amount required to head in the desired
+			// direction.
+			if (move.magnitude > 1f) move.Normalize();
+			move = transform.InverseTransformDirection(move);
+			CheckGroundStatus();
+			move = Vector3.ProjectOnPlane(move, m_GroundNormal);
+			m_TurnAmount = Mathf.Atan2(move.x, move.z);
+			m_ForwardAmount = move.z;
+
+			ApplyExtraTurnRotation();
+
+			// control and velocity handling is different when grounded and airborne:
+			if (m_IsGrounded)
+			{
+				HandleGroundedMovement(crouch, jump);
+			}
+			else
+			{
+				HandleAirborneMovement();
+			}
+
+			ScaleCapsuleForCrouching(crouch);
+			PreventStandingInLowHeadroom();
+
+			// send input and other state parameters to the animator
+			UpdateAnimator(move);
+		}
+
+
+		void ScaleCapsuleForCrouching(bool crouch)
+		{
+			if (m_IsGrounded && crouch)
+			{
+				if (m_Crouching) return;
+				m_Capsule.height = m_Capsule.height / 2f;
+				m_Capsule.center = m_Capsule.center / 2f;
+				m_Crouching = true;
+			}
+			else
+			{
+				Ray crouchRay = new Ray(m_Rigidbody.position + Vector3.up * m_Capsule.radius * k_Half, Vector3.up);
+				float crouchRayLength = m_CapsuleHeight - m_Capsule.radius * k_Half;
+				if (Physics.SphereCast(crouchRay, m_Capsule.radius * k_Half, crouchRayLength, ~Physics.IgnoreRaycastLayer, QueryTriggerInteraction.Ignore))
+				{
+					m_Crouching = true;
+					return;
+				}
+				m_Capsule.height = m_CapsuleHeight;
+				m_Capsule.center = m_CapsuleCenter;
+				m_Crouching = false;
+			}
+		}
+
+		void PreventStandingInLowHeadroom()
+		{
+			// prevent standing up in crouch-only zones
+			if (!m_Crouching)
+			{
+				Ray crouchRay = new Ray(m_Rigidbody.position + Vector3.up * m_Capsule.radius * k_Half, Vector3.up);
+				float crouchRayLength = m_CapsuleHeight - m_Capsule.radius * k_Half;
+				if (Physics.SphereCast(crouchRay, m_Capsule.radius * k_Half, crouchRayLength, ~Physics.IgnoreRaycastLayer, QueryTriggerInteraction.Ignore))
+				{
+					m_Crouching = true;
+				}
+			}
+		}
+
+
+		void UpdateAnimator(Vector3 move)
+		{
+			// update the animator parameters
+            m_Animator.SetFloat("Forward", m_ForwardAmount, 0.1f, Time.deltaTime);
+            m_Animator.SetFloat("Turn", m_TurnAmount, 0.1f, Time.deltaTime);
+			m_Animator.SetBool("Crouch", m_Crouching);
+			m_Animator.SetBool("OnGround", m_IsGrounded);
+			if (!m_IsGrounded)
+			{
+				m_Animator.SetFloat("Jump", m_Rigidbody.linearVelocity.y);
+			}
+
+			// calculate which leg is behind, so as to leave that leg trailing in the jump animation
+			// (This code is reliant on the specific run cycle offset in our animations,
+			// and assumes one leg passes the other at the normalized clip times of 0.0 and 0.5)
+			float runCycle =
+				Mathf.Repeat(
+					m_Animator.GetCurrentAnimatorStateInfo(0).normalizedTime + m_RunCycleLegOffset, 1);
+			float jumpLeg = (runCycle < k_Half ? 1 : -1) * m_ForwardAmount;
+			if (m_IsGrounded)
+			{
+				m_Animator.SetFloat("JumpLeg", jumpLeg);
+			}
+
+			// the anim speed multiplier allows the overall speed of walking/running to be tweaked in the inspector,
+			// which affects the movement speed because of the root motion.
+			if (m_IsGrounded && move.magnitude > 0)
+			{
+				m_Animator.speed = m_AnimSpeedMultiplier;
+			}
+			else
+			{
+				// don't use that while airborne
+				m_Animator.speed = 1;
+			}
+		}
+
+
+		void HandleAirborneMovement()
+		{
+			// apply extra gravity from multiplier:
+			Vector3 extraGravityForce = (Physics.gravity * m_GravityMultiplier) - Physics.gravity;
+			m_Rigidbody.AddForce(extraGravityForce);
+
+			m_GroundCheckDistance = m_Rigidbody.linearVelocity.y < 0 ? m_OrigGroundCheckDistance : 0.01f;
+		}
+
+
+		void HandleGroundedMovement(bool crouch, bool jump)
+		{
+			// check whether conditions are right to allow a jump:
+			if (jump && !crouch && m_Animator.GetCurrentAnimatorStateInfo(0).IsName("Grounded"))
+			{
+				// jump!
+				m_Rigidbody.linearVelocity = new Vector3(m_Rigidbody.linearVelocity.x, m_JumpPower, m_Rigidbody.linearVelocity.z);
+				m_IsGrounded = false;
+				m_Animator.applyRootMotion = false;
+				m_GroundCheckDistance = 0.1f;
+			}
+		}
+
+		void ApplyExtraTurnRotation()
+		{
+			// help the character turn faster (this is in addition to root rotation in the animation)
+			float turnSpeed = Mathf.Lerp(m_StationaryTurnSpeed, m_MovingTurnSpeed, m_ForwardAmount);
+            transform.Rotate(0, m_TurnAmount * turnSpeed * Time.deltaTime, 0);
+		}
+
+
+		public void OnAnimatorMove()
+		{
+			// we implement this function to override the default root motion.
+			// this allows us to modify the positional speed before it's applied.
+			if (m_IsGrounded)
+			{
+                Vector3 v = (m_Animator.deltaPosition * m_MoveSpeedMultiplier) / Time.deltaTime;
+
+				// we preserve the existing y part of the current velocity.
+				v.y = m_Rigidbody.linearVelocity.y;
+				m_Rigidbody.linearVelocity = v;
+			}
+		}
+
+
+		void CheckGroundStatus()
+		{
+			RaycastHit hitInfo;
+#if UNITY_EDITOR
+			// helper to visualise the ground check ray in the scene view
+			Debug.DrawLine(transform.position + (Vector3.up * 0.1f), transform.position + (Vector3.up * 0.1f) + (Vector3.down * m_GroundCheckDistance));
+#endif
+			// 0.1f is a small offset to start the ray from inside the character
+			// it is also good to note that the transform position in the sample assets is at the base of the character
+			if (Physics.Raycast(transform.position + (Vector3.up * 0.1f), Vector3.down, out hitInfo, m_GroundCheckDistance,~Physics.IgnoreRaycastLayer))
+			{
+				m_GroundNormal = hitInfo.normal;
+				m_IsGrounded = true;
+				m_Animator.applyRootMotion = true;
+			}
+			else
+			{
+				m_IsGrounded = false;
+				m_GroundNormal = Vector3.up;
+				m_Animator.applyRootMotion = false;
+			}
+		}
+	}
+
+}
\ No newline at end of file
diff --git a/Assets/Obi/Samples/Common/SampleResources/Scripts/CharacterController/ObiCharacter.cs.meta b/Assets/Obi/Samples/Common/SampleResources/Scripts/CharacterController/ObiCharacter.cs.meta
new file mode 100644
index 000000000..43091bd62
--- /dev/null
+++ b/Assets/Obi/Samples/Common/SampleResources/Scripts/CharacterController/ObiCharacter.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 30974edc9036841cebffee1d18425185
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Samples/Common/SampleResources/Scripts/CharacterController/SampleCharacterController.cs b/Assets/Obi/Samples/Common/SampleResources/Scripts/CharacterController/SampleCharacterController.cs
new file mode 100644
index 000000000..6d76046ea
--- /dev/null
+++ b/Assets/Obi/Samples/Common/SampleResources/Scripts/CharacterController/SampleCharacterController.cs
@@ -0,0 +1,72 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+
+namespace Obi{
+
+	[RequireComponent(typeof (ObiCharacter))]
+	public class SampleCharacterController : MonoBehaviour {
+	
+		private ObiCharacter m_Character; 			// A reference to the ThirdPersonCharacter on the object
+        private Transform m_Cam;                  // A reference to the main camera in the scenes transform
+        private Vector3 m_CamForward;             // The current forward direction of the camera
+        private Vector3 m_Move;
+        private bool m_Jump;                      // the world-relative desired move direction, calculated from the camForward and user input.
+        
+        private void Start()
+        {
+            // get the transform of the main camera
+            if (Camera.main != null)
+            {
+                m_Cam = Camera.main.transform;
+            }
+            else
+            {
+                Debug.LogWarning(
+                    "Warning: no main camera found. Third person character needs a Camera tagged \"MainCamera\", for camera-relative controls.");
+                // we use self-relative controls in this case, which probably isn't what the user wants, but hey, we warned them!
+            }
+
+            // get the third person character ( this should never be null due to require component )
+            m_Character = GetComponent<ObiCharacter>();
+        }
+
+
+        private void FixedUpdate()
+        {
+            if (!m_Jump)
+            {
+                m_Jump = Input.GetButtonDown("Jump");
+            }
+
+			// read inputs
+			float h = Input.GetAxis("Horizontal");
+            float v = Input.GetAxis("Vertical");
+            bool crouch = Input.GetKey(KeyCode.C);
+
+            // calculate move direction to pass to character
+            if (m_Cam != null)
+            {
+                // calculate camera relative direction to move:
+                m_CamForward = Vector3.Scale(m_Cam.forward, new Vector3(1, 0, 1)).normalized;
+                m_Move = v*m_CamForward + h*m_Cam.right;
+            }
+            else
+            {
+                // we use world-relative directions in the case of no main camera
+                m_Move = v*Vector3.forward + h*Vector3.right;
+            }
+			#if !MOBILE_INPUT
+				// walk speed multiplier
+	       	 	if (Input.GetKey(KeyCode.LeftShift)) m_Move *= 0.5f;
+			#endif
+	
+            // pass all parameters to the character control script
+            m_Character.Move(m_Move, crouch, m_Jump);
+            m_Jump = false;
+        }
+
+	}
+
+}
diff --git a/Assets/Obi/Samples/Common/SampleResources/Scripts/CharacterController/SampleCharacterController.cs.meta b/Assets/Obi/Samples/Common/SampleResources/Scripts/CharacterController/SampleCharacterController.cs.meta
new file mode 100644
index 000000000..b0aa0d0ac
--- /dev/null
+++ b/Assets/Obi/Samples/Common/SampleResources/Scripts/CharacterController/SampleCharacterController.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: de9bce9a2c43c424d81e85ea229e0004
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Samples/Common/SampleResources/Scripts/ColliderHighlighter.cs b/Assets/Obi/Samples/Common/SampleResources/Scripts/ColliderHighlighter.cs
new file mode 100644
index 000000000..42b38487e
--- /dev/null
+++ b/Assets/Obi/Samples/Common/SampleResources/Scripts/ColliderHighlighter.cs
@@ -0,0 +1,48 @@
+using UnityEngine;
+using System.Collections;
+using System.Collections.Generic;
+using Obi;
+
+[RequireComponent(typeof(ObiSolver))]
+public class ColliderHighlighter : MonoBehaviour {
+
+ 	ObiSolver solver;
+
+	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)
+	{
+        var colliderWorld = ObiColliderWorld.GetInstance();
+
+        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;
+
+				if (col != null)
+                {
+					// make it blink:
+					Blinker blinker = col.GetComponent<Blinker>();
+	
+					if (blinker)
+						blinker.Blink();
+				}
+			}
+		}
+	}
+}
diff --git a/Assets/Obi/Samples/Common/SampleResources/Scripts/ColliderHighlighter.cs.meta b/Assets/Obi/Samples/Common/SampleResources/Scripts/ColliderHighlighter.cs.meta
new file mode 100644
index 000000000..e0551d0db
--- /dev/null
+++ b/Assets/Obi/Samples/Common/SampleResources/Scripts/ColliderHighlighter.cs.meta
@@ -0,0 +1,12 @@
+fileFormatVersion: 2
+guid: ef31b6ca9a4124cb893de1adabbfab18
+timeCreated: 1458771359
+licenseType: Store
+MonoImporter:
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Samples/Common/SampleResources/Scripts/CollisionEventHandler.cs b/Assets/Obi/Samples/Common/SampleResources/Scripts/CollisionEventHandler.cs
new file mode 100644
index 000000000..fe6749dc5
--- /dev/null
+++ b/Assets/Obi/Samples/Common/SampleResources/Scripts/CollisionEventHandler.cs
@@ -0,0 +1,184 @@
+using UnityEngine;
+using System.Collections;
+using System.Collections.Generic;
+using Obi;
+
+[RequireComponent(typeof(ObiSolver))]
+public class CollisionEventHandler : MonoBehaviour
+{
+
+    ObiSolver solver;
+    public int contactCount;
+
+    Obi.ObiSolver.ObiCollisionEventArgs frame;
+
+    void Awake()
+    {
+        solver = GetComponent<Obi.ObiSolver>();
+    }
+
+    void OnEnable()
+    {
+        solver.OnParticleCollision += Solver_OnCollision;
+    }
+
+    void OnDisable()
+    {
+        solver.OnParticleCollision -= Solver_OnCollision;
+    }
+
+    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)
+        {
+            var contact = frame.contacts.Data[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.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)
+        {
+            var contact = frame.contacts.Data[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 = 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/CollisionEventHandler.cs.meta b/Assets/Obi/Samples/Common/SampleResources/Scripts/CollisionEventHandler.cs.meta
new file mode 100644
index 000000000..79eedd8e8
--- /dev/null
+++ b/Assets/Obi/Samples/Common/SampleResources/Scripts/CollisionEventHandler.cs.meta
@@ -0,0 +1,12 @@
+fileFormatVersion: 2
+guid: f6efd222d18e14e0b99e22b7fa35448c
+timeCreated: 1458771359
+licenseType: Store
+MonoImporter:
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Samples/Common/SampleResources/Scripts/ColorFromPhase.cs b/Assets/Obi/Samples/Common/SampleResources/Scripts/ColorFromPhase.cs
new file mode 100644
index 000000000..af3d4df10
--- /dev/null
+++ b/Assets/Obi/Samples/Common/SampleResources/Scripts/ColorFromPhase.cs
@@ -0,0 +1,38 @@
+using UnityEngine;
+using System;
+using System.Collections;
+using System.Collections.Generic;
+
+namespace Obi
+{
+	/**
+	 * Sample script that colors fluid particles based on their vorticity (2D only)
+	 */
+	[RequireComponent(typeof(ObiActor))]
+	public class ColorFromPhase : MonoBehaviour
+	{
+		ObiActor actor;
+
+		void Awake(){
+			actor = GetComponent<ObiActor>();
+		}
+
+		void LateUpdate()
+		{
+            if (!isActiveAndEnabled || actor.solver == null)
+				return;
+
+            for (int i = 0; i < actor.solverIndices.Length; ++i)
+            {
+
+				int k = actor.solverIndices[i];
+				int phase = ObiUtils.GetGroupFromPhase(actor.solver.phases[k]);
+
+                actor.solver.colors[k] = ObiUtils.colorAlphabet[phase % ObiUtils.colorAlphabet.Length];
+
+            }
+		}
+	
+	}
+}
+
diff --git a/Assets/Obi/Samples/Common/SampleResources/Scripts/ColorFromPhase.cs.meta b/Assets/Obi/Samples/Common/SampleResources/Scripts/ColorFromPhase.cs.meta
new file mode 100644
index 000000000..3c3a07feb
--- /dev/null
+++ b/Assets/Obi/Samples/Common/SampleResources/Scripts/ColorFromPhase.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 3252a39e388cf4229a933f0158ece73b
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Samples/Common/SampleResources/Scripts/ColorFromVelocity.cs b/Assets/Obi/Samples/Common/SampleResources/Scripts/ColorFromVelocity.cs
new file mode 100644
index 000000000..3c1d5552f
--- /dev/null
+++ b/Assets/Obi/Samples/Common/SampleResources/Scripts/ColorFromVelocity.cs
@@ -0,0 +1,43 @@
+using UnityEngine;
+using System;
+using System.Collections;
+using System.Collections.Generic;
+
+namespace Obi
+{
+	/**
+	 * Sample script that colors fluid particles based on their vorticity (2D only)
+	 */
+	[RequireComponent(typeof(ObiActor))]
+	public class ColorFromVelocity : MonoBehaviour
+	{
+		ObiActor actor;
+		public float sensibility = 0.2f;
+
+		void Awake(){
+			actor = GetComponent<ObiActor>();
+		}
+
+		public void OnEnable(){}
+
+		void LateUpdate()
+		{
+            if (!isActiveAndEnabled || actor.solver == null)
+				return;
+
+            for (int i = 0; i < actor.solverIndices.Length; ++i){
+
+				int k = actor.solverIndices[i];
+
+				Vector4 vel = actor.solver.velocities[k];
+
+                actor.solver.colors[k] = new Color(Mathf.Clamp(vel.x / sensibility,-1,1) * 0.5f + 0.5f,
+											       Mathf.Clamp(vel.y / sensibility,-1,1) * 0.5f + 0.5f,
+											       Mathf.Clamp(vel.z / sensibility,-1,1) * 0.5f + 0.5f,1);
+
+			}
+		}
+	
+	}
+}
+
diff --git a/Assets/Obi/Samples/Common/SampleResources/Scripts/ColorFromVelocity.cs.meta b/Assets/Obi/Samples/Common/SampleResources/Scripts/ColorFromVelocity.cs.meta
new file mode 100644
index 000000000..ecfa51851
--- /dev/null
+++ b/Assets/Obi/Samples/Common/SampleResources/Scripts/ColorFromVelocity.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 5acdea6dc69cb46f3ad3d92757580843
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Samples/Common/SampleResources/Scripts/ColorRandomizer.cs b/Assets/Obi/Samples/Common/SampleResources/Scripts/ColorRandomizer.cs
new file mode 100644
index 000000000..dcc1ba2d7
--- /dev/null
+++ b/Assets/Obi/Samples/Common/SampleResources/Scripts/ColorRandomizer.cs
@@ -0,0 +1,26 @@
+using UnityEngine;
+using System;
+using System.Collections;
+using System.Collections.Generic;
+
+namespace Obi
+{
+	[RequireComponent(typeof(ObiActor))]
+	public class ColorRandomizer : MonoBehaviour
+	{
+		ObiActor actor;
+		public Gradient gradient = new Gradient();
+
+		void Start()
+        {
+			actor = GetComponent<ObiActor>();
+
+            for (int i = 0; i < actor.solverIndices.Length; ++i)
+            {
+                actor.solver.colors[actor.solverIndices[i]] = gradient.Evaluate(UnityEngine.Random.value);
+			}
+		}
+	
+	}
+}
+
diff --git a/Assets/Obi/Samples/Common/SampleResources/Scripts/ColorRandomizer.cs.meta b/Assets/Obi/Samples/Common/SampleResources/Scripts/ColorRandomizer.cs.meta
new file mode 100644
index 000000000..5b858de42
--- /dev/null
+++ b/Assets/Obi/Samples/Common/SampleResources/Scripts/ColorRandomizer.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 2e479c6a54eba4250a39b1f9a46c3b14
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
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+  assetBundleName: 
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diff --git a/Assets/Obi/Samples/Common/SampleResources/Scripts/DebugParticleFrames.cs b/Assets/Obi/Samples/Common/SampleResources/Scripts/DebugParticleFrames.cs
new file mode 100644
index 000000000..25e1f211b
--- /dev/null
+++ b/Assets/Obi/Samples/Common/SampleResources/Scripts/DebugParticleFrames.cs
@@ -0,0 +1,39 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using Obi;
+
+[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)
+        {
+
+            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/DebugParticleFrames.cs.meta b/Assets/Obi/Samples/Common/SampleResources/Scripts/DebugParticleFrames.cs.meta
new file mode 100644
index 000000000..59a21d00b
--- /dev/null
+++ b/Assets/Obi/Samples/Common/SampleResources/Scripts/DebugParticleFrames.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: bab528011ba08418f99627d25a289fd3
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Samples/Common/SampleResources/Scripts/ExtrapolationCamera.cs b/Assets/Obi/Samples/Common/SampleResources/Scripts/ExtrapolationCamera.cs
new file mode 100644
index 000000000..4f7a13465
--- /dev/null
+++ b/Assets/Obi/Samples/Common/SampleResources/Scripts/ExtrapolationCamera.cs
@@ -0,0 +1,76 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using Obi;
+
+public class ExtrapolationCamera : MonoBehaviour
+{
+    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()
+    {
+        if (target != null)
+            lastPosition = target.position;
+    }
+
+    private void FixedUpdate()
+    {
+        if (target != null)
+        {
+			// 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;
+        }
+    }
+
+    void LateUpdate()
+    {
+        if (target != null)
+        {
+            // get vector from the camera to the extrapolated position:
+            Vector3 toTarget = extrapolatedPos - transform.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/ExtrapolationCamera.cs.meta b/Assets/Obi/Samples/Common/SampleResources/Scripts/ExtrapolationCamera.cs.meta
new file mode 100644
index 000000000..20257ab02
--- /dev/null
+++ b/Assets/Obi/Samples/Common/SampleResources/Scripts/ExtrapolationCamera.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 7118f3a432315464297cab517f322eca
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Samples/Common/SampleResources/Scripts/FPSDisplay.cs b/Assets/Obi/Samples/Common/SampleResources/Scripts/FPSDisplay.cs
new file mode 100644
index 000000000..2433ea770
--- /dev/null
+++ b/Assets/Obi/Samples/Common/SampleResources/Scripts/FPSDisplay.cs
@@ -0,0 +1,77 @@
+using UnityEngine;
+using UnityEngine.UI;
+using System.Collections;
+
+[RequireComponent(typeof(Text))]
+public class FPSDisplay : MonoBehaviour
+{
+    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
+    {
+        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;
+            ++frames;
+         
+            // Interval ended - update GUI text and start new interval
+            if( timeleft <= 0.0)
+            {
+                currentFPS = accum / frames;
+
+                average += (Mathf.Abs(currentFPS) - average) * 0.1f;
+                median += Mathf.Sign(currentFPS - median) * Mathf.Min(average * medianLearnrate, Mathf.Abs(currentFPS - median));
+
+                // 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); 
+
+                timeleft = updateInterval;
+                accum = 0.0F;
+                frames = 0;
+            }
+        //#endif
+    }
+
+    public void ResetMedianAndAverage()
+    {
+        median = 0;
+        average = 0;
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Samples/Common/SampleResources/Scripts/FPSDisplay.cs.meta b/Assets/Obi/Samples/Common/SampleResources/Scripts/FPSDisplay.cs.meta
new file mode 100644
index 000000000..3255db50f
--- /dev/null
+++ b/Assets/Obi/Samples/Common/SampleResources/Scripts/FPSDisplay.cs.meta
@@ -0,0 +1,12 @@
+fileFormatVersion: 2
+guid: f14f49b61044e49ebb2f29511f2b3f41
+timeCreated: 1518870953
+licenseType: Store
+MonoImporter:
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Samples/Common/SampleResources/Scripts/LookAroundCamera.cs b/Assets/Obi/Samples/Common/SampleResources/Scripts/LookAroundCamera.cs
new file mode 100644
index 000000000..bcd4788a5
--- /dev/null
+++ b/Assets/Obi/Samples/Common/SampleResources/Scripts/LookAroundCamera.cs
@@ -0,0 +1,78 @@
+using UnityEngine;
+
+namespace Obi
+{
+    [RequireComponent(typeof(Camera))]
+    public class LookAroundCamera : MonoBehaviour
+    {
+        public struct CameraShot
+        {
+            public Vector3 position;
+            public Quaternion rotation;
+            public Vector3 up;
+            public float fieldOfView;
+
+            public CameraShot(Vector3 position, Quaternion rotation, Vector3 up, float fieldOfView)
+            {
+                this.position = position;
+                this.rotation = rotation;
+                this.up = up;
+                this.fieldOfView = fieldOfView;
+            }
+        }
+
+        private Camera cam;
+        private CameraShot currentShot;
+
+        public float movementSpeed = 5;
+        public float rotationSpeed = 8;
+        public float translationResponse = 10;
+        public float rotationResponse = 10;
+        public float fovResponse = 10;
+
+        private void Awake()
+        {
+            cam = GetComponent<Camera>();
+            currentShot = new CameraShot(transform.position, transform.rotation, transform.up, cam.fieldOfView);
+        }
+
+        private void LookAt(Vector3 position, Vector3 up)
+        {
+            currentShot.up = up;
+            currentShot.rotation = Quaternion.LookRotation(position - currentShot.position, currentShot.up);
+        }
+
+        private void UpdateShot()
+        {
+            transform.position = Vector3.Lerp(transform.position, currentShot.position, translationResponse * Time.deltaTime);
+            transform.rotation = Quaternion.Slerp(transform.rotation, currentShot.rotation, rotationResponse * Time.deltaTime);
+            cam.fieldOfView = Mathf.Lerp(cam.fieldOfView, currentShot.fieldOfView, fovResponse * Time.deltaTime);
+        }
+
+        private void LateUpdate()
+        {
+            Vector3 delta = Vector3.zero;
+
+            if (Input.GetKey(KeyCode.W))
+                delta += cam.transform.forward;
+            if (Input.GetKey(KeyCode.A))
+                delta -= cam.transform.right;
+            if (Input.GetKey(KeyCode.S))
+                delta -= cam.transform.forward;
+            if (Input.GetKey(KeyCode.D))
+                delta += cam.transform.right;
+
+            currentShot.position += delta * Time.deltaTime * movementSpeed;
+
+            if (Input.GetKey(KeyCode.Mouse0))
+            {
+                float deltaX = Input.GetAxis("Mouse X") * rotationSpeed;
+                float deltaY = Input.GetAxis("Mouse Y") * rotationSpeed;
+                Quaternion fwd = currentShot.rotation * Quaternion.AngleAxis(deltaX, Vector3.up) * Quaternion.AngleAxis(deltaY, -Vector3.right);
+                LookAt(currentShot.position + fwd * Vector3.forward, Vector3.up);
+            }
+
+            UpdateShot();
+        }
+    }
+}
diff --git a/Assets/Obi/Samples/Common/SampleResources/Scripts/LookAroundCamera.cs.meta b/Assets/Obi/Samples/Common/SampleResources/Scripts/LookAroundCamera.cs.meta
new file mode 100644
index 000000000..189500fea
--- /dev/null
+++ b/Assets/Obi/Samples/Common/SampleResources/Scripts/LookAroundCamera.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 138d2e060d2cd42f58c60b22bca0159e
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Samples/Common/SampleResources/Scripts/MoveAndRotate.cs b/Assets/Obi/Samples/Common/SampleResources/Scripts/MoveAndRotate.cs
new file mode 100644
index 000000000..7597a980e
--- /dev/null
+++ b/Assets/Obi/Samples/Common/SampleResources/Scripts/MoveAndRotate.cs
@@ -0,0 +1,39 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    public class MoveAndRotate : MonoBehaviour
+    {
+        public Vector3andSpace moveUnitsPerSecond;
+        public Vector3andSpace rotateDegreesPerSecond;
+        public bool ignoreTimescale;
+        private float m_LastRealTime;
+
+        private void Start()
+        {
+            m_LastRealTime = Time.realtimeSinceStartup;
+        }
+
+		// Update is called once per frame
+        private void FixedUpdate()
+        {
+            float deltaTime = Time.fixedDeltaTime;
+            if (ignoreTimescale)
+            {
+                deltaTime = (Time.realtimeSinceStartup - m_LastRealTime);
+                m_LastRealTime = Time.realtimeSinceStartup;
+            }
+            transform.Translate(moveUnitsPerSecond.value*deltaTime, moveUnitsPerSecond.space);
+            transform.Rotate(rotateDegreesPerSecond.value*deltaTime, rotateDegreesPerSecond.space);
+        }
+
+
+        [Serializable]
+        public class Vector3andSpace
+        {
+            public Vector3 value;
+            public Space space = Space.Self;
+        }
+    }
+}
diff --git a/Assets/Obi/Samples/Common/SampleResources/Scripts/MoveAndRotate.cs.meta b/Assets/Obi/Samples/Common/SampleResources/Scripts/MoveAndRotate.cs.meta
new file mode 100644
index 000000000..80e9d582b
--- /dev/null
+++ b/Assets/Obi/Samples/Common/SampleResources/Scripts/MoveAndRotate.cs.meta
@@ -0,0 +1,11 @@
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+guid: dae436d3aef704ae1b22a06a92480162
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+  serializedVersion: 2
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+  executionOrder: 0
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diff --git a/Assets/Obi/Samples/Common/SampleResources/Scripts/ObiActorTeleport.cs b/Assets/Obi/Samples/Common/SampleResources/Scripts/ObiActorTeleport.cs
new file mode 100644
index 000000000..d9b6f8d66
--- /dev/null
+++ b/Assets/Obi/Samples/Common/SampleResources/Scripts/ObiActorTeleport.cs
@@ -0,0 +1,15 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using Obi;
+
+public class ObiActorTeleport : MonoBehaviour
+{
+    public ObiActor actor;
+    public Transform target;
+
+    public void Teleport()
+    {
+        actor.Teleport(target.position, target.rotation);
+    }
+}
diff --git a/Assets/Obi/Samples/Common/SampleResources/Scripts/ObiActorTeleport.cs.meta b/Assets/Obi/Samples/Common/SampleResources/Scripts/ObiActorTeleport.cs.meta
new file mode 100644
index 000000000..69ee13061
--- /dev/null
+++ b/Assets/Obi/Samples/Common/SampleResources/Scripts/ObiActorTeleport.cs.meta
@@ -0,0 +1,12 @@
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+guid: ef23dec4d0c424492a85ebca02b625bc
+timeCreated: 1491379841
+licenseType: Store
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+  serializedVersion: 2
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diff --git a/Assets/Obi/Samples/Common/SampleResources/Scripts/ObiParticleCounter.cs b/Assets/Obi/Samples/Common/SampleResources/Scripts/ObiParticleCounter.cs
new file mode 100644
index 000000000..ee392463f
--- /dev/null
+++ b/Assets/Obi/Samples/Common/SampleResources/Scripts/ObiParticleCounter.cs
@@ -0,0 +1,53 @@
+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)
+    {
+        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 (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);
+    }
+
+}
+
diff --git a/Assets/Obi/Samples/Common/SampleResources/Scripts/ObiParticleCounter.cs.meta b/Assets/Obi/Samples/Common/SampleResources/Scripts/ObiParticleCounter.cs.meta
new file mode 100644
index 000000000..399ee1a65
--- /dev/null
+++ b/Assets/Obi/Samples/Common/SampleResources/Scripts/ObiParticleCounter.cs.meta
@@ -0,0 +1,11 @@
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+guid: b4d7608433fa641c6ad7e1ad3716e0b6
+MonoImporter:
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+  defaultReferences: []
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+  assetBundleVariant: 
diff --git a/Assets/Obi/Samples/Common/SampleResources/Scripts/ObjectDragger.cs b/Assets/Obi/Samples/Common/SampleResources/Scripts/ObjectDragger.cs
new file mode 100644
index 000000000..1ca0319cf
--- /dev/null
+++ b/Assets/Obi/Samples/Common/SampleResources/Scripts/ObjectDragger.cs
@@ -0,0 +1,23 @@
+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;
+	}
+
+ 
+ }
\ No newline at end of file
diff --git a/Assets/Obi/Samples/Common/SampleResources/Scripts/ObjectDragger.cs.meta b/Assets/Obi/Samples/Common/SampleResources/Scripts/ObjectDragger.cs.meta
new file mode 100644
index 000000000..37e2551c0
--- /dev/null
+++ b/Assets/Obi/Samples/Common/SampleResources/Scripts/ObjectDragger.cs.meta
@@ -0,0 +1,12 @@
+fileFormatVersion: 2
+guid: cbe5860a158ab4ff9852d93167f38e5a
+timeCreated: 1490723525
+licenseType: Store
+MonoImporter:
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
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diff --git a/Assets/Obi/Samples/Common/SampleResources/Scripts/ObjectLimit.cs b/Assets/Obi/Samples/Common/SampleResources/Scripts/ObjectLimit.cs
new file mode 100644
index 000000000..9bea6154e
--- /dev/null
+++ b/Assets/Obi/Samples/Common/SampleResources/Scripts/ObjectLimit.cs
@@ -0,0 +1,22 @@
+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
diff --git a/Assets/Obi/Samples/Common/SampleResources/Scripts/ObjectLimit.cs.meta b/Assets/Obi/Samples/Common/SampleResources/Scripts/ObjectLimit.cs.meta
new file mode 100644
index 000000000..05e6e67b4
--- /dev/null
+++ b/Assets/Obi/Samples/Common/SampleResources/Scripts/ObjectLimit.cs.meta
@@ -0,0 +1,12 @@
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+guid: 6da1d294c86704f3394415f542741ebe
+timeCreated: 1490723525
+licenseType: Store
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+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
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diff --git a/Assets/Obi/Samples/Common/SampleResources/Scripts/SlowmoToggler.cs b/Assets/Obi/Samples/Common/SampleResources/Scripts/SlowmoToggler.cs
new file mode 100644
index 000000000..2e9072166
--- /dev/null
+++ b/Assets/Obi/Samples/Common/SampleResources/Scripts/SlowmoToggler.cs
@@ -0,0 +1,10 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class SlowmoToggler : MonoBehaviour {
+
+	public void Slowmo (bool slowmo) {
+		Time.timeScale = slowmo?0.25f:1;
+	}
+}
diff --git a/Assets/Obi/Samples/Common/SampleResources/Scripts/SlowmoToggler.cs.meta b/Assets/Obi/Samples/Common/SampleResources/Scripts/SlowmoToggler.cs.meta
new file mode 100644
index 000000000..b29b2a875
--- /dev/null
+++ b/Assets/Obi/Samples/Common/SampleResources/Scripts/SlowmoToggler.cs.meta
@@ -0,0 +1,12 @@
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+guid: 5ec309595a8ca48b3a4deae53d6b023d
+timeCreated: 1496678069
+licenseType: Store
+MonoImporter:
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
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diff --git a/Assets/Obi/Samples/Common/SampleResources/Scripts/WorldSpaceGravity.cs b/Assets/Obi/Samples/Common/SampleResources/Scripts/WorldSpaceGravity.cs
new file mode 100644
index 000000000..c91f8816c
--- /dev/null
+++ b/Assets/Obi/Samples/Common/SampleResources/Scripts/WorldSpaceGravity.cs
@@ -0,0 +1,21 @@
+using UnityEngine;
+using Obi;
+
+[RequireComponent(typeof(ObiSolver))]
+public class WorldSpaceGravity : MonoBehaviour
+{
+
+    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/Common/SampleResources/Scripts/WorldSpaceGravity.cs.meta b/Assets/Obi/Samples/Common/SampleResources/Scripts/WorldSpaceGravity.cs.meta
new file mode 100644
index 000000000..cb0ae7f97
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+++ b/Assets/Obi/Samples/Common/SampleResources/Scripts/WorldSpaceGravity.cs.meta
@@ -0,0 +1,11 @@
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+guid: 278a56537b77b462a894513bc9d3e474
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diff --git a/Assets/Obi/Samples/Common/SampleResources/SparksEmitter.prefab b/Assets/Obi/Samples/Common/SampleResources/SparksEmitter.prefab
new file mode 100644
index 000000000..d891c0eae
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diff --git a/Assets/Obi/Samples/RopeAndRod/RopeAndJointsSettings.lighting b/Assets/Obi/Samples/RopeAndRod/RopeAndJointsSettings.lighting
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diff --git a/Assets/Obi/Samples/RopeAndRod/RopeGrapplingHookSettings.lighting b/Assets/Obi/Samples/RopeAndRod/RopeGrapplingHookSettings.lighting
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diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Blueprints/Joints rope 2.asset.meta b/Assets/Obi/Samples/RopeAndRod/SampleResources/Blueprints/Joints rope 2.asset.meta
new file mode 100644
index 000000000..b26597de9
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diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Blueprints/Plectoneme rod.asset b/Assets/Obi/Samples/RopeAndRod/SampleResources/Blueprints/Plectoneme rod.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
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diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Blueprints/Tearable cable.asset b/Assets/Obi/Samples/RopeAndRod/SampleResources/Blueprints/Tearable cable.asset
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index 000000000..8a88a0b37
--- /dev/null
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/CharacterControl2D.cs
@@ -0,0 +1,28 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class CharacterControl2D : MonoBehaviour {
+
+	public float acceleration = 10;
+	public float maxSpeed = 8;
+	public float jumpPower = 2;
+
+	private Rigidbody unityRigidbody;
+	
+	public void Awake(){
+		unityRigidbody = GetComponent<Rigidbody>();
+	}
+
+	
+	void FixedUpdate () {
+
+		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);
+		}
+	}
+}
diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/CharacterControl2D.cs.meta b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/CharacterControl2D.cs.meta
new file mode 100644
index 000000000..e5c889d78
--- /dev/null
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/CharacterControl2D.cs.meta
@@ -0,0 +1,13 @@
+fileFormatVersion: 2
+guid: 82b0f164ac14247fd8a566109fbbe771
+labels:
+- ObiRope
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/CraneController.cs b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/CraneController.cs
new file mode 100644
index 000000000..546808725
--- /dev/null
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/CraneController.cs
@@ -0,0 +1,36 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using Obi;
+
+public class CraneController : MonoBehaviour {
+
+	ObiRopeCursor cursor;
+	ObiRope rope;
+
+	// 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);
+		}
+
+		if (Input.GetKey(KeyCode.S)){
+			cursor.ChangeLength(rope.restLength + 1f * Time.deltaTime);
+		}
+
+		if (Input.GetKey(KeyCode.A)){
+			transform.Rotate(0,Time.deltaTime*15f,0);
+		}
+
+		if (Input.GetKey(KeyCode.D)){
+			transform.Rotate(0,-Time.deltaTime*15f,0);
+		}
+	}
+}
diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/CraneController.cs.meta b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/CraneController.cs.meta
new file mode 100644
index 000000000..32e4eeb6b
--- /dev/null
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/CraneController.cs.meta
@@ -0,0 +1,13 @@
+fileFormatVersion: 2
+guid: 5551d37f45fd044ff8768019501c20a5
+labels:
+- ObiRope
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/CursorController.cs b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/CursorController.cs
new file mode 100644
index 000000000..7c6a6ba6d
--- /dev/null
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/CursorController.cs
@@ -0,0 +1,45 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using Obi;
+
+[RequireComponent(typeof(ObiRope))]
+public class CursorController : MonoBehaviour
+{
+
+	ObiRopeCursor cursor;
+	ObiRope rope;
+	public float minLength = 0.1f;
+    public float speed = 1;
+
+	// Use this for initialization
+	void Start ()
+    {
+        rope = GetComponent<ObiRope>();
+        cursor = GetComponent<ObiRopeCursor>();
+	}
+	
+	// Update is called once per frame
+	void Update ()
+    {
+		if (Input.GetKey(KeyCode.W) && cursor != null)
+        {
+            if (rope.restLength > minLength)
+                cursor.ChangeLength(rope.restLength - speed * Time.deltaTime);
+		}
+
+		if (Input.GetKey(KeyCode.S) && cursor != null)
+        {
+            cursor.ChangeLength(rope.restLength + speed * Time.deltaTime);
+		}
+
+		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/CursorController.cs.meta b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/CursorController.cs.meta
new file mode 100644
index 000000000..1ac896612
--- /dev/null
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/CursorController.cs.meta
@@ -0,0 +1,13 @@
+fileFormatVersion: 2
+guid: 83c7e82b3aac04e408bc8bfe9027c983
+labels:
+- ObiRope
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/ExtendableGrapplingHook.cs b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/ExtendableGrapplingHook.cs
new file mode 100644
index 000000000..4cc82a645
--- /dev/null
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/ExtendableGrapplingHook.cs
@@ -0,0 +1,213 @@
+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.
+ * 95% of the code is the grappling hook logic (user input, scene raycasting, launching, attaching the hook, etc) and parameter setup,
+ * to show how to use Obi completely at runtime. This might not be practical for real-world scenarios,
+ * but illustrates how to do it.
+ *
+ * Note that the choice of using actual rope simulation for grapple dynamics is debatable. Usually
+ * a simple spring works better both in terms of performance and controllability. 
+ *
+ * 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
+{
+
+    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()
+    {
+
+        // 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;
+        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 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))
+        {
+            // We actually hit something, so attach the hook!
+            StartCoroutine(AttachHook());
+        }
+
+    }
+
+    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)
+        {
+            // calculate rope origin in solver space:
+            Vector3 origin = solver.transform.InverseTransformPoint(rope.transform.position);
+
+            // update direction and distance to hook point:
+            Vector3 direction = hookAttachment.point - origin;
+            float distance = direction.magnitude;
+            direction.Normalize();
+
+            // increase length:
+            currentLength += hookShootSpeed * Time.deltaTime;
+
+            // if we have reached the desired length, break the loop:
+            if (currentLength >= distance)
+            {
+                cursor.ChangeLength(distance);
+                break;
+            }
+
+            // 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:
+            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);
+                length += rope.elements[i].restLength;
+            }
+
+            // wait one frame:
+            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
+
+        // 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);
+
+        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))
+        {
+            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);
+            }
+        }
+    }
+}
diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/ExtendableGrapplingHook.cs.meta b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/ExtendableGrapplingHook.cs.meta
new file mode 100644
index 000000000..3347fd188
--- /dev/null
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/ExtendableGrapplingHook.cs.meta
@@ -0,0 +1,13 @@
+fileFormatVersion: 2
+guid: b77478c97cefb4dec9cc85236f7c5fca
+labels:
+- ObiRope
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/GrapplingHook.cs b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/GrapplingHook.cs
new file mode 100644
index 000000000..0587a463f
--- /dev/null
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/GrapplingHook.cs
@@ -0,0 +1,152 @@
+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.
+ * 95% of the code is the grappling hook logic (user input, scene raycasting, launching, attaching the hook, etc) and parameter setup,
+ * to show how to use Obi completely at runtime. This might not be practical for real-world scenarios,
+ * but illustrates how to do it.
+ *
+ * Note that the choice of using actual rope simulation for grapple dynamics is debatable. Usually
+ * a simple spring works better both in terms of performance and controllability. 
+ *
+ * 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
+{
+
+    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()
+    {
+
+        // 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 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))
+        {
+            // We actually hit something, so attach the hook!
+            StartCoroutine(AttachHook());
+        }
+
+    }
+
+    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))
+        {
+            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);
+            }
+        }
+    }
+}
diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/GrapplingHook.cs.meta b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/GrapplingHook.cs.meta
new file mode 100644
index 000000000..f34f6918a
--- /dev/null
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/GrapplingHook.cs.meta
@@ -0,0 +1,13 @@
+fileFormatVersion: 2
+guid: 94f9aa141b5964f9f91dadcc1919618c
+labels:
+- ObiRope
+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
new file mode 100644
index 000000000..94080fc91
--- /dev/null
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/HosePump.cs
@@ -0,0 +1,83 @@
+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()
+    {
+        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;
+
+        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.Length; ++i)
+        {
+            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);
+        }
+
+        // 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);
+
+            var emission = waterEmitter.emission;
+            emission.rateOverTime = Mathf.Lerp(minEmitRate, maxEmitRate, sine);
+        }
+    }
+
+    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/HosePump.cs.meta b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/HosePump.cs.meta
new file mode 100644
index 000000000..0cbb3fc86
--- /dev/null
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/HosePump.cs.meta
@@ -0,0 +1,12 @@
+fileFormatVersion: 2
+guid: d71cdcf242c9b44fb874af7b7d8fd2b9
+timeCreated: 1518879675
+licenseType: Store
+MonoImporter:
+  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
new file mode 100644
index 000000000..c747f40ca
--- /dev/null
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RopeBetweenTwoPoints.cs
@@ -0,0 +1,63 @@
+using UnityEngine;
+using Obi;
+
+public class RopeBetweenTwoPoints : MonoBehaviour
+{
+    public Transform start;
+    public Transform end;
+    public ObiSolver solver;
+
+    void Start()
+    {
+        // Generate rope synchronously:
+        Generate();
+    }
+
+    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);
+
+            // Calculate control point positions and tangent vector:
+            Vector3 startPositionLS = transform.InverseTransformPoint(start.position);
+            Vector3 endPositionLS = transform.InverseTransformPoint(end.position);
+            Vector3 tangentLS = (endPositionLS - startPositionLS).normalized;
+
+            // Create the blueprint: 
+            var blueprint = ScriptableObject.CreateInstance<ObiRopeBlueprint>();
+
+            // 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();
+
+            // Generate particles/constraints:
+            blueprint.GenerateImmediate();
+
+            // 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>();
+
+            // Load the default rope section for rendering:
+            ropeRenderer.section = Resources.Load<ObiRopeSection>("DefaultRopeSection");
+
+            // 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/RopeBetweenTwoPoints.cs.meta b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RopeBetweenTwoPoints.cs.meta
new file mode 100644
index 000000000..fe82b5414
--- /dev/null
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RopeBetweenTwoPoints.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 9eaa9e75d3f0a4e119decb19dce797be
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RopeNet.cs b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RopeNet.cs
new file mode 100644
index 000000000..3be681236
--- /dev/null
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RopeNet.cs
@@ -0,0 +1,129 @@
+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
+{
+    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()
+    {
+        // 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;
+
+        // adjust solver settings:
+        solver.particleCollisionConstraintParameters.enabled = false;
+        solver.distanceConstraintParameters.iterations = 8;
+        solver.pinConstraintParameters.iterations = 4;
+        solver.parameters.sleepThreshold = 0.001f;
+        solver.PushSolverParameters();
+
+        // 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)
+        {
+            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);
+
+                nodes[x, y] = rb.AddComponent<ObiCollider>();
+                nodes[x, y].Filter = 1;
+            }
+        }
+
+        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 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 + 1, y], new Vector3(0.5f, 0, 0), -new Vector3(0.5f, 0, 0));
+                }
+
+                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], new Vector3(0, 0.5f, 0), -new Vector3(0, 0.5f, 0));
+                }
+            }
+        }
+    }
+
+    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);
+    }
+
+    // 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);
+
+        // 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/RopeNet.cs.meta b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RopeNet.cs.meta
new file mode 100644
index 000000000..9bc85116d
--- /dev/null
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RopeNet.cs.meta
@@ -0,0 +1,13 @@
+fileFormatVersion: 2
+guid: 83e341aa1a9a14825ab84ad04cd5f44c
+labels:
+- ObiRope
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RopeSweepCut.cs b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RopeSweepCut.cs
new file mode 100644
index 000000000..80632c448
--- /dev/null
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RopeSweepCut.cs
@@ -0,0 +1,127 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using Obi;
+
+[RequireComponent(typeof(ObiRope))]
+public class RopeSweepCut : MonoBehaviour
+{
+
+    public Camera cam;
+
+    ObiRope rope;
+    LineRenderer lineRenderer;
+    Vector3 cutStartPosition;
+
+    private void Awake()
+    {
+        rope = GetComponent<ObiRope>();
+
+        AddMouseLine();
+    }
+
+    private void OnDestroy()
+    {
+        DeleteMouseLine();
+    }
+
+    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))
+        {
+            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))
+        {
+            ScreenSpaceCut(cutStartPosition, Input.mousePosition);
+            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)
+        {
+            // 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))
+            {
+                cut = true;
+                rope.Tear(rope.elements[i]);
+            }
+        }
+
+        // If the rope was cut at any point, rebuilt constraints:
+        if (cut) 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);
+    }
+}
diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RopeSweepCut.cs.meta b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RopeSweepCut.cs.meta
new file mode 100644
index 000000000..ba9f07b7c
--- /dev/null
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RopeSweepCut.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 88cb6f64c607f46b3b0d7a30a99ed18b
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RopeTenser.cs b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RopeTenser.cs
new file mode 100644
index 000000000..50312f401
--- /dev/null
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RopeTenser.cs
@@ -0,0 +1,14 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+public class RopeTenser : MonoBehaviour
+{
+	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/RopeTenser.cs.meta b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RopeTenser.cs.meta
new file mode 100644
index 000000000..6af8d62be
--- /dev/null
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RopeTenser.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 6a01ab42f187a43818168cd1cd11d3cf
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RopeTensionColorizer.cs b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RopeTensionColorizer.cs
new file mode 100644
index 000000000..121f021ef
--- /dev/null
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RopeTensionColorizer.cs
@@ -0,0 +1,56 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using Obi;
+
+[RequireComponent(typeof(ObiRope))]
+[RequireComponent(typeof(MeshRenderer))]
+public class RopeTensionColorizer : MonoBehaviour
+{
+    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()
+    {
+		rope = GetComponent<ObiRope>();
+        localMaterial = GetComponent<MeshRenderer>().material;
+	}
+
+    private void OnDestroy()
+    {
+        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/RopeTensionColorizer.cs.meta b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RopeTensionColorizer.cs.meta
new file mode 100644
index 000000000..c6f4f97c9
--- /dev/null
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RopeTensionColorizer.cs.meta
@@ -0,0 +1,11 @@
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+guid: 51f5e34b2316b45c6bdf971b375b5f2e
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RuntimeRopeGenerator.cs b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RuntimeRopeGenerator.cs
new file mode 100644
index 000000000..3eb3ba6ca
--- /dev/null
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RuntimeRopeGenerator.cs
@@ -0,0 +1,118 @@
+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
new file mode 100644
index 000000000..b38eacc14
--- /dev/null
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RuntimeRopeGenerator.cs.meta
@@ -0,0 +1,13 @@
+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
new file mode 100644
index 000000000..cdb04778e
--- /dev/null
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RuntimeRopeGeneratorUse.cs
@@ -0,0 +1,35 @@
+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
new file mode 100644
index 000000000..84a66090a
--- /dev/null
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/RuntimeRopeGeneratorUse.cs.meta
@@ -0,0 +1,13 @@
+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
new file mode 100644
index 000000000..a3c89e008
--- /dev/null
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/SnakeController.cs
@@ -0,0 +1,122 @@
+using UnityEngine;
+using Obi;
+
+public class SnakeController : MonoBehaviour
+{
+    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()
+    {
+        rope = GetComponent<ObiRope>();
+        solver = rope.solver;
+
+        // initialize traction array:
+        traction = new float[rope.activeParticleCount];
+        surfaceNormal = new Vector3[rope.activeParticleCount];
+
+        // 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)
+        {
+            traction[i] = 0;
+            surfaceNormal[i] = Vector3.zero;
+        }
+    }
+
+    private void AnalyzeContacts(object sender, ObiSolver.ObiCollisionEventArgs e)
+    {
+        // iterate trough all contacts:
+        for (int i = 0; i < e.contacts.Count; ++i)
+        {
+            var contact = e.contacts.Data[i];
+            if (contact.distance < 0.005f)
+            {
+                int simplexIndex = solver.simplices[contact.bodyA];
+                var particleInActor = solver.particleToActor[simplexIndex];
+
+                if (particleInActor.actor == rope)
+                {
+                    // 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;
+    }
+}
diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/SnakeController.cs.meta b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/SnakeController.cs.meta
new file mode 100644
index 000000000..1a1733556
--- /dev/null
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/SnakeController.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: e5d46d2f0b9f9496f9ed59231aa6982d
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/SpiralCurve.cs b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/SpiralCurve.cs
new file mode 100644
index 000000000..ae350d1bd
--- /dev/null
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/SpiralCurve.cs
@@ -0,0 +1,50 @@
+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 ()
+    {
+        Generate();
+    }
+
+    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/SpiralCurve.cs.meta b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/SpiralCurve.cs.meta
new file mode 100644
index 000000000..2eb51c90b
--- /dev/null
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/SpiralCurve.cs.meta
@@ -0,0 +1,13 @@
+fileFormatVersion: 2
+guid: e76488b5e11ef47ba9c0746db5c47115
+labels:
+- ObiRope
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
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diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/WrapRopeGameController.cs b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/WrapRopeGameController.cs
new file mode 100644
index 000000000..3f51fcca5
--- /dev/null
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/WrapRopeGameController.cs
@@ -0,0 +1,72 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using UnityEngine.Events;
+using Obi;
+
+[RequireComponent(typeof(ObiSolver))]
+public class WrapRopeGameController : MonoBehaviour
+{
+
+	ObiSolver solver;
+
+	public Wrappable[] wrappables;
+	public UnityEvent onFinish = new UnityEvent();
+
+	private void Awake()
+	{
+		solver = GetComponent<ObiSolver>();
+	}
+
+	// Start is called before the first frame update
+	void OnEnable()
+	{
+		solver.OnCollision += Solver_OnCollision;
+	}
+
+	private void OnDisable()
+	{
+		solver.OnCollision -= Solver_OnCollision;
+	}
+
+	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;
+			}
+		}
+
+		if (allWrapped)
+			onFinish.Invoke();
+	}
+
+	private void Solver_OnCollision(ObiSolver s, ObiSolver.ObiCollisionEventArgs 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();
+				}
+			}
+		}
+	}
+}
diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/WrapRopeGameController.cs.meta b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/WrapRopeGameController.cs.meta
new file mode 100644
index 000000000..a1437745f
--- /dev/null
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/WrapRopeGameController.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 92b1832c67f564e9fa43a180598111e8
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
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diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/WrapRopePlayerController.cs b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/WrapRopePlayerController.cs
new file mode 100644
index 000000000..306142cfd
--- /dev/null
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/WrapRopePlayerController.cs
@@ -0,0 +1,42 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+[RequireComponent(typeof(Rigidbody))]
+public class WrapRopePlayerController : MonoBehaviour
+{
+    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);
+    }
+
+}
diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/WrapRopePlayerController.cs.meta b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/WrapRopePlayerController.cs.meta
new file mode 100644
index 000000000..a819f0c7e
--- /dev/null
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/WrapRopePlayerController.cs.meta
@@ -0,0 +1,11 @@
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+guid: fdf58ad80e1cd4860aa12e8da0aa833c
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diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/Wrappable.cs b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/Wrappable.cs
new file mode 100644
index 000000000..4ed95690d
--- /dev/null
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/Wrappable.cs
@@ -0,0 +1,41 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+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);
+
+	Material localMaterial;
+
+    public void Awake()
+	{
+		localMaterial = GetComponent<MeshRenderer>().material;
+	}
+
+    public void OnDestroy()
+	{
+		Destroy(localMaterial);
+	}
+
+	public void Reset()
+	{
+		wrapped = false;
+		localMaterial.color = normalColor;
+	}
+
+    public void SetWrapped()
+	{
+		wrapped = true;
+		localMaterial.color = wrappedColor;
+	}
+
+	public bool IsWrapped()
+	{
+		return wrapped;
+	}
+
+}
diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/Wrappable.cs.meta b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/Wrappable.cs.meta
new file mode 100644
index 000000000..1982e779b
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+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Scripts/Wrappable.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Textures.meta b/Assets/Obi/Samples/RopeAndRod/SampleResources/Textures.meta
new file mode 100644
index 000000000..01e9927f1
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+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Textures.meta
@@ -0,0 +1,8 @@
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diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Textures/Rod.png b/Assets/Obi/Samples/RopeAndRod/SampleResources/Textures/Rod.png
new file mode 100644
index 000000000..f33a031f9
Binary files /dev/null and b/Assets/Obi/Samples/RopeAndRod/SampleResources/Textures/Rod.png differ
diff --git a/Assets/Obi/Samples/RopeAndRod/SampleResources/Textures/Rod.png.meta b/Assets/Obi/Samples/RopeAndRod/SampleResources/Textures/Rod.png.meta
new file mode 100644
index 000000000..4dbd893f9
--- /dev/null
+++ b/Assets/Obi/Samples/RopeAndRod/SampleResources/Textures/Rod.png.meta
@@ -0,0 +1,123 @@
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+labels:
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+TextureImporter:
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+  spriteBorder: {x: 0, y: 0, z: 0, w: 0}
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diff --git a/Assets/Obi/Samples/RopeAndRod/WrapTheRope.unity.meta b/Assets/Obi/Samples/RopeAndRod/WrapTheRope.unity.meta
new file mode 100644
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diff --git a/Assets/Obi/Samples/RopeAndRod/WrapTheRopeSettings.lighting b/Assets/Obi/Samples/RopeAndRod/WrapTheRopeSettings.lighting
new file mode 100644
index 000000000..fdaeb0a73
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+++ b/Assets/Obi/Samples/RopeAndRod/WrapTheRopeSettings.lighting
@@ -0,0 +1,69 @@
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diff --git a/Assets/Obi/Samples/RopeAndRod/WrapTheRopeSettings.lighting.meta b/Assets/Obi/Samples/RopeAndRod/WrapTheRopeSettings.lighting.meta
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diff --git a/Assets/Obi/Scripts.meta b/Assets/Obi/Scripts.meta
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diff --git a/Assets/Obi/Scripts/Common.meta b/Assets/Obi/Scripts/Common.meta
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diff --git a/Assets/Obi/Scripts/Common/Actors.meta b/Assets/Obi/Scripts/Common/Actors.meta
new file mode 100644
index 000000000..8cccbdd58
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Actors.meta
@@ -0,0 +1,8 @@
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diff --git a/Assets/Obi/Scripts/Common/Actors/IObiParticleCollection.cs b/Assets/Obi/Scripts/Common/Actors/IObiParticleCollection.cs
new file mode 100644
index 000000000..59bb0dd8a
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Actors/IObiParticleCollection.cs
@@ -0,0 +1,20 @@
+using UnityEngine;
+using System.Collections;
+
+namespace Obi
+{
+    // Interface for classes that hold a collection of particles. Contains method to get common particle properties.
+    public interface IObiParticleCollection 
+    {
+        int particleCount { get; }
+        int activeParticleCount { get; }
+        bool usesOrientedParticles { get; }
+
+        int GetParticleRuntimeIndex(int index); // returns solver or blueprint index, depending on implementation.
+        Vector3 GetParticlePosition(int index);
+        Quaternion GetParticleOrientation(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/IObiParticleCollection.cs.meta b/Assets/Obi/Scripts/Common/Actors/IObiParticleCollection.cs.meta
new file mode 100644
index 000000000..ec362ee05
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Actors/IObiParticleCollection.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Actors/ObiActor.cs b/Assets/Obi/Scripts/Common/Actors/ObiActor.cs
new file mode 100644
index 000000000..38e59f1a7
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Actors/ObiActor.cs
@@ -0,0 +1,1233 @@
+using UnityEngine;
+using System;
+using System.Collections;
+using System.Collections.Generic;
+
+
+namespace Obi
+{
+
+    /**
+     * Represents a group of related particles. ObiActor does not make
+     * any assumptions about the relationship between these particles, except that they get allocated 
+     * and released together.
+     */
+    [ExecuteInEditMode]
+    [DisallowMultipleComponent]
+    public abstract class ObiActor : MonoBehaviour, IObiParticleCollection
+    {
+        public class ObiActorSolverArgs : System.EventArgs
+        {
+            public ObiSolver solver { get; }
+
+            public ObiActorSolverArgs(ObiSolver solver)
+            {
+                this.solver = solver;
+            }
+        }
+
+        public delegate void ActorCallback(ObiActor actor);                     
+        public delegate void ActorStepCallback(ObiActor actor,float stepTime);
+        public delegate void ActorBlueprintCallback(ObiActor actor,ObiActorBlueprint blueprint);
+
+        /// <summary>
+        /// Called when the actor blueprint has been loaded into the solver.
+        /// </summary>
+        public event ActorBlueprintCallback OnBlueprintLoaded;
+
+        /// <summary>
+        /// Called when the actor blueprint has been unloaded from the solver.
+        /// </summary>
+        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)
+        /// </summary>
+        public event ActorCallback OnPrepareFrame;
+
+        /// <summary>
+        /// Called at the beginning of a time step, before dirty constraints and active particles have been updated.
+        /// </summary>
+        public event ActorStepCallback OnPrepareStep;
+
+        /// <summary>
+        /// Called at the beginning of a time step, after dirty constraints and active particles have been updated.
+        /// </summary>
+        public event ActorStepCallback OnBeginStep;
+
+        /// <summary>
+        /// Called at the beginning of each substep.
+        /// </summary>
+        public event ActorStepCallback OnSubstep;
+
+        /// <summary>
+        /// Called at the end of a timestep, after external forces have been reset and collision callbacks called.
+        /// </summary>
+        public event ActorStepCallback OnEndStep;
+
+        /// <summary>
+        /// Called at the end of each frame.
+        /// </summary>
+        public event ActorCallback OnInterpolate;                       
+
+        [HideInInspector] protected int m_ActiveParticleCount = 0;
+
+        /// <summary>
+        /// Index of each one of the actor's particles in the solver.
+        /// </summary>
+        [HideInInspector] public int[] solverIndices;
+
+        /// <summary>
+        /// For each of the actor's constraint types, offset of every batch in the solver.
+        /// </summary>
+        [HideInInspector] public List<int>[] solverBatchOffsets;
+
+        protected ObiSolver m_Solver;
+        protected bool m_Loaded = false;
+
+        private ObiActorBlueprint state;
+        private ObiActorBlueprint m_BlueprintInstance;
+        private ObiPinConstraintsData m_PinConstraints;
+        [SerializeField][HideInInspector] protected ObiCollisionMaterial m_CollisionMaterial;
+        [SerializeField][HideInInspector] protected bool m_SurfaceCollisions = false;
+
+        /// <summary>
+        /// The solver in charge of simulating this actor.
+        /// </summary>
+        /// This is the first ObiSlver component found up the actor's hierarchy.
+        public ObiSolver solver
+        {
+            get { return m_Solver; }
+        }
+
+        /// <summary>
+        /// True if the actor blueprint has been loaded into a solver.
+        /// If true, it guarantees actor.solver, actor.solverIndices and actor.solverBatchOffsets won't be null.
+        /// </summary>
+        public bool isLoaded
+        {
+            get { return m_Loaded; }
+        }
+
+        /// <summary>
+        /// The collision material being used by this actor.
+        /// </summary>
+        public ObiCollisionMaterial collisionMaterial
+        {
+            get
+            {
+                return m_CollisionMaterial;
+            }
+            set
+            {
+                if (m_CollisionMaterial != value)
+                {
+                    m_CollisionMaterial = value;
+                    UpdateCollisionMaterials();
+                }
+            }
+        }
+
+        /// <summary>
+        /// Whether to use simplices (triangles, edges) for contact generation.
+        /// </summary>
+        public virtual bool surfaceCollisions
+        {
+            get
+            {
+                return m_SurfaceCollisions;
+            }
+            set
+            {
+                if (value != m_SurfaceCollisions)
+                {
+                    m_SurfaceCollisions = value;
+                    if (m_Solver != null)
+                        m_Solver.dirtySimplices = true;
+                }
+            }
+        }
+
+        /// <summary>
+        /// Amount of particles allocated by this actor.
+        /// </summary>
+        public int particleCount
+        {
+            get
+            {
+                return sourceBlueprint != null ? sourceBlueprint.particleCount : 0;
+            }
+        }
+
+        /// <summary>
+        /// Amount of particles in use by this actor. 
+        /// </summary>
+        /// This will always be equal to or smaller than <see cref="particleCount"/>.
+        public int activeParticleCount
+        {
+            get
+            {
+               return m_ActiveParticleCount;
+            }
+        }
+
+        /// <summary>
+        /// Whether this actors makes use of particle orientations or not.
+        /// </summary>
+        public bool usesOrientedParticles
+        {
+            get
+            {
+                return sourceBlueprint != null &&
+                       sourceBlueprint.invRotationalMasses != null && sourceBlueprint.invRotationalMasses.Length > 0 &&
+                       sourceBlueprint.orientations != null && sourceBlueprint.orientations.Length > 0 &&
+                       sourceBlueprint.restOrientations != null && sourceBlueprint.restOrientations.Length > 0;
+            }
+        }
+
+        /// <summary>
+        /// If true, it means particles may not be completely spherical, but ellipsoidal.
+        /// </summary>
+        public virtual bool usesAnisotropicParticles
+        {
+            get
+            {
+                return false;
+            }
+        }
+
+        /// <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
+        {
+            get { return false; }
+        }
+
+        /// <summary>
+        /// Matrix that transforms from the actor's local space to the solver's local space.
+        /// </summary>
+        /// If there's no solver present, this is the same as the actor's local to world matrix.
+        public Matrix4x4 actorLocalToSolverMatrix
+        {
+            get
+            {
+                if (m_Solver != null)
+                    return m_Solver.transform.worldToLocalMatrix * transform.localToWorldMatrix;
+                else
+                    return transform.localToWorldMatrix;
+            }
+        }
+
+        /// <summary>
+        /// Matrix that transforms from the solver's local space to the actor's local space.
+        /// </summary>
+        /// If there's no solver present, this is the same as the actor's world to local matrix.
+        /// This is always the same as the inverse of <see cref="actorLocalToSolverMatrix"/>.
+        public Matrix4x4 actorSolverToLocalMatrix
+        {
+            get
+            {
+                if (m_Solver != null)
+                    return transform.worldToLocalMatrix * m_Solver.transform.localToWorldMatrix;
+                else
+                    return transform.worldToLocalMatrix;
+            }
+        }
+
+        /// <summary>
+        /// Reference to the blueprint asset used by this actor.
+        /// </summary>
+        public abstract ObiActorBlueprint sourceBlueprint
+        {
+            get;
+        }
+
+        /// <summary>
+        /// Reference to the blueprint in use by this actor. 
+        /// </summary>
+        /// If you haven't called <see cref="blueprint"/> before, this will be the same as <see cref="sourceBlueprint"/>.
+        /// If you have called <see cref="blueprint"/> before, it will be the same as <see cref="blueprint"/>.
+        public ObiActorBlueprint sharedBlueprint
+        {
+            get
+            {
+                if (m_BlueprintInstance != null)
+                    return m_BlueprintInstance;
+                return sourceBlueprint;
+            }
+        }
+
+        /// <summary>
+        /// Returns a unique instance of this actor's <see cref="sourceBlueprint"/>. 
+        /// </summary>
+        /// 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 
+        {
+            get
+            {
+                if (m_BlueprintInstance == null && sourceBlueprint != null)
+                    m_BlueprintInstance = Instantiate(sourceBlueprint);
+
+                return m_BlueprintInstance;
+            }
+        }
+
+        protected virtual void Awake()
+        {
+#if UNITY_EDITOR
+
+            // Check if this script's GameObject is in a PrefabStage
+#if UNITY_2021_2_OR_NEWER
+            var prefabStage = UnityEditor.SceneManagement.PrefabStageUtility.GetPrefabStage(gameObject);
+#else
+            var prefabStage = UnityEditor.Experimental.SceneManagement.PrefabStageUtility.GetPrefabStage(gameObject);
+#endif
+
+            if (prefabStage != null)
+            {
+                // Only create a solver if there's not one up our hierarchy.
+                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>());
+                    UnityEngine.SceneManagement.SceneManager.MoveGameObjectToScene(newParent, gameObject.scene);
+                    transform.root.parent = newParent.transform;
+                }
+            }
+#endif
+        }
+
+        protected virtual void OnDestroy()
+        {
+            if (m_BlueprintInstance != null)
+                DestroyImmediate(m_BlueprintInstance);
+        }
+
+        protected virtual void OnEnable()
+        {
+            solverBatchOffsets = new List<int>[Oni.ConstraintTypeCount];
+            for (int i = 0; i < solverBatchOffsets.Length; ++i)
+                solverBatchOffsets[i] = new List<int>();
+
+            m_PinConstraints = new ObiPinConstraintsData();
+
+            // when an actor is enabled, grabs the first solver up its hierarchy,
+            // initializes it (if not initialized) and gets added to it.
+            m_Solver = GetComponentInParent<ObiSolver>();
+
+            AddToSolver();
+        }
+
+        protected virtual void OnDisable()
+        {
+            RemoveFromSolver();
+        }
+
+        protected virtual void OnValidate()
+        {
+        }
+
+        private void OnTransformParentChanged()
+        {
+            if (isActiveAndEnabled)
+                SetSolver(GetComponentInParent<ObiSolver>());
+        }
+
+        /// <summary>
+        /// Adds this actor to its solver, if any. Automatically called by <see cref="ObiSolver"/>.
+        /// </summary>
+        public void AddToSolver()
+        {
+            if (m_Solver != null)
+            {
+                if (!m_Solver.AddActor(this))
+                    m_Solver = null;
+                else if (sourceBlueprint != null)
+                    sourceBlueprint.OnBlueprintGenerate += OnBlueprintRegenerate;
+            }
+        }
+
+        /// <summary>
+        /// Remove this actor from its solver, if any. Automatically called by <see cref="ObiSolver"/>.
+        /// </summary>
+        public void RemoveFromSolver()
+        {
+            if (m_Solver != null)
+            {
+                m_Solver.RemoveActor(this);
+                if (sourceBlueprint != null)
+                    sourceBlueprint.OnBlueprintGenerate -= OnBlueprintRegenerate;
+            }
+        }
+
+        /// <summary>
+        /// Forcibly changed 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.
+        protected void SetSolver(ObiSolver newSolver)
+        {
+            // In case the first solver up our hierarchy is not the one we're currently in, change solver.
+            if (newSolver != m_Solver)
+            {
+                RemoveFromSolver();
+
+                m_Solver = newSolver;
+
+                AddToSolver();
+            }
+        }
+
+        protected virtual void OnBlueprintRegenerate(ObiActorBlueprint blueprint)
+        {
+            // Reload:
+            RemoveFromSolver();
+            AddToSolver();
+        }
+
+        protected void UpdateCollisionMaterials()
+        {
+            if (m_Solver != null && solverIndices != null)
+            {
+                int index = m_CollisionMaterial != null ? m_CollisionMaterial.handle.index : -1;
+                for (int i = 0; i < solverIndices.Length; i++)
+                    solver.collisionMaterials[solverIndices[i]] = index;
+            }
+        }
+
+        /// <summary>
+        /// Copies all data (position, velocity, phase, etc) from one particle to another one. 
+        /// </summary>
+        /// <param name="actorSourceIndex"> Index in the actor arrays of the particle we will copy data from.</param>
+        /// <param name="actorDestIndex"> Index in the actor arrays of the particle we will copy data to.</param>
+        /// <returns>
+        /// Whether the indices passed are within actor bounds.
+        /// </returns> 
+        /// Extend this method to implement copying your own custom particle data in custom actors.
+        public virtual bool CopyParticle(int actorSourceIndex, int actorDestIndex)
+        {
+            if (!isLoaded ||
+                actorSourceIndex < 0 || actorSourceIndex >= solverIndices.Length ||
+                actorDestIndex < 0 || actorDestIndex >= solverIndices.Length)
+                return false;
+
+            int sourceIndex = solverIndices[actorSourceIndex];
+            int destIndex = solverIndices[actorDestIndex];
+
+            // 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.restOrientations[destIndex] = m_Solver.restOrientations[sourceIndex];
+            m_Solver.velocities[destIndex] = m_Solver.velocities[sourceIndex];
+            m_Solver.angularVelocities[destIndex] = m_Solver.velocities[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];
+            m_Solver.phases[destIndex] = m_Solver.phases[sourceIndex];
+            m_Solver.filters[destIndex] = m_Solver.filters[sourceIndex];
+            m_Solver.colors[destIndex] = m_Solver.colors[sourceIndex];
+
+            return true;
+        }
+
+        /// <summary>
+        /// Teleports one actor particle to a certain position in solver space.
+        /// </summary>
+        /// <param name="actorIndex"> Index in the actor arrays of the particle we will teeleport.</param>
+        /// <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)
+                return;
+
+            int solverIndex = solverIndices[actorIndex];
+
+            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.startPositions[solverIndex] += delta;
+
+        }
+
+        /// <summary>
+        /// Teleports the entire actor to a new location / orientation.
+        /// </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)
+        {
+            if (!isLoaded)
+                return;
+
+            // Subtract current transform position/rotation, then add new world space position/rotation.
+            // Lastly, set the transform to the new position/rotation.
+            Matrix4x4 offset = solver.transform.worldToLocalMatrix *
+                               Matrix4x4.TRS(position, Quaternion.identity, Vector3.one) *
+                               Matrix4x4.TRS(Vector3.zero, rotation, Vector3.one) *
+                               Matrix4x4.TRS(Vector3.zero, Quaternion.Inverse(transform.rotation), Vector3.one) *
+                               Matrix4x4.TRS(-transform.position, Quaternion.identity, Vector3.one) *
+                               solver.transform.localToWorldMatrix;
+
+            Quaternion rotOffset = offset.rotation;
+
+            for (int i = 0; i < solverIndices.Length; i++)
+            {
+                int solverIndex = solverIndices[i];
+
+                m_Solver.positions[solverIndex] = 
+                m_Solver.prevPositions[solverIndex] = 
+                m_Solver.renderablePositions[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.startOrientations[solverIndex] = rotOffset * m_Solver.orientations[solverIndex];
+
+                m_Solver.velocities[solverIndex] = Vector4.zero;
+                m_Solver.angularVelocities[solverIndex] = Vector4.zero;
+            }
+
+            transform.position = position;
+            transform.rotation = rotation;
+
+        }
+
+        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);
+        }
+
+        /// <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.
+        /// </returns> 
+        /// This operation preserves the relative order of all particles.
+        public bool ActivateParticle(int actorIndex)
+        {
+            if (IsParticleActive(actorIndex))
+                return false;
+
+            SwapWithFirstInactiveParticle(actorIndex);
+            m_ActiveParticleCount++;
+            m_Solver.dirtyActiveParticles = true;
+
+            return true;
+        }
+
+        /// <summary>
+        /// Deactivates one particle.
+        /// </summary>
+        /// <param name="actorIndex"> Index in the actor arrays of the particle we will deactivate.</param>
+        /// <returns>
+        /// True if the particle was active. False if the particle was already inactive.
+        /// </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)
+        {
+            if (!IsParticleActive(actorIndex))
+                return false;
+
+            m_ActiveParticleCount--;
+            SwapWithFirstInactiveParticle(actorIndex);
+            m_Solver.dirtyActiveParticles = true;
+
+            return true;
+        }
+
+        /// <summary>
+        /// Returns whether a given particle is active.
+        /// </summary>
+        /// <param name="actorIndex"> Index in the actor arrays of the particle.</param>
+        /// <returns>
+        /// True if the particle is active. False if the particle is inactive.
+        /// </returns> 
+        public bool IsParticleActive(int actorIndex)
+        {
+            return actorIndex < m_ActiveParticleCount;
+        }
+
+        /// <summary>
+        /// Updates particle phases in the solver at runtime, including or removing the self-collision flag.
+        /// </summary>
+        public virtual void SetSelfCollisions(bool selfCollisions)
+        {
+            if (m_Solver != null && Application.isPlaying && isLoaded)
+            {
+                for (int i = 0; i < particleCount; i++)
+                {
+                    if (selfCollisions)
+                        m_Solver.phases[solverIndices[i]] |= (int)ObiUtils.ParticleFlags.SelfCollide;
+                    else
+                        m_Solver.phases[solverIndices[i]] &= ~(int)ObiUtils.ParticleFlags.SelfCollide;
+                }
+            }
+        }
+
+        /// <summary>
+        /// Updates particle phases in the solver at runtime, including or removing the one-sided flag.
+        /// </summary>
+        public virtual void SetOneSided(bool oneSided)
+        {
+            if (m_Solver != null && Application.isPlaying && isLoaded)
+            {
+                for (int i = 0; i < particleCount; i++)
+                {
+                    if (oneSided)
+                        m_Solver.phases[solverIndices[i]] |= (int)ObiUtils.ParticleFlags.OneSided;
+                    else
+                        m_Solver.phases[solverIndices[i]] &= ~(int)ObiUtils.ParticleFlags.OneSided;
+                }
+            }
+        }
+
+        /// <summary>
+        /// Marks simplices dirty.
+        /// </summary>
+        public void SetSimplicesDirty()
+        {
+            if (m_Solver != null)
+                m_Solver.dirtySimplices = true;
+        }
+
+        /// <summary>
+        /// Marks a given constraint type as dirty. 
+        /// </summary>
+        /// <param name="constraintType"> Type of the constraints that need re-creation.</param>
+        /// This will cause the solver to perform a constraint re-creation at the start of the next step. Needed when the constraint data in an actor changes at runtime,
+        /// as a result of changing topology (torn cloth or ropes), or changes in internal constraint parameters such as compliance values. This is a relatively expensive operation,
+        /// so it's best to amortize as many constraint modification operations as possible in a single step.
+        public void SetConstraintsDirty(Oni.ConstraintType constraintType)
+        {
+            if (m_Solver != null)
+                m_Solver.dirtyConstraints |= (1 << (int)constraintType);
+        }
+
+        /// <summary>  
+        /// Returns the data representation of constraints of a given type being simulated by this solver.
+        /// </summary>  
+        /// <param name="type"> Type of the constraints that will be returned by this method.</param>  
+        /// <returns>
+        /// The runtime constraints of the type speficied. Most constraints are stored in the blueprint, with a couple notable exceptions: pin and stitch constraints
+        /// are always created at runtime, so they're not stored in the blueprint but in the actor itself.
+        /// </returns> 
+        public IObiConstraints GetConstraintsByType(Oni.ConstraintType type)
+        {
+            // 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 (sharedBlueprint != null)
+                return sharedBlueprint.GetConstraintsByType(type);
+
+            return null;
+        }
+
+
+
+        /// <summary>  
+        /// Call when some particle properties have been modified and need updating.
+        /// </summary>  
+        /// Does not do anything by default. Call when manually modifying particle properties in the solver, should the actor need to do some book keeping.
+        /// For softbodies, updates their rest state. 
+        public virtual void UpdateParticleProperties()
+        {
+        }
+
+        /// <summary>  
+        /// Returns the index of this particle in the solver arrays.
+        /// </summary>  
+        /// <param name="actorIndex"> Index of the particle in the actor arrays.</param>  
+        /// <returns>
+        /// The index of a given particle in the solver arrays.
+        /// </returns>
+        /// At runtime when the blueprint is loaded, this is the same as calling actor.solverIndices[solverIndex].
+        /// If the blueprint is not loaded it will return the same index passed to it: actorIndex.
+        /// Note that this function does not perform any range checking.
+        public int GetParticleRuntimeIndex(int actorIndex)
+        {
+            if (isLoaded)
+                return solverIndices[actorIndex];
+            return actorIndex;
+        }
+
+
+        /// <summary>  
+        /// Given a solver particle index, returns the position of that particle in world space. 
+        /// </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 GetParticlePosition(int solverIndex)
+        {
+            if (isLoaded)
+                return m_Solver.transform.TransformPoint(m_Solver.renderablePositions[solverIndex]);
+            return Vector3.zero;
+        }
+
+        /// <summary>  
+        /// Given a solver particle index, returns the orientation of that particle in world space. 
+        /// </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 GetParticleOrientation(int solverIndex)
+        {
+            if (isLoaded)
+                return m_Solver.transform.rotation * m_Solver.renderableOrientations[solverIndex];
+            return Quaternion.identity;
+        }
+
+        /**
+         *  
+         */
+
+        /// <summary>  
+        /// Given a solver particle index, returns the anisotropic frame of that particle in world space.
+        /// </summary>  
+        /// <param name="solverIndex"> Index of the particle in the solver arrays.</param>
+        /// <param name="solverIndex"> First basis vector of the frame. Contains particle radius along this axis in the 4th position.</param>
+        /// <param name="solverIndex"> Second basis vector of the frame. Contains particle radius along this axis in the 4th position..</param>
+        /// <param name="solverIndex"> Third basis vector of the frame. Contains particle radius along this axis in the 4th position.</param>
+        public void GetParticleAnisotropy(int solverIndex, ref Vector4 b1, ref Vector4 b2, ref Vector4 b3)
+        {
+            if (isLoaded && usesAnisotropicParticles)
+            {
+                int baseIndex = solverIndex * 3;
+
+                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];
+            }
+            else
+            {
+                b1[3] = b2[3] = b3[3] = m_Solver.maxScale * m_Solver.principalRadii[solverIndex][0];
+            }
+        }
+
+        /// <summary>  
+        /// Given a solver particle index, returns the maximum world space radius of that particle, in any axis.
+        /// </summary>  
+        /// <param name="solverIndex"> Index of the particle in the solver arrays.</param>  
+        /// <returns>
+        /// The maximum radius of a given particle in world space.
+        /// </returns>
+        public float GetParticleMaxRadius(int solverIndex)
+        {
+            if (isLoaded)
+                return m_Solver.maxScale * m_Solver.principalRadii[solverIndex][0];
+            return 0;
+        }
+
+
+        /// <summary>  
+        /// Given a solver particle index, returns the color of that particle.
+        /// </summary>  
+        /// <param name="solverIndex"> Index of the particle in the solver arrays.</param>  
+        /// <returns>
+        /// The color of the particle.
+        /// </returns>
+        public Color GetParticleColor(int solverIndex)
+        {
+            if (isLoaded)
+                return m_Solver.colors[solverIndex];
+            return Color.white;
+        }
+
+        /// <summary>  
+        /// Sets a given category value for all particles in the actor.
+        /// </summary>  
+        /// <param name="newCategory"> Category value.</param>  
+        public void SetFilterCategory(int newCategory)
+        {
+            newCategory = Mathf.Clamp(newCategory, ObiUtils.MinCategory, ObiUtils.MaxCategory);
+
+            for (int i = 0; i < particleCount; ++i)
+            {
+                int solverIndex = solverIndices[i];
+                var mask = ObiUtils.GetMaskFromFilter(solver.filters[solverIndex]);
+                solver.filters[solverIndex] = ObiUtils.MakeFilter(mask, newCategory);
+            }
+        }
+
+        /// <summary>  
+        /// Sets a given mask value for all particles in the actor.
+        /// </summary>  
+        /// <param name="newMask"> Mask value.</param>  
+        public void SetFilterMask(int newMask)
+        {
+            newMask = Mathf.Clamp(newMask, ObiUtils.CollideWithNothing, ObiUtils.CollideWithEverything);
+
+            for (int i = 0; i < particleCount; ++i)
+            {
+                int solverIndex = solverIndices[i];
+                var category = ObiUtils.GetCategoryFromFilter(solver.filters[solverIndex]);
+                solver.filters[solverIndex] = ObiUtils.MakeFilter(newMask, category);
+            }
+        }
+
+        /// <summary>  
+        /// Sets the inverse mass of each particle so that the total actor mass matches the one passed by parameter.
+        /// </summary>  
+        /// <param name="mass"> The actor's total mass.</param>  
+        public void SetMass(float mass)
+        {
+            if (Application.isPlaying && isLoaded && activeParticleCount > 0)
+            {
+                float invMass = 1.0f / (mass / activeParticleCount);
+
+                for (int i = 0; i < activeParticleCount; ++i)
+                {
+                    int solverIndex = solverIndices[i];
+                    m_Solver.invMasses[solverIndex] = invMass;
+                    m_Solver.invRotationalMasses[solverIndex] = invMass;
+                }
+            }
+        }
+
+        /// <summary>  
+        /// Returns the actor's mass (sum of all particle masses), and the position of its center of mass.
+        /// </summary>  
+        /// <param name="com"> The actor's center of mass, expressed in solver space.</param>
+        /// Particles with infinite mass (invMass = 0) are ignored.
+        public float GetMass(out Vector3 com)
+        {
+
+            float actorMass = 0;
+            com = Vector3.zero;
+
+            if (Application.isPlaying && isLoaded && activeParticleCount > 0)
+            {
+                Vector4 com4 = Vector4.zero;
+
+                for (int i = 0; i < activeParticleCount; ++i)
+                {
+                    if (m_Solver.invMasses[solverIndices[i]] > 0)
+                    {
+                        float mass = 1.0f / m_Solver.invMasses[solverIndices[i]];
+                        actorMass += mass;
+                        com4 += m_Solver.positions[solverIndices[i]] * mass;
+                    }
+                }
+
+                com = com4;
+                if (actorMass > float.Epsilon)
+                    com /= actorMass;
+            }
+
+            return actorMass;
+        }
+
+        /// <summary>  
+        ///Adds an external force to all particles in the actor. 
+        /// </summary>  
+        /// <param name="force"> Value expressed in solver space.</param>
+        /// <param name="forceMode"> Type of "force" applied.</param>
+        public void AddForce(Vector3 force, ForceMode forceMode)
+        {
+
+            Vector3 com;
+            float mass = GetMass(out com);
+
+            if (!float.IsInfinity(mass))
+            {
+
+                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;
+                }
+            }
+        }
+
+        /// <summary>  
+        /// Adds a torque to the actor.
+        /// </summary>  
+        /// <param name="force"> Value expressed in solver space.</param>
+        /// <param name="forceMode"> Type of "torque" applied.</param>
+        public void AddTorque(Vector3 force, ForceMode forceMode)
+        {
+
+            Vector3 com;
+            float mass = GetMass(out com);
+
+            if (!float.IsInfinity(mass))
+            {
+
+                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;
+                }
+            }
+        }
+
+        #region Blueprints
+
+        private void LoadBlueprintParticles(ObiActorBlueprint bp, int groupID)
+        {
+
+            Matrix4x4 l2sTransform = actorLocalToSolverMatrix;
+            Quaternion l2sRotation = l2sTransform.rotation;
+
+            for (int i = 0; i < solverIndices.Length; 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.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.renderableOrientations[k] = l2sRotation * bp.orientations[i];
+                }
+
+                if (bp.restPositions != null && i < bp.restPositions.Length)
+                    m_Solver.restPositions[k] = bp.restPositions[i];
+
+                if (bp.restOrientations != null && i < bp.restOrientations.Length)
+                    m_Solver.restOrientations[k] = bp.restOrientations[i];
+
+                if (bp.velocities != null && i < bp.velocities.Length)
+                    m_Solver.velocities[k] = l2sTransform.MultiplyVector(bp.velocities[i]);
+
+                if (bp.angularVelocities != null && i < bp.angularVelocities.Length)
+                    m_Solver.angularVelocities[k] = l2sTransform.MultiplyVector(bp.angularVelocities[i]);
+
+                if (bp.invMasses != null && i < bp.invMasses.Length)
+                    m_Solver.invMasses[k] = bp.invMasses[i];
+
+                if (bp.invRotationalMasses != null && i < bp.invRotationalMasses.Length)
+                    m_Solver.invRotationalMasses[k] = bp.invRotationalMasses[i];
+
+                if (bp.principalRadii != null && i < bp.principalRadii.Length)
+                    m_Solver.principalRadii[k] = bp.principalRadii[i];
+
+                if (bp.filters != null && i < bp.filters.Length)
+                    m_Solver.filters[k] = bp.filters[i];
+
+                if (bp.colors != null && i < bp.colors.Length)
+                    m_Solver.colors[k] = bp.colors[i];
+
+                m_Solver.phases[k] = ObiUtils.MakePhase(groupID, 0);
+            }
+
+            m_ActiveParticleCount = sourceBlueprint.activeParticleCount;
+            m_Solver.dirtyActiveParticles = true;
+            m_Solver.dirtySimplices = true;
+
+            // Push collision materials:
+            UpdateCollisionMaterials();
+
+        }
+
+        private void UnloadBlueprintParticles()
+        {
+            // Update active particles. 
+            m_ActiveParticleCount = 0;
+            m_Solver.dirtyActiveParticles = true;
+            m_Solver.dirtySimplices = true;
+        }
+
+        /// <summary>  
+        /// Resets the position and velocity of all particles, to the values stored in the blueprint.
+        /// </summary>  
+        /// Note however
+        /// that this does not affect constraints, so if you've torn a cloth/rope or resized a rope, calling ResetParticles won't restore
+        /// the initial topology of the actor.
+        public void ResetParticles()
+        {
+            if (isLoaded)
+            {
+                Matrix4x4 l2sTransform = actorLocalToSolverMatrix;
+                Quaternion l2sRotation = l2sTransform.rotation;
+
+                for (int i = 0; i < particleCount; ++i)
+                {
+                    int solverIndex = solverIndices[i];
+
+                    solver.renderablePositions[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.angularVelocities[solverIndex] = l2sTransform.MultiplyVector(sourceBlueprint.angularVelocities[i]);
+                    }
+                }
+            }
+        }
+
+        #endregion
+
+        #region State
+
+
+        /// <summary>  
+        /// Resets the position and velocity of all particles, to the values stored in the blueprint.
+        /// </summary>  
+        /// <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)
+        {
+            if (bp == null)
+                return;
+
+            Matrix4x4 l2sTransform = actorLocalToSolverMatrix.inverse;
+            Quaternion l2sRotation = l2sTransform.rotation;
+
+            for (int i = 0; i < solverIndices.Length; i++)
+            {
+                int k = solverIndices[i];
+
+                if (m_Solver.positions != null && k < m_Solver.positions.count)
+                    bp.positions[i] = l2sTransform.MultiplyPoint3x4(m_Solver.positions[k]);
+
+                if (m_Solver.velocities != null && k < m_Solver.velocities.count)
+                    bp.velocities[i] = l2sTransform.MultiplyVector(m_Solver.velocities[k]);
+            }
+        }
+
+        protected void StoreState()
+        {
+            DestroyImmediate(state);
+            state = Instantiate<ObiActorBlueprint>(sourceBlueprint);
+            SaveStateToBlueprint(state);
+        }
+
+        public void ClearState()
+        {
+            DestroyImmediate(state);
+        }
+
+        #endregion
+
+        #region Solver callbacks
+
+        /// <summary>  
+        /// Loads this actor's blueprint into a given solver. Automatically called by <see cref="ObiSolver"/>.
+        /// </summary> 
+        public virtual void LoadBlueprint(ObiSolver solver)
+        {
+            var bp = sharedBlueprint;
+
+            // in case we have temporary state, load that instead of the original blueprint.
+            if (Application.isPlaying)
+            {
+                bp = state != null ? state : sourceBlueprint;
+            }
+
+            m_Loaded = true;
+
+            LoadBlueprintParticles(bp, solver.actors.Count);
+            solver.dirtyConstraints |= ~0;
+
+            if (OnBlueprintLoaded != null)
+                OnBlueprintLoaded(this, null);
+        }
+
+        /// <summary>  
+        /// Unloads this actor's blueprint from a given solver. Automatically called by <see cref="ObiSolver"/>.
+        /// </summary> 
+        public virtual void UnloadBlueprint(ObiSolver solver)
+        {
+            // 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);
+        }
+
+        public virtual void PrepareFrame()
+        {
+            if (OnPrepareFrame != null)
+                OnPrepareFrame(this);
+        }
+
+        public virtual void PrepareStep(float stepTime)
+        {
+            if (OnPrepareStep != null)
+                OnPrepareStep(this, stepTime);
+        }
+
+        public virtual void BeginStep(float stepTime)
+        {
+            if (OnBeginStep != null)
+                OnBeginStep(this,stepTime); 
+        }
+
+        public virtual void Substep(float substepTime)
+        {
+            if (OnSubstep != null)
+                OnSubstep(this,substepTime);
+        }
+
+        public virtual void EndStep(float substepTime)
+        {
+            if (OnEndStep != null)
+                OnEndStep(this,substepTime);
+        }
+
+        public virtual void Interpolate() 
+        {
+            // Update particle renderable positions/orientations in the solver:
+            if (!Application.isPlaying && isLoaded)
+            {
+                Matrix4x4 l2sTransform = actorLocalToSolverMatrix;
+                Quaternion l2sRotation = l2sTransform.rotation;
+
+                for (int i = 0; i < solverIndices.Length; i++)
+                {
+                    int k = solverIndices[i];
+
+                    if (sourceBlueprint.positions != null && i < sourceBlueprint.positions.Length)
+                    {
+                        m_Solver.renderablePositions[k] = l2sTransform.MultiplyPoint3x4(sourceBlueprint.positions[i]);
+                    }
+
+                    if (sourceBlueprint.orientations != null && i < sourceBlueprint.orientations.Length)
+                    {
+                        m_Solver.renderableOrientations[k] = l2sRotation * sourceBlueprint.orientations[i];
+                    }
+                }
+            }
+
+            if (OnInterpolate != null)
+                OnInterpolate(this);
+        }
+
+        public virtual void OnSolverVisibilityChanged(bool visible)
+        {
+        }
+
+        #endregion
+
+
+    }
+}
+
diff --git a/Assets/Obi/Scripts/Common/Actors/ObiActor.cs.meta b/Assets/Obi/Scripts/Common/Actors/ObiActor.cs.meta
new file mode 100644
index 000000000..2030a7c5a
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Actors/ObiActor.cs.meta
@@ -0,0 +1,12 @@
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+  executionOrder: 0
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diff --git a/Assets/Obi/Scripts/Common/Backends.meta b/Assets/Obi/Scripts/Common/Backends.meta
new file mode 100644
index 000000000..22ad70e37
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends.meta
@@ -0,0 +1,8 @@
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+folderAsset: yes
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst.meta b/Assets/Obi/Scripts/Common/Backends/Burst.meta
new file mode 100644
index 000000000..018fd9d48
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst.meta
@@ -0,0 +1,8 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/BurstBackend.cs b/Assets/Obi/Scripts/Common/Backends/Burst/BurstBackend.cs
new file mode 100644
index 000000000..0c4b373cb
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/BurstBackend.cs
@@ -0,0 +1,27 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using UnityEngine;
+using Unity.Jobs;
+using Unity.Mathematics;
+using Unity.Collections;
+using System;
+using System.Collections;
+
+namespace Obi
+{
+    public class BurstBackend : IObiBackend
+    {
+#region Solver
+        public ISolverImpl CreateSolver(ObiSolver solver, int capacity)
+        {
+            return new BurstSolverImpl(solver);
+        }
+        public void DestroySolver(ISolverImpl  solver)
+        {
+            if (solver != null)
+                solver.Destroy();
+        }
+#endregion
+
+    }
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/BurstBackend.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/BurstBackend.cs.meta
new file mode 100644
index 000000000..0fa2befc2
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/BurstBackend.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/BurstIntegration.cs b/Assets/Obi/Scripts/Common/Backends/Burst/BurstIntegration.cs
new file mode 100644
index 000000000..d25a5ba29
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/BurstIntegration.cs
@@ -0,0 +1,46 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+
+using Unity.Mathematics;
+using System.Runtime.CompilerServices;
+
+namespace Obi
+{
+    public static class BurstIntegration
+    {
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static float4 IntegrateLinear(float4 position, float4 velocity, float dt)
+        {
+            return position + velocity * dt;
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static float4 DifferentiateLinear(float4 position, float4 prevPosition, float dt)
+        {
+            return (position - prevPosition) / dt;
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static quaternion AngularVelocityToSpinQuaternion(quaternion rotation, float4 angularVelocity, float dt)
+        {
+            var delta = new quaternion(angularVelocity.x,
+                                       angularVelocity.y,
+                                       angularVelocity.z, 0);
+
+            return new quaternion(0.5f * math.mul(delta,rotation).value * dt); 
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static quaternion IntegrateAngular(quaternion rotation, float4 angularVelocity, float dt)
+        {
+            rotation.value += AngularVelocityToSpinQuaternion(rotation,angularVelocity, dt).value;
+            return math.normalize(rotation);
+        }
+
+        [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);
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/BurstIntegration.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/BurstIntegration.cs.meta
new file mode 100644
index 000000000..a4dbd1145
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/BurstIntegration.cs.meta
@@ -0,0 +1,11 @@
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+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
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+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/BurstJobHandle.cs b/Assets/Obi/Scripts/Common/Backends/Burst/BurstJobHandle.cs
new file mode 100644
index 000000000..189ccdd8b
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/BurstJobHandle.cs
@@ -0,0 +1,28 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using Unity.Jobs;
+
+namespace Obi
+{
+    public class BurstJobHandle : IObiJobHandle
+    {
+        private JobHandle handle = new JobHandle();
+
+        public BurstJobHandle SetHandle(JobHandle newHandle)
+        {
+            handle = newHandle;
+            return this;
+        }
+
+        public void Complete()
+        {
+            handle.Complete();
+        }
+
+        public void Release()
+        {
+            handle = new JobHandle();
+        }
+    }
+}
+#endif
+
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/BurstJobHandle.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/BurstJobHandle.cs.meta
new file mode 100644
index 000000000..dc7d643a0
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/BurstJobHandle.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: dc827231eb963458fad0d395a186f910
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/BurstMath.cs b/Assets/Obi/Scripts/Common/Backends/Burst/BurstMath.cs
new file mode 100644
index 000000000..e333ae55d
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/BurstMath.cs
@@ -0,0 +1,706 @@
+#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;
+
+namespace Obi
+{
+    public static class BurstMath
+    {
+
+        public const float epsilon = 0.0000001f;
+        public const float zero = 0;
+        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)
+        {
+            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]);
+        }
+
+        // multiplies a column vector by a row vector.
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static float4x4 multrnsp4(float4 column, 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);
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static float4 project(this float4 vector, float4 onto)
+        {
+            float len = math.lengthsq(onto);
+            if (len < epsilon)
+                return float4.zero;
+            return math.dot(onto, vector) * onto / len;
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static float4x4 TransformInertiaTensor(float4 tensor, quaternion rotation)
+        {
+            float4x4 rotMatrix = rotation.toMatrix();
+            return math.mul(rotMatrix, math.mul(tensor.asDiagonal(), math.transpose(rotMatrix)));
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static float RotationalInvMass(float4x4 inverseInertiaTensor, float4 point, float4 direction)
+        {
+            float4 cr = math.mul(inverseInertiaTensor, new float4(math.cross(point.xyz, direction.xyz), 0));
+            return math.dot(math.cross(cr.xyz, point.xyz), direction.xyz);
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static float4 GetParticleVelocityAtPoint(float4 position, float4 prevPosition, float4 point, float dt)
+        {
+            // no angular velocity, so calculate and return linear velocity only:
+            return BurstIntegration.DifferentiateLinear(position, prevPosition, dt);
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static float4 GetParticleVelocityAtPoint(float4 position, float4 prevPosition, quaternion orientation, quaternion prevOrientation, float4 point, float dt)
+        {
+            // calculate both linear and angular velocities:
+            float4 linearVelocity = BurstIntegration.DifferentiateLinear(position, prevPosition, dt);
+            float4 angularVelocity = BurstIntegration.DifferentiateAngular(orientation, prevOrientation, dt);
+            return linearVelocity + new float4(math.cross(angularVelocity.xyz, (point - prevPosition).xyz), 0);
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static float4 GetRigidbodyVelocityAtPoint(int rigidbodyIndex,
+                                                         float4 point,
+                                                         NativeArray<BurstRigidbody> rigidbodies,
+                                                         NativeArray<float4> linearDeltas,
+                                                         NativeArray<float4> angularDeltas,
+                                                         BurstAffineTransform solverToWorld) 
+        {
+            float4 linear  = rigidbodies[rigidbodyIndex].velocity + linearDeltas[rigidbodyIndex];
+            float4 angular = rigidbodies[rigidbodyIndex].angularVelocity + angularDeltas[rigidbodyIndex];
+            float4 r = solverToWorld.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));
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static float4 GetRigidbodyVelocityAtPoint(int rigidbodyIndex,
+                                                         float4 point,
+                                                         NativeArray<BurstRigidbody> rigidbodies,
+                                                         BurstAffineTransform solverToWorld)
+        {
+            float4 linear = rigidbodies[rigidbodyIndex].velocity;
+            float4 angular = rigidbodies[rigidbodyIndex].angularVelocity;
+            float4 r = solverToWorld.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));
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static void ApplyImpulse(int rigidbodyIndex,
+                                        float4 impulse,
+                                        float4 point,
+                                        NativeArray<BurstRigidbody> rigidbodies,
+                                        NativeArray<float4> linearDeltas,
+                                        NativeArray<float4> angularDeltas,
+                                        BurstAffineTransform solverToWorld)
+        {
+            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));
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static void ApplyDeltaQuaternion(int rigidbodyIndex,
+                                                quaternion rotation,
+                                                quaternion delta,
+                                                NativeArray<float4> angularDeltas,
+                                                BurstAffineTransform solverToWorld,
+                                                float dt)
+        {
+            quaternion rotationWS = math.mul(solverToWorld.rotation, rotation);
+            quaternion deltaWS = math.mul(solverToWorld.rotation, delta);
+
+            // convert quaternion delta to angular acceleration:
+            quaternion newRotation = math.normalize(new quaternion(rotationWS.value + deltaWS.value));
+            angularDeltas[rigidbodyIndex] += BurstIntegration.DifferentiateAngular(newRotation, rotationWS, dt);
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static void OneSidedNormal(float4 forward, ref float4 normal)
+        {
+            float dot = math.dot(normal.xyz, forward.xyz);
+            if (dot < 0) normal -= 2 * dot * forward;
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static float EllipsoidRadius(float4 normSolverDirection, quaternion orientation, float3 radii)
+        {
+            float3 localDir = math.mul(math.conjugate(orientation), normSolverDirection.xyz);
+            float sqrNorm = math.lengthsq(localDir / radii);
+            return sqrNorm > epsilon ? math.sqrt(1 / sqrNorm) : radii.x;
+        }
+
+        public static quaternion ExtractRotation(float4x4 matrix, quaternion rotation, int iterations)
+        {
+            float4x4 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);
+
+                float w = math.length(omega);
+                if (w < BurstMath.epsilon)
+                    break;
+
+                rotation = math.normalize(math.mul(quaternion.AxisAngle((1.0f / w) * omega, w), rotation));
+            }
+            return rotation;
+        }
+
+        // decomposes a quaternion in swing and twist around a given axis:
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static void SwingTwist(quaternion q, float3 twistAxis, out quaternion swing, out quaternion twist)
+        {
+            float dot = math.dot(q.value.xyz, twistAxis);
+            float3 p = twistAxis * dot;
+            twist = math.normalizesafe(new quaternion(p[0], p[1], p[2], q.value.w));
+            swing = math.mul(q, math.conjugate(twist));
+        }
+
+        public static float4x4 toMatrix(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 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);
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static float4x4 asDiagonal(this float4 v)
+        {
+            return new float4x4(v.x, 0, 0, 0,
+                                0, v.y, 0, 0,
+                                0, 0, v.z, 0,
+                                0, 0, 0, v.w);
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static float4 diagonal(this float4x4 value)
+        {
+            return new float4(value.c0[0], value.c1[1], value.c2[2], value.c3[3]);
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static float frobeniusNorm(this float4x4 m)
+        {
+            return math.sqrt(math.lengthsq(m.c0) + math.lengthsq(m.c1) + math.lengthsq(m.c2) + math.lengthsq(m.c3));
+        }
+
+        public static 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] < math.FLT_MIN_NORMAL)
+                {
+                    V2 = V0.unitOrthogonal();
+                }
+                else
+                {
+                    V2 = EigenVector(D, S[2]); V2 -= V0 * math.dot(V0, V2); V2 = math.normalize(V2);
+                }
+                V1 = math.cross(V2, V0);
+            }
+            else
+            {
+                V2 = EigenVector(D, S[2]);
+                if (S[0] - S[1] < math.FLT_MIN_NORMAL)
+                {
+                    V1 = V2.unitOrthogonal();
+                }
+                else
+                {
+                    V1 = EigenVector(D, S[1]); V1 -= V2 * math.dot(V2, V1); V1 = math.normalize(V1);
+                }
+                V0 = math.cross(V1, V2);
+            }
+
+            V.c0 = V0;
+            V.c1 = V1;
+            V.c2 = V2;
+        }
+
+        static float3 unitOrthogonal(this float3 input)
+        {
+            // Find a vector to cross() the input with.
+            if (!(input.x < input.z * epsilon)
+            || !(input.y < input.z * epsilon))
+            {
+                float invnm = 1 / math.length(input.xy);
+                return new float3(-input.y * invnm, input.x * invnm, 0);
+            }
+            else
+            {
+                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
+        static float3 EigenVector(float3x3 D, float S)
+        {
+            // Compute a cofactor matrix of D - sI.
+            float3 c0 = D.c0; c0[0] -= S;
+            float3 c1 = D.c1; c1[1] -= S;
+            float3 c2 = D.c2; c2[2] -= S;
+
+            // Upper triangular matrix
+            float3 c0p = new float3(c1[1] * c2[2] - c2[1] * c2[1], 0, 0);
+            float3 c1p = new float3(c2[1] * c2[0] - c1[0] * c2[2], c0[0] * c2[2] - c2[0] * c2[0], 0);
+            float3 c2p = new 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 = new 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.zero;
+
+            // special case
+            if (norm[index] < math.FLT_MIN_NORMAL)
+            {
+                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 math.normalize(V);
+        }
+
+        static float3 EigenValues(float3x3 D)
+        {
+            float one_third = 1 / 3.0f;
+            float one_sixth = 1 / 6.0f;
+            float three_sqrt = math.sqrt(3.0f);
+
+            float3 c0 = D.c0;
+            float3 c1 = D.c1;
+            float3 c2 = D.c2;
+
+            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 = math.sqrt(p);
+
+            float tmp = p * p * p - q * q;
+            float phi = one_third * math.atan2(math.sqrt(math.max(0, tmp)), q);
+            float phi_c = math.cos(phi);
+            float phi_s = math.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 float3(e2, e1, e0);
+        }
+
+        public struct CachedTri
+        {
+            public float4 vertex;
+            public float4 edge0;
+            public float4 edge1;
+            public float4 data;
+
+            public void Cache(float4 v1,
+                              float4 v2,
+                              float4 v3)
+            {
+                vertex = v1;
+                edge0 = v2 - v1;
+                edge1 = v3 - v1;
+                data = float4.zero;
+                data[0] = math.dot(edge0, edge0);
+                data[1] = math.dot(edge0, edge1);
+                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)
+        {
+            float4 v0 = tri.vertex - p;
+            float b0 = math.dot(tri.edge0, v0);
+            float b1 = math.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 = new float4(1 - (t0 + t1), t0, t1,0);
+            return tri.vertex + t0 * tri.edge0 + t1 * tri.edge1;
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static float4 NearestPointOnEdge(float4 a, float4 b, float4 p, out float mu, bool clampToSegment = true)
+        {
+            float4 ap = p - a;
+            float4 ab = b - a;
+
+            mu = math.dot(ap, ab) / math.dot(ab, ab);
+
+            if (clampToSegment)
+                mu = math.saturate(mu);
+
+            return a + ab * mu;
+        }
+
+        public static float4 NearestPointsTwoEdges(float4 a, float4 b, float4 c, float4 d, out float mu1, out float mu2)
+        {
+            float4 dc = d - c;
+            float lineDirSqrMag = math.dot(dc, dc);
+            float4 inPlaneA = a - (math.dot(a - c, dc) / lineDirSqrMag * dc);
+            float4 inPlaneB = b - (math.dot(b - c, dc) / lineDirSqrMag * dc);
+
+            float4 inPlaneBA = inPlaneB - inPlaneA;
+            float t = math.dot(c - inPlaneA, inPlaneBA) / math.dot(inPlaneBA, inPlaneBA);
+
+            //t = (inPlaneA != inPlaneB) ? t : 0f; // Zero's t if parallel
+            float4 segABtoLineCD = math.lerp(a, b, math.saturate(t));
+
+            float4 segCDtoSegAB = NearestPointOnEdge(c, d, segABtoLineCD, out mu1);
+            float4 segABtoSegCD = NearestPointOnEdge(a, b, segCDtoSegAB, out mu2);
+
+            return segCDtoSegAB;
+        }
+
+        public static float4 BaryCoords(in float4 A,
+                                        in float4 B,
+                                        in float4 C,
+                                        in float4 P)
+        {
+
+            // Compute vectors
+            float4 v0 = C - A;
+            float4 v1 = B - A;
+            float4 v2 = P - A;
+
+            // Compute dot products
+            float dot00 = math.dot(v0, v0);
+            float dot01 = math.dot(v0, v1);
+            float dot02 = math.dot(v0, v2);
+            float dot11 = math.dot(v1, v1);
+            float dot12 = math.dot(v1, v2);
+
+            // Compute barycentric coordinates
+            float det = dot00 * dot11 - dot01 * dot01;
+            if (math.abs(det) > epsilon)
+            {
+                float u = (dot11 * dot02 - dot01 * dot12) / det;
+                float v = (dot00 * dot12 - dot01 * dot02) / det;
+                return new float4(1 - u - v, v, u, 0);
+            }
+            return float4.zero;
+
+        }
+
+        public static float4 BaryCoords2(in float4 A,
+                                         in float4 B,
+                                         in float4 P)
+        {
+            float4 v0 = P - A;
+            float4 v1 = B - A;
+            float y = math.sqrt(math.dot(v0, v0) / (math.dot(v1, v1) + epsilon));
+            return new float4(1 - y, y, 0, 0);
+        }
+
+        public static float4 BaryIntrpl(in float4 p1, in float4 p2, in float4 p3, in float4 coords)
+        {
+            return coords[0] * p1 + coords[1] * p2 + coords[2] * p3;
+        }
+
+        public static float4 BaryIntrpl(in float4 p1, in float4 p2, in float4 coords)
+        {
+            return coords[0] * p1 + coords[1] * p2;
+        }
+
+        public static float BaryIntrpl(float p1, float p2, float p3, float4 coords)
+        {
+            return coords[0] * p1 + coords[1] * p2 + coords[2] * p3;
+        }
+
+        public static float BaryIntrpl(float p1, float p2, float4 coords)
+        {
+            return coords[0] * p1 + coords[1] * p2;
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static float BaryScale(float4 coords)
+        {
+            return 1.0f / math.dot(coords, coords);
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static float4 BarycenterForSimplexOfSize(int simplexSize)
+        {
+            float value = 1f / simplexSize;
+            float4 center = float4.zero;
+            for (int i = 0; i < simplexSize; ++i)
+                center[i] = value;
+            return center;
+        }
+
+        public static unsafe void RemoveRangeBurst<T>(this NativeList<T> list, int index, int count)
+            where T : unmanaged
+        {
+#if ENABLE_UNITY_COLLECTIONS_CHECKS
+            if ((uint)index >= (uint)list.Length)
+            {
+                throw new IndexOutOfRangeException(
+                    $"Index {index} is out of range in NativeList of '{list.Length}' Length.");
+            }
+#endif
+
+            int elemSize = UnsafeUtility.SizeOf<T>();
+            byte* basePtr = (byte*)list.GetUnsafePtr();
+
+            UnsafeUtility.MemMove(basePtr + (index * elemSize), basePtr + ((index + count) * elemSize), elemSize * (list.Length - count - index));
+
+            // No easy way to change length so we just loop this unfortunately.
+            for (var i = 0; i < count; i++)
+            {
+                list.RemoveAtSwapBack(list.Length - 1);
+            }
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/BurstMath.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/BurstMath.cs.meta
new file mode 100644
index 000000000..5b662b682
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/BurstMath.cs.meta
@@ -0,0 +1,11 @@
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+guid: 1cc365339e47244d7b217576a7d95ca8
+MonoImporter:
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+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Collisions.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Collisions.meta
new file mode 100644
index 000000000..7f66f5927
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Collisions.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 71085a94c3367475ab31b12e483c6479
+folderAsset: yes
+DefaultImporter:
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+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstBox.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstBox.cs
new file mode 100644
index 000000000..e5e2cf7d7
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstBox.cs
@@ -0,0 +1,93 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using Unity.Collections;
+using Unity.Mathematics;
+
+namespace Obi
+{
+    public struct BurstBox : BurstLocalOptimization.IDistanceFunction, IBurstCollider
+    {
+        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;
+            float4 size = shape.size * colliderToSolver.scale * 0.5f;
+
+            // clamp the point to the surface of the box:
+            point = colliderToSolver.InverseTransformPointUnscaled(point) - center;
+
+            if (shape.is2D != 0)
+                point[2] = 0;
+
+            // get minimum distance for each axis:
+            float4 distances = size - math.abs(point);
+
+            if (distances.x >= 0 && distances.y >= 0 && distances.z >= 0)
+            {
+                // find minimum distance in all three axes and the axis index:
+                float min = float.MaxValue;
+                int axis = 0;
+
+                for (int i = 0; i < 3; ++i)
+                {
+                    if (distances[i] < min)
+                    {
+                        min = distances[i];
+                        axis = i;
+                    }
+                }
+
+                projectedPoint.normal = float4.zero;
+                projectedPoint.point = point;
+
+                projectedPoint.normal[axis] = point[axis] > 0 ? 1 : -1;
+                projectedPoint.point[axis] = size[axis] * projectedPoint.normal[axis];
+            }
+            else
+            {
+                projectedPoint.point = math.clamp(point, -size, size);
+                projectedPoint.normal = math.normalizesafe(point - projectedPoint.point);
+            }
+
+            projectedPoint.point = colliderToSolver.TransformPointUnscaled(projectedPoint.point + center + projectedPoint.normal * shape.contactOffset);
+            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)
+        {
+            var co = new BurstContact() { bodyA = simplexIndex, bodyB = colliderIndex };
+            float4 simplexBary = BurstMath.BarycenterForSimplexOfSize(simplexSize);
+
+            var colliderPoint = BurstLocalOptimization.Optimize<BurstBox>(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);
+        }
+
+    }
+
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstBox.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstBox.cs.meta
new file mode 100644
index 000000000..5a84d9cd3
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstBox.cs.meta
@@ -0,0 +1,11 @@
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+guid: f09926d9bc8604475a3bce5e593165b4
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstCapsule.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstCapsule.cs
new file mode 100644
index 000000000..e23c0b11b
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstCapsule.cs
@@ -0,0 +1,73 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using Unity.Collections;
+using Unity.Mathematics;
+
+namespace Obi
+{
+    public struct BurstCapsule : BurstLocalOptimization.IDistanceFunction, IBurstCollider
+    {
+        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)
+                point[2] = 0;
+
+            int direction = (int)shape.size.z;
+            float radius = shape.size.x * math.max(colliderToSolver.scale[(direction + 1) % 3],
+                                                   colliderToSolver.scale[(direction + 2) % 3]);
+
+            float height = math.max(radius, shape.size.y * 0.5f * colliderToSolver.scale[direction]);
+            float4 halfVector = float4.zero;
+            halfVector[direction] = height - radius;
+
+            float4 centerLine = BurstMath.NearestPointOnEdge(-halfVector, halfVector, point, out float mu);
+            float4 centerToPoint = point - centerLine;
+            float distanceToCenter = math.length(centerToPoint);
+
+            float4 normal = centerToPoint / (distanceToCenter + BurstMath.epsilon);
+
+            projectedPoint.point = colliderToSolver.TransformPointUnscaled(center + centerLine + normal * (radius + 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)
+        {
+            var co = new BurstContact() { bodyA = simplexIndex, bodyB = colliderIndex };
+            float4 simplexBary = BurstMath.BarycenterForSimplexOfSize(simplexSize);
+
+            var colliderPoint = BurstLocalOptimization.Optimize<BurstCapsule>(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);
+        }
+    }
+
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstCapsule.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstCapsule.cs.meta
new file mode 100644
index 000000000..e75f16760
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstCapsule.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstColliderShape.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstColliderShape.cs
new file mode 100644
index 000000000..af31c7a9d
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstColliderShape.cs
@@ -0,0 +1,25 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using Unity.Mathematics;
+
+namespace Obi
+{
+
+    public struct BurstColliderShape
+    {
+        public float4 center;
+        public 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.*/
+
+        public ColliderShape.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 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).
+    }
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstColliderShape.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstColliderShape.cs.meta
new file mode 100644
index 000000000..362c07aef
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstColliderShape.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstColliderWorld.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstColliderWorld.cs
new file mode 100644
index 000000000..97736248e
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstColliderWorld.cs
@@ -0,0 +1,552 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using UnityEngine;
+using Unity.Collections;
+using Unity.Jobs;
+using Unity.Mathematics;
+using Unity.Burst;
+
+namespace Obi
+{
+
+
+    public class BurstColliderWorld : MonoBehaviour, IColliderWorldImpl
+    {
+        struct MovingCollider
+        {
+            public BurstCellSpan oldSpan;
+            public BurstCellSpan newSpan;
+            public int entity;
+        }
+
+        private int refCount = 0;
+        private int colliderCount = 0;
+
+        private NativeMultilevelGrid<int> grid;
+        private NativeQueue<MovingCollider> movingColliders;
+        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.cellSpans = new ObiNativeCellSpanList();
+
+            ObiColliderWorld.GetInstance().RegisterImplementation(this);
+        }
+
+        public void OnDestroy()
+        {
+            ObiColliderWorld.GetInstance().UnregisterImplementation(this);
+
+            grid.Dispose();
+            movingColliders.Dispose();
+            colliderContactQueue.Dispose();
+            cellSpans.Dispose();
+        }
+
+        public void IncreaseReferenceCount()
+        {
+            refCount++;
+        }
+        public void DecreaseReferenceCount()
+        {
+            if (--refCount <= 0 && gameObject != null)
+                DestroyImmediate(gameObject);  
+        }
+
+        public void SetColliders(ObiNativeColliderShapeList shapes, ObiNativeAabbList bounds, ObiNativeAffineTransformList transforms, int count)
+        {
+            colliderCount = count;
+
+            // insert new empty cellspans at the end if needed:
+            while (colliderCount > cellSpans.count)
+                cellSpans.Add(new CellSpan(new VInt4(10000), new VInt4(10000)));
+        }
+
+        public void SetRigidbodies(ObiNativeRigidbodyList rigidbody)
+        {
+        }
+
+        public void SetCollisionMaterials(ObiNativeCollisionMaterialList materials)
+        {
+
+        }
+
+        public void SetTriangleMeshData(ObiNativeTriangleMeshHeaderList headers, ObiNativeBIHNodeList nodes, ObiNativeTriangleList triangles, ObiNativeVector3List vertices)
+        {
+        }
+
+        public void SetEdgeMeshData(ObiNativeEdgeMeshHeaderList headers, ObiNativeBIHNodeList nodes, ObiNativeEdgeList edges, ObiNativeVector2List vertices)
+        {
+        }
+
+        public void SetDistanceFieldData(ObiNativeDistanceFieldHeaderList headers, ObiNativeDFNodeList nodes) { }
+        public void SetHeightFieldData(ObiNativeHeightFieldHeaderList headers, ObiNativeFloatList samples) { }
+
+        public void UpdateWorld(float deltaTime)
+        {
+            var world = ObiColliderWorld.GetInstance();
+
+            var identifyMoving = new IdentifyMovingColliders
+            {
+                movingColliders = movingColliders.AsParallelWriter(),
+                shapes = world.colliderShapes.AsNativeArray<BurstColliderShape>(cellSpans.count),
+                rigidbodies = world.rigidbodies.AsNativeArray<BurstRigidbody>(),
+                collisionMaterials = world.collisionMaterials.AsNativeArray<BurstCollisionMaterial>(),
+                bounds = world.colliderAabbs.AsNativeArray<BurstAabb>(cellSpans.count),
+                cellIndices = cellSpans.AsNativeArray<BurstCellSpan>(),
+                colliderCount = colliderCount,
+                dt = deltaTime
+            };
+            JobHandle movingHandle = identifyMoving.Schedule(cellSpans.count, 128);
+
+            var updateMoving = new UpdateMovingColliders
+            {
+                movingColliders = movingColliders,
+                grid = grid,
+                colliderCount = colliderCount
+            };
+
+            updateMoving.Schedule(movingHandle).Complete();
+
+            // remove tail from the current spans array:
+            if (colliderCount < cellSpans.count)
+                cellSpans.count -= cellSpans.count - colliderCount;
+        }
+
+        [BurstCompile]
+        struct IdentifyMovingColliders : IJobParallelFor
+        {
+            [WriteOnly]
+            [NativeDisableParallelForRestriction]
+            public NativeQueue<MovingCollider>.ParallelWriter movingColliders;
+
+            [ReadOnly] public NativeArray<BurstColliderShape> shapes;
+            [ReadOnly] public NativeArray<BurstRigidbody> rigidbodies;
+            [ReadOnly] public NativeArray<BurstCollisionMaterial> collisionMaterials;
+            public NativeArray<BurstAabb> bounds;
+
+            public NativeArray<BurstCellSpan> cellIndices;
+            [ReadOnly] public int colliderCount;
+            [ReadOnly] public float dt;
+
+            // Iterate over all colliders and store those whose cell span has changed.
+            public void Execute(int i)
+            {
+                BurstAabb velocityBounds = bounds[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)
+                    velocityBounds.Sweep(rigidbodies[rb].velocity * dt);
+
+                // Expand bounds by collision material's stick distance:
+                if (shapes[i].materialIndex >= 0) 
+                    velocityBounds.Expand(collisionMaterials[shapes[i].materialIndex].stickDistance);
+
+                float size = velocityBounds.AverageAxisLength();
+                int level = NativeMultilevelGrid<int>.GridLevelForSize(size);
+                float cellSize = NativeMultilevelGrid<int>.CellSizeOfLevel(level);
+
+                // get new collider bounds cell coordinates:
+                BurstCellSpan newSpan = new BurstCellSpan(new int4(GridHash.Quantize(velocityBounds.min.xyz, cellSize), level),
+                                                          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)
+                {
+                    newSpan.min[2] = 0;
+                    newSpan.max[2] = 0;
+                }
+
+                // if the collider is at the tail (removed), we will only remove it from its current cellspan.
+                // if the new cellspan and the current one are different, we must remove it from its current cellspan and add it to its new one.
+                if (i >= colliderCount || cellIndices[i] != newSpan)
+                {
+                    // Add the collider to the list of moving colliders:
+                    movingColliders.Enqueue(new MovingCollider()
+                    {
+                        oldSpan = cellIndices[i],
+                        newSpan = newSpan,
+                        entity = i
+                    });
+
+                    // Update previous coords:
+                    cellIndices[i] = newSpan;
+                }
+
+            }
+        }
+
+        [BurstCompile]
+        struct UpdateMovingColliders : IJob
+        {
+            public NativeQueue<MovingCollider> movingColliders;
+            public NativeMultilevelGrid<int> grid;
+            [ReadOnly] public int colliderCount;
+
+            public void Execute()
+            {
+                while (movingColliders.Count > 0)
+                {
+                    MovingCollider movingCollider = movingColliders.Dequeue();
+
+                    // remove from old cells:
+                    grid.RemoveFromCells(movingCollider.oldSpan, movingCollider.entity);
+
+                    // insert in new cells, as long as the index is below the amount of colliders.
+                    // otherwise, the collider is at the "tail" and there's no need to add it back.
+                    if (movingCollider.entity < colliderCount)
+                        grid.AddToCells(movingCollider.newSpan, movingCollider.entity);
+                }
+
+                // remove all empty cells from the grid:
+                grid.RemoveEmpty();
+            }
+        }
+
+        [BurstCompile]
+        unsafe struct GenerateContactsJob : IJobParallelFor
+        {
+            //collider grid:
+            [ReadOnly] public NativeMultilevelGrid<int> colliderGrid;
+
+            [DeallocateOnJobCompletion]
+            [ReadOnly] public NativeArray<int> gridLevels;
+
+            // 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;
+            [ReadOnly] public NativeArray<int> filters;
+
+            // 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<BurstCollisionMaterial> collisionMaterials;
+            [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;
+
+            // 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);
+                NativeList<int> candidates = new NativeList<int>(16,Allocator.Temp);
+
+                // max size of the particle bounds in cells:
+                int3 maxSize = new int3(10);
+                bool is2D = parameters.mode == Oni.SolverParameters.Mode.Mode2D;
+
+                for (int l = 0; l < gridLevels.Length; ++l)
+                {
+                    float cellSize = NativeMultilevelGrid<int>.CellSizeOfLevel(gridLevels[l]);
+
+                    int3 minCell = GridHash.Quantize(simplexBoundsWS.min.xyz, cellSize);
+                    int3 maxCell = GridHash.Quantize(simplexBoundsWS.max.xyz, cellSize);
+                    maxCell = minCell + math.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 (is2D)
+                            {
+                                if (colliderGrid.TryGetCellIndex(new int4(x, y, 0, gridLevels[l]), out int cellIndex))
+                                {
+                                    var colliderCell = colliderGrid.usedCells[cellIndex];
+                                    candidates.AddRange(colliderCell.ContentsPointer, colliderCell.Length);
+                                }
+                            }
+
+                            for (int z = minCell[2]; z <= maxCell[2]; ++z)
+                            {
+                                if (colliderGrid.TryGetCellIndex(new int4(x, y, z, gridLevels[l]), out int cellIndex))
+                                {
+                                    var colliderCell = colliderGrid.usedCells[cellIndex];
+                                    candidates.AddRange(colliderCell.ContentsPointer, colliderCell.Length);
+                                }
+                            }
+                        }
+                    }
+                }
+
+                if (candidates.Length > 0)
+                {
+                    // make sure each candidate collider only shows up once in the array:
+                    NativeArray<int> uniqueCandidates = candidates.AsArray();
+                    uniqueCandidates.Sort();
+                    int uniqueCount = uniqueCandidates.Unique();
+
+                    // iterate over candidate colliders, generating contacts for each one
+                    for (int k = 0; k < uniqueCount; ++k)
+                    {
+                        int c = uniqueCandidates[k];
+                        if (c < shapes.Length)
+                        {
+                            BurstColliderShape shape = shapes[c];
+                            BurstAabb colliderBoundsWS = bounds[c];
+                            int rb = shape.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 (shape.materialIndex >= 0)
+                                colliderBoundsWS.Expand(collisionMaterials[shape.materialIndex].stickDistance);
+
+                            // check if any simplex particle and the collider should collide:
+                            bool shouldCollide = false;
+                            var colliderCategory = shape.filter & ObiUtils.FilterCategoryBitmask;
+                            var colliderMask = (shape.filter & ObiUtils.FilterMaskBitmask) >> 16;
+                            for (int j = 0; j < simplexSize; ++j)
+                            {
+                                var simplexCategory = filters[simplices[simplexStart + j]] & ObiUtils.FilterCategoryBitmask;
+                                var simplexMask =    (filters[simplices[simplexStart + j]] & ObiUtils.FilterMaskBitmask) >> 16;
+                                shouldCollide |= (simplexCategory & colliderMask) != 0 && (simplexMask & colliderCategory) != 0;
+                            }
+
+                            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);
+                            }
+                        }
+                    }
+                }
+            }
+
+            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;
+                }
+            }
+
+        }
+
+
+        public JobHandle GenerateContacts(BurstSolverImpl solver, float deltaTime, JobHandle inputDeps)
+        {
+            var world = ObiColliderWorld.GetInstance();
+
+            var generateColliderContactsJob = new GenerateContactsJob
+            {
+                colliderGrid = grid,
+                gridLevels = grid.populatedLevels.GetKeyArray(Allocator.TempJob),
+
+                positions = solver.positions,
+                orientations = solver.orientations,
+                velocities = solver.velocities,
+                invMasses = solver.invMasses,
+                radii = solver.principalRadii,
+                filters = solver.filters,
+
+                simplices = solver.simplices,
+                simplexCounts = solver.simplexCounts,
+                simplexBounds = solver.simplexBounds,
+
+                transforms = world.colliderTransforms.AsNativeArray<BurstAffineTransform>(),
+                shapes = world.colliderShapes.AsNativeArray<BurstColliderShape>(),
+                rigidbodies = world.rigidbodies.AsNativeArray<BurstRigidbody>(),
+                collisionMaterials = world.collisionMaterials.AsNativeArray<BurstCollisionMaterial>(),
+                bounds = world.colliderAabbs.AsNativeArray<BurstAabb>(),
+
+                distanceFieldHeaders = world.distanceFieldContainer.headers.AsNativeArray<DistanceFieldHeader>(),
+                distanceFieldNodes = world.distanceFieldContainer.dfNodes.AsNativeArray<BurstDFNode>(),
+
+                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);
+
+        }
+
+    }
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstColliderWorld.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstColliderWorld.cs.meta
new file mode 100644
index 000000000..8c04e4b67
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstColliderWorld.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: f1a161c4294214a4fbcb7e9e94800494
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstDFNode.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstDFNode.cs
new file mode 100644
index 000000000..f4d7a54a0
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstDFNode.cs
@@ -0,0 +1,65 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using System;
+using System.Runtime.InteropServices;
+using UnityEngine;
+using Unity.Mathematics;
+
+namespace Obi
+{
+    public struct BurstDFNode
+    {
+        public float4 distancesA;
+        public float4 distancesB;
+        public float4 center;
+        public int firstChild;
+
+        // add 12 bytes of padding to ensure correct memory alignment:
+        private int pad0;
+        private int pad1;
+        private int pad2;
+
+        public 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 distance = 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 new float4(x1 - x0, y1 - y0, y[1] - y[0], distance);
+
+        }
+
+        public float4 GetNormalizedPos(float4 position)
+        {
+            float4 corner = center - new float4(center[3]);
+            return (position - corner) / (center[3] * 2);
+        }
+
+        public 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;
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstDFNode.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstDFNode.cs.meta
new file mode 100644
index 000000000..3ab35ee48
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstDFNode.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: b5a1060edd11d4d268313295cdfe778b
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstDistanceField.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstDistanceField.cs
new file mode 100644
index 000000000..613303262
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstDistanceField.cs
@@ -0,0 +1,107 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using Unity.Collections;
+using Unity.Mathematics;
+
+namespace Obi
+{
+    public struct BurstDistanceField : BurstLocalOptimization.IDistanceFunction, IBurstCollider
+    {
+        public BurstColliderShape shape;
+        public BurstAffineTransform colliderToSolver;
+        public BurstAffineTransform solverToWorld;
+
+        public float dt;
+        public float collisionMargin;
+
+        public NativeArray<DistanceFieldHeader> distanceFieldHeaders;
+        public NativeArray<BurstDFNode> dfNodes;
+
+        public void Evaluate(float4 point, float4 radii, quaternion orientation, ref BurstLocalOptimization.SurfacePoint projectedPoint)
+        {
+            point = colliderToSolver.InverseTransformPoint(point);
+
+            if (shape.is2D != 0)
+                point[2] = 0;
+
+            var header = distanceFieldHeaders[shape.dataIndex];
+            float4 sample = DFTraverse(point, 0, in header, in dfNodes);
+            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)
+        {
+            if (shape.dataIndex < 0) return;
+
+            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;
+
+            float4 velocity = float4.zero;
+            float simplexRadius = 0;
+            for (int j = 0; j < simplexSize; ++j)
+            {
+                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 * dt + dAB <= simplexRadius + shape.contactOffset + collisionMargin)
+                contacts.Enqueue(co);
+        }
+
+        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);
+            }
+        }
+
+    }
+
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstDistanceField.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstDistanceField.cs.meta
new file mode 100644
index 000000000..3d2205825
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstDistanceField.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 965f98194011e4cd9b8c1400b59565d8
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstEdgeMesh.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstEdgeMesh.cs
new file mode 100644
index 000000000..026d6fd5a
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstEdgeMesh.cs
@@ -0,0 +1,125 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using Unity.Collections;
+using Unity.Mathematics;
+
+namespace Obi
+{
+    public struct BurstEdgeMesh : BurstLocalOptimization.IDistanceFunction, IBurstCollider
+    {
+
+        public BurstColliderShape shape;
+        public BurstAffineTransform colliderToSolver;
+        public int dataOffset;
+        public float dt;
+
+        public EdgeMeshHeader header;
+        public NativeArray<BIHNode> edgeBihNodes;
+        public NativeArray<Edge> edges;
+        public NativeArray<float2> vertices;
+
+        public void Evaluate(float4 point, float4 radii, quaternion orientation, ref BurstLocalOptimization.SurfacePoint projectedPoint)
+        {
+            point = colliderToSolver.InverseTransformPointUnscaled(point);
+
+            if (shape.is2D != 0)
+                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 nearestPoint = BurstMath.NearestPointOnEdge(v1, v2, point, out float mu);
+            float4 normal = math.normalizesafe(point - nearestPoint);
+
+            projectedPoint.normal = colliderToSolver.TransformDirection(normal);
+            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)
+        {
+            if (shape.dataIndex < 0) return;
+
+            BIHTraverse(colliderIndex, simplexIndex, simplexStart, simplexSize,
+                        positions, orientations, radii, simplices, in simplexBounds, 0, contacts, optimizationIterations, optimizationTolerance);
+        }
+
+        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)
+        {
+            var node = edgeBihNodes[header.firstNode + nodeIndex];
+
+            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);
+
+                // 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
+            {
+                // check for contact against all triangles:
+                for (dataOffset = node.start; dataOffset < node.start + node.count; ++dataOffset)
+                {
+                    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))
+                    {
+                        var co = new BurstContact() { bodyA = simplexIndex, bodyB = colliderIndex };
+                        float4 simplexBary = BurstMath.BarycenterForSimplexOfSize(simplexSize);
+
+                        var colliderPoint = BurstLocalOptimization.Optimize<BurstEdgeMesh>(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);
+                    }
+                }
+            }
+        }
+
+    }
+
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstEdgeMesh.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstEdgeMesh.cs.meta
new file mode 100644
index 000000000..bda2d5b6a
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstEdgeMesh.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 91bd73e80795e494292d0b2fbf2e5e7f
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstHeightField.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstHeightField.cs
new file mode 100644
index 000000000..31f46c182
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstHeightField.cs
@@ -0,0 +1,184 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using Unity.Collections;
+using Unity.Mathematics;
+
+namespace Obi
+{
+    public struct BurstHeightField : BurstLocalOptimization.IDistanceFunction, IBurstCollider
+    {
+
+        public BurstColliderShape shape;
+        public BurstAffineTransform colliderToSolver;
+        public BurstAffineTransform solverToWorld;
+        public float dt;
+        public float collisionMargin;
+
+        public BurstMath.CachedTri tri;
+        public float4 triNormal;
+
+        public HeightFieldHeader header;
+        public NativeArray<float> heightFieldSamples;
+
+        public void Evaluate(float4 point, float4 radii, quaternion orientation, ref BurstLocalOptimization.SurfacePoint projectedPoint)
+        {
+            point = colliderToSolver.InverseTransformPoint(point);
+
+            float4 nearestPoint = BurstMath.NearestPointOnTri(tri, point, out float4 bary);
+            float4 normal = math.normalizesafe(point - nearestPoint);
+
+            // flip the contact normal if it points below ground: (doesn't work with holes)
+            //BurstMath.OneSidedNormal(triNormal, ref normal);
+
+            projectedPoint.point = colliderToSolver.TransformPoint(nearestPoint + normal * 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)
+        {
+            if (shape.dataIndex < 0) return;
+
+            triNormal = float4.zero;
+
+            var co = new BurstContact() { bodyA = simplexIndex, bodyB = colliderIndex };
+
+            int resolutionU = (int)shape.center.x;
+            int resolutionV = (int)shape.center.y;
+
+            // calculate terrain cell size:
+            float cellWidth = shape.size.x / (resolutionU - 1);
+            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));
+
+            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 = math.clamp(su + 1, 0, resolutionU - 1);
+                            int csv1 = math.clamp(sv + 1, 0, resolutionV - 1);
+
+                            // sample heights:
+                            float h1 = heightFieldSamples[header.firstSample + sv * resolutionU + su] * shape.size.y;
+                            float h2 = heightFieldSamples[header.firstSample + sv * resolutionU + csu1] * shape.size.y;
+                            float h3 = heightFieldSamples[header.firstSample + csv1 * resolutionU + su] * shape.size.y;
+                            float h4 = heightFieldSamples[header.firstSample + csv1 * resolutionU + csu1] * shape.size.y;
+
+                            if (h1 < 0) continue;
+                            h1 = math.abs(h1);
+                            h2 = math.abs(h2);
+                            h3 = math.abs(h3);
+                            h4 = math.abs(h4);
+
+                            float min_x = su * shape.size.x / (resolutionU - 1);
+                            float max_x = csu1 * shape.size.x / (resolutionU - 1);
+                            float min_z = sv * shape.size.z / (resolutionV - 1);
+                            float max_z = csv1 * shape.size.z / (resolutionV - 1);
+
+                            float4 convexPoint;
+                            float4 simplexBary = BurstMath.BarycenterForSimplexOfSize(simplexSize);
+
+                            // ------contact against the first triangle------:
+                            float4 v1 = new float4(min_x, h3, max_z, 0);
+                            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);
+                            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);
+
+                            float4 velocity = float4.zero;
+                            float simplexRadius = 0;
+                            for (int j = 0; j < simplexSize; ++j)
+                            {
+                                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(convexPoint - colliderPoint.point, colliderPoint.normal);
+                            float vel = math.dot(velocity - rbVelocity, colliderPoint.normal);
+
+                            if (vel * dt + dAB <= simplexRadius + shape.contactOffset + collisionMargin)
+                            {
+                                co.pointB = colliderPoint.point;
+                                co.normal = colliderPoint.normal;
+                                co.pointA = simplexBary;
+                                contacts.Enqueue(co);
+                            }
+
+                            // ------contact against the second triangle------:
+                            v1 = new float4(min_x, h1, min_z, 0);
+                            v2 = new float4(max_x, h4, max_z, 0);
+                            v3 = new float4(max_x, h2, min_z, 0);
+
+                            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);
+
+                            velocity = float4.zero;
+                            simplexRadius = 0;
+                            for (int j = 0; j < simplexSize; ++j)
+                            {
+                                int particleIndex = simplices[simplexStart + j];
+                                simplexRadius += radii[particleIndex].x * simplexBary[j];
+                                velocity += velocities[particleIndex] * simplexBary[j];
+                            }
+
+                            rbVelocity = float4.zero;
+                            if (rigidbodyIndex >= 0)
+                                rbVelocity = BurstMath.GetRigidbodyVelocityAtPoint(rigidbodyIndex, colliderPoint.point, rigidbodies, solverToWorld);
+
+                            dAB = math.dot(convexPoint - colliderPoint.point, colliderPoint.normal);
+                            vel = math.dot(velocity - rbVelocity, colliderPoint.normal);
+
+                            if (vel * dt + dAB <= simplexRadius + shape.contactOffset + collisionMargin)
+                            {
+                                co.pointB = colliderPoint.point;
+                                co.normal = colliderPoint.normal;
+                                co.pointA = simplexBary;
+
+                                contacts.Enqueue(co);
+                            }
+                        }
+                    }
+                }
+            }
+            
+        }
+
+    }
+
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstHeightField.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstHeightField.cs.meta
new file mode 100644
index 000000000..a4815254a
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstHeightField.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 780062b6393e3476e947fb10fc9b4f3d
+MonoImporter:
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+  serializedVersion: 2
+  defaultReferences: []
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstLocalOptimization.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstLocalOptimization.cs
new file mode 100644
index 000000000..0b0570e08
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstLocalOptimization.cs
@@ -0,0 +1,203 @@
+#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;
+
+namespace Obi
+{ 
+    public static class BurstLocalOptimization
+    {
+
+        /**
+         * point in the surface of a signed distance field.
+         */
+        public struct SurfacePoint
+        {
+            public float4 bary;
+            public float4 point;
+            public float4 normal;
+        }
+
+        public interface IDistanceFunction
+        {
+            void Evaluate(float4 point, float4 radii, quaternion orientation, ref SurfacePoint projectedPoint);
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        private static void GetInterpolatedSimplexData(int simplexStart,
+                                            int simplexSize,
+                                            NativeArray<int> simplices,
+                                            NativeArray<float4> positions,
+                                            NativeArray<quaternion> orientations,
+                                            NativeArray<float4> radii,
+                                            float4 convexBary,
+                                            out float4 convexPoint,
+                                            out float4 convexRadii,
+                                            out quaternion convexOrientation)
+        {
+            convexPoint = float4.zero;
+            convexRadii = float4.zero;
+            convexOrientation = new 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.value += orientations[particle].value * convexBary[j];
+            }
+        }
+
+        public static SurfacePoint Optimize<T>(ref T function,
+                                               NativeArray<float4> positions,
+                                               NativeArray<quaternion> orientations,
+                                               NativeArray<float4> radii,
+                                               NativeArray<int> simplices,
+                                               int simplexStart,
+                                               int simplexSize,
+                                               ref float4 convexBary,
+                                               out float4 convexPoint,
+                                               int maxIterations = 16,
+                                               float tolerance = 0.004f) where T : struct, IDistanceFunction
+        {
+            var pointInFunction = new SurfacePoint();
+
+            // get cartesian coordinates of the initial guess:
+            GetInterpolatedSimplexData(simplexStart, simplexSize, simplices, positions, orientations, radii, convexBary, out convexPoint, out float4 convexThickness, out quaternion convexOrientation);
+
+            // for a 0-simplex (point), perform a single evaluation:
+            if (simplexSize == 1 || maxIterations < 1)
+                function.Evaluate(convexPoint, convexThickness, convexOrientation, ref 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(ref function, simplexStart, simplexSize, positions, orientations, radii, simplices, ref convexPoint, ref convexThickness, ref convexOrientation, ref convexBary, ref pointInFunction, maxIterations, tolerance);
+            
+            return pointInFunction;
+        }
+
+        // Frank-Wolfe convex optimization algorithm. Returns closest point to a simplex in a signed distance function.
+        private static void FrankWolfe<T>(ref T function,
+                                          int simplexStart,
+                                          int simplexSize,
+                                          NativeArray<float4> positions,
+                                          NativeArray<quaternion> orientations,
+                                          NativeArray<float4> radii,
+                                          NativeArray<int> simplices,
+                                          ref float4 convexPoint,
+                                          ref float4 convexThickness,
+                                          ref quaternion convexOrientation,
+                                          ref float4 convexBary,
+                                          ref SurfacePoint pointInFunction,
+                                          int maxIterations,
+                                          float tolerance) where T : struct, IDistanceFunction
+        {
+            for (int i = 0; i < maxIterations; ++i)
+            {
+                // sample target function:
+                function.Evaluate(convexPoint, convexThickness, convexOrientation, ref pointInFunction);
+
+                // find descent direction:
+                int descent = 0;
+                float gap = float.MinValue;
+                for (int j = 0; j < simplexSize; ++j)
+                {
+                    int particle = simplices[simplexStart + j];
+                    float4 candidate = positions[particle] - convexPoint;
+
+                    // here, we adjust the candidate by projecting it to the engrosed simplex's surface:
+                    candidate -= pointInFunction.normal * (radii[particle].x - convexThickness.x);
+
+                    float corr = math.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 step = 0.3f * 2.0f / (i + 2);
+                convexBary *= 1 - step;
+                convexBary[descent] += step;
+
+                // get cartesian coordinates of current solution:
+                GetInterpolatedSimplexData(simplexStart, simplexSize, simplices, positions, orientations, radii, convexBary, out convexPoint, out convexThickness, out convexOrientation);
+            }   
+        }
+
+        private static void GoldenSearch<T>(ref T function,
+                                            int simplexStart,
+                                            int simplexSize,
+                                            NativeArray<float4> positions,
+                                            NativeArray<quaternion> orientations,
+                                            NativeArray<float4> radii,
+                                            NativeArray<int> simplices,
+                                            ref float4 convexPoint,
+                                            ref float4 convexThickness,
+                                            ref quaternion convexOrientation,
+                                            ref float4 convexBary,
+                                            ref SurfacePoint pointInFunction,
+                                            int maxIterations,
+                                            float tolerance) where T : struct, IDistanceFunction
+        {
+            var pointInFunctionD = new SurfacePoint();
+            float4 convexPointD, convexThicknessD;
+            quaternion convexOrientationD;
+
+            float gr = (math.sqrt(5.0f) + 1) / 2.0f;
+            float u = 0, v = 1;
+            float c = v - (v - u) / gr;
+            float d = u + (v - u) / gr;
+
+            for (int i = 0; i < maxIterations; ++i)
+            {
+                // if the gap is below tolerance threshold, stop iterating.
+                if (math.abs(v - u) < tolerance * (math.abs(c) + math.abs(d)))
+                    break;
+
+                GetInterpolatedSimplexData(simplexStart, simplexSize, simplices, positions, orientations, radii, new float4(c, 1 - c, 0, 0), out convexPoint, out convexThickness, out convexOrientation);
+                GetInterpolatedSimplexData(simplexStart, simplexSize, simplices, positions, orientations, radii, new float4(d, 1 - d, 0, 0), out convexPointD, out convexThicknessD, out convexOrientationD);
+
+                function.Evaluate(convexPoint, convexThickness, convexOrientation, ref pointInFunction);
+                function.Evaluate(convexPointD, convexThicknessD, convexOrientationD, ref pointInFunctionD);
+
+                float4 candidateC = positions[simplices[simplexStart]] - pointInFunction.point;
+                float4 candidateD = positions[simplices[simplexStart + 1]] - pointInFunctionD.point;
+
+                candidateC -= pointInFunction.normal * (radii[simplices[simplexStart]].x - convexThickness.x);
+                candidateD -= pointInFunctionD.normal * (radii[simplices[simplexStart + 1]].x - convexThicknessD.x);
+
+                if (math.dot(-pointInFunction.normal, candidateC) < math.dot(-pointInFunctionD.normal, candidateD))
+                    v = d;
+                else
+                    u = c;
+
+                c = v - (v - u) / gr;
+                d = u + (v - u) / gr;
+            }
+
+            float mid = (v + u) * 0.5f;
+            convexBary.x = mid;
+            convexBary.y = (1 - mid);
+            GetInterpolatedSimplexData(simplexStart, simplexSize, simplices, positions, orientations, radii, convexBary, out convexPoint, out convexThickness, out convexOrientation);
+            function.Evaluate(convexPoint, convexThickness, convexOrientation, ref pointInFunction);
+        }
+
+
+    }
+
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstLocalOptimization.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstLocalOptimization.cs.meta
new file mode 100644
index 000000000..364d3fc91
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstLocalOptimization.cs.meta
@@ -0,0 +1,11 @@
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+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstSimplex.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstSimplex.cs
new file mode 100644
index 000000000..35f990289
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstSimplex.cs
@@ -0,0 +1,64 @@
+#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;
+
+namespace Obi
+{
+    public struct BurstSimplex : BurstLocalOptimization.IDistanceFunction
+    {
+        public NativeArray<float4> positions;
+        public NativeArray<float4> radii;
+        public NativeArray<int> simplices;
+
+        public int simplexStart;
+        public int simplexSize;
+
+        private BurstMath.CachedTri tri;
+
+        public void CacheData()
+        {
+            if (simplexSize == 3)
+            {
+                tri.Cache(positions[simplices[simplexStart]],
+                          positions[simplices[simplexStart + 1]],
+                          positions[simplices[simplexStart + 2]]);
+            }
+        }
+
+        public void Evaluate(float4 point, float4 radii, quaternion orientation, ref BurstLocalOptimization.SurfacePoint projectedPoint)
+        {
+            switch (simplexSize)
+            {
+                case 1:
+                    {
+                        float4 p1 = positions[simplices[simplexStart]];
+                        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]];
+                        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];
+            
+                    }break;
+                case 3:
+                        projectedPoint.point = BurstMath.NearestPointOnTri(tri, point, out projectedPoint.bary);
+                    break;
+            }
+
+            projectedPoint.normal = math.normalizesafe(point - projectedPoint.point);
+        }
+
+    }
+
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstSimplex.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstSimplex.cs.meta
new file mode 100644
index 000000000..31e49b57a
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstSimplex.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: d84f433832a8c4a90ba92ac471d18e44
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstSphere.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstSphere.cs
new file mode 100644
index 000000000..327262365
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstSphere.cs
@@ -0,0 +1,64 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using Unity.Collections;
+using Unity.Mathematics;
+
+namespace Obi
+{
+    public struct BurstSphere : BurstLocalOptimization.IDistanceFunction, IBurstCollider
+    {
+        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)
+                point[2] = 0;
+
+            float radius = shape.size.x * math.cmax(colliderToSolver.scale.xyz);
+            float distanceToCenter = math.length(point);
+
+            float4 normal = point / (distanceToCenter + BurstMath.epsilon);
+
+            projectedPoint.point = colliderToSolver.TransformPointUnscaled(center + normal * (radius + 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)
+        {
+            var co = new BurstContact() { bodyA = simplexIndex, bodyB = colliderIndex };
+            float4 simplexBary = BurstMath.BarycenterForSimplexOfSize(simplexSize);
+
+            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);
+        }
+    }
+
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstSphere.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstSphere.cs.meta
new file mode 100644
index 000000000..5417774c5
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstSphere.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 38081dcc3e28a4a3dba1e8e5d042a262
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
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+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstTriangleMesh.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstTriangleMesh.cs
new file mode 100644
index 000000000..6edf852f4
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstTriangleMesh.cs
@@ -0,0 +1,149 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using Unity.Collections;
+using Unity.Mathematics;
+
+namespace Obi
+{
+    public struct BurstTriangleMesh : BurstLocalOptimization.IDistanceFunction, IBurstCollider
+    {
+        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 void Evaluate(float4 point, float4 radii, quaternion orientation, ref BurstLocalOptimization.SurfacePoint projectedPoint)
+        {
+            point = colliderToSolver.InverseTransformPointUnscaled(point);
+
+            if (shape.is2D != 0)
+                point[2] = 0;
+
+            float4 nearestPoint = BurstMath.NearestPointOnTri(tri, point, out float4 bary);
+            float4 normal = math.normalizesafe(point - nearestPoint);
+
+            projectedPoint.point = colliderToSolver.TransformPointUnscaled(nearestPoint + normal * 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)
+        {
+
+            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
+            {
+                // 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 = 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))
+                    {
+                        float4 simplexBary = BurstMath.BarycenterForSimplexOfSize(simplexSize);
+                        tri.Cache(v1 * colliderToSolver.scale, v2 * colliderToSolver.scale, v3 * colliderToSolver.scale);
+
+                        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)
+                        {
+                            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 * dt + dAB <= simplexRadius + shape.contactOffset + collisionMargin)
+                        {
+                            contacts.Enqueue(new BurstContact()
+                            {
+                                bodyA = simplexIndex,
+                                bodyB = colliderIndex,
+                                pointA = simplexBary,
+                                pointB = colliderPoint.point,
+                                normal = colliderPoint.normal,
+                            });
+                        }
+                    }
+                }
+            }
+        }
+
+    }
+
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstTriangleMesh.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstTriangleMesh.cs.meta
new file mode 100644
index 000000000..df2751d27
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/BurstTriangleMesh.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 1a65b8b437c2548c0b04b7ddb58a3970
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/IBurstCollider.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/IBurstCollider.cs
new file mode 100644
index 000000000..dd6e73bc2
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/IBurstCollider.cs
@@ -0,0 +1,29 @@
+#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/Collisions/IBurstCollider.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/IBurstCollider.cs.meta
new file mode 100644
index 000000000..63ab565a5
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Collisions/IBurstCollider.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints.meta
new file mode 100644
index 000000000..eadb4408b
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints.meta
@@ -0,0 +1,8 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Aerodynamics.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Aerodynamics.meta
new file mode 100644
index 000000000..fc5587ede
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Aerodynamics.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: b4c2af25bbe8a4c44941ea5486c18f71
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Aerodynamics/BurstAerodynamicConstraints.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Aerodynamics/BurstAerodynamicConstraints.cs
new file mode 100644
index 000000000..9f54797cd
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Aerodynamics/BurstAerodynamicConstraints.cs
@@ -0,0 +1,26 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using System;
+
+namespace Obi
+{
+    public class BurstAerodynamicConstraints : BurstConstraintsImpl<BurstAerodynamicConstraintsBatch>
+    {
+        public BurstAerodynamicConstraints(BurstSolverImpl solver) : base(solver, Oni.ConstraintType.Aerodynamics)
+        {
+        }
+
+        public override IConstraintsBatchImpl CreateConstraintsBatch()
+        {
+            var dataBatch = new BurstAerodynamicConstraintsBatch(this);
+            batches.Add(dataBatch);
+            return dataBatch;
+        }
+
+        public override void RemoveBatch(IConstraintsBatchImpl batch)
+        {
+            batches.Remove(batch as BurstAerodynamicConstraintsBatch);
+            batch.Destroy();
+        }
+    }
+}
+#endif
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Aerodynamics/BurstAerodynamicConstraints.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Aerodynamics/BurstAerodynamicConstraints.cs.meta
new file mode 100644
index 000000000..d1acf22e2
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Aerodynamics/BurstAerodynamicConstraints.cs.meta
@@ -0,0 +1,11 @@
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+guid: 64e54848bb85248c8b0c31991ef094e0
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Aerodynamics/BurstAerodynamicConstraintsBatch.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Aerodynamics/BurstAerodynamicConstraintsBatch.cs
new file mode 100644
index 000000000..3fc159964
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Aerodynamics/BurstAerodynamicConstraintsBatch.cs
@@ -0,0 +1,112 @@
+#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
+{
+    public class BurstAerodynamicConstraintsBatch : BurstConstraintsBatchImpl, IAerodynamicConstraintsBatchImpl
+    {
+        private NativeArray<float> aerodynamicCoeffs;
+
+        public BurstAerodynamicConstraintsBatch(BurstAerodynamicConstraints constraints)
+        {
+            m_Constraints = constraints;
+            m_ConstraintType = Oni.ConstraintType.Aerodynamics;
+        }
+
+        public void SetAerodynamicConstraints(ObiNativeIntList particleIndices, ObiNativeFloatList aerodynamicCoeffs, int count)
+        {
+            this.particleIndices = particleIndices.AsNativeArray<int>();
+            this.aerodynamicCoeffs = aerodynamicCoeffs.AsNativeArray<float>();
+            m_ConstraintCount = count;
+        }
+
+        public override JobHandle Initialize(JobHandle inputDeps, float substepTime)
+        {
+            return inputDeps;
+        }
+
+        public override JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int substeps)
+        {
+            var projectConstraints = new AerodynamicConstraintsBatchJob()
+            {
+                particleIndices = particleIndices,
+                aerodynamicCoeffs = aerodynamicCoeffs,
+                positions = solverImplementation.positions,
+                velocities = solverImplementation.velocities,
+                normals = solverImplementation.normals,
+                wind = solverImplementation.wind,
+                invMasses = solverImplementation.invMasses,
+                deltaTime = substepTime
+            };
+
+            return projectConstraints.Schedule(m_ConstraintCount, 32, inputDeps);
+        }
+
+        public override JobHandle Apply(JobHandle inputDeps, float substepTime)
+        {
+            return inputDeps;
+        }
+
+        [BurstCompile]
+        public struct AerodynamicConstraintsBatchJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<int> particleIndices;
+            [ReadOnly] [NativeDisableParallelForRestriction] public NativeArray<float> aerodynamicCoeffs;
+
+            [ReadOnly] public NativeArray<float4> positions; 
+            [ReadOnly] public NativeArray<float4> normals;
+            [ReadOnly] public NativeArray<float4> wind;
+            [ReadOnly] public NativeArray<float> invMasses;
+
+            [NativeDisableContainerSafetyRestriction]
+            public NativeArray<float4> velocities;
+
+            [ReadOnly] public float deltaTime;
+
+            public void Execute(int i)
+            {
+                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 = math.lengthsq(relVelocity);
+
+                    if (rvSqrMag < BurstMath.epsilon)
+                        return;
+
+                    float4 rvNorm = relVelocity / math.sqrt(rvSqrMag);
+
+                    // calculate surface normal (always facing wind)
+                    float4 surfNormal = normals[p] * math.sign(math.dot(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 = math.dot(surfNormal,rvNorm);
+
+                    float3 liftDirection = math.normalizesafe(math.cross(math.cross(surfNormal.xyz, rvNorm.xyz), rvNorm.xyz));
+
+                    //drag:
+                    velocities[p] += (-dragCoeff * rvNorm +
+
+                                      // lift:
+                                      liftCoeff * new float4(liftDirection.xyz,0)) *
+
+                                      // scale
+                                      attackAngle * math.min(aerodynamicFactor * invMasses[p] * deltaTime, 1000);
+                }
+            }
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Aerodynamics/BurstAerodynamicConstraintsBatch.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Aerodynamics/BurstAerodynamicConstraintsBatch.cs.meta
new file mode 100644
index 000000000..727a13f49
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Aerodynamics/BurstAerodynamicConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Bend.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Bend.meta
new file mode 100644
index 000000000..844ecb4de
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Bend.meta
@@ -0,0 +1,8 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Bend/BurstBendConstraints.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Bend/BurstBendConstraints.cs
new file mode 100644
index 000000000..38ba785ca
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Bend/BurstBendConstraints.cs
@@ -0,0 +1,26 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using System;
+
+namespace Obi
+{
+    public class BurstBendConstraints : BurstConstraintsImpl<BurstBendConstraintsBatch>
+    {
+        public BurstBendConstraints(BurstSolverImpl solver) : base(solver, Oni.ConstraintType.Bending)
+        {
+        }
+
+        public override IConstraintsBatchImpl CreateConstraintsBatch()
+        {
+            var dataBatch = new BurstBendConstraintsBatch(this);
+            batches.Add(dataBatch);
+            return dataBatch;
+        }
+
+        public override void RemoveBatch(IConstraintsBatchImpl batch)
+        {
+            batches.Remove(batch as BurstBendConstraintsBatch);
+            batch.Destroy();
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Bend/BurstBendConstraints.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Bend/BurstBendConstraints.cs.meta
new file mode 100644
index 000000000..621fd0643
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Bend/BurstBendConstraints.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 6c5e3cbf9187d4d39a1bc1a2e2386b00
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
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+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Bend/BurstBendConstraintsBatch.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Bend/BurstBendConstraintsBatch.cs
new file mode 100644
index 000000000..b163b493e
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Bend/BurstBendConstraintsBatch.cs
@@ -0,0 +1,169 @@
+#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
+{
+    public class BurstBendConstraintsBatch : BurstConstraintsBatchImpl, IBendConstraintsBatchImpl
+    {
+        private NativeArray<float> restBends;
+        private NativeArray<float2> stiffnesses;
+        private NativeArray<float2> plasticity;
+
+        BendConstraintsBatchJob projectConstraints;
+        ApplyBendConstraintsBatchJob applyConstraints;
+
+        public BurstBendConstraintsBatch(BurstBendConstraints 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.AsNativeArray<int>();
+            this.restBends = restBends.AsNativeArray<float>();
+            this.stiffnesses = bendingStiffnesses.AsNativeArray<float2>();
+            this.plasticity = plasticity.AsNativeArray<float2>();
+            this.lambdas = lambdas.AsNativeArray<float>();
+            m_ConstraintCount = count;
+
+            projectConstraints.particleIndices = this.particleIndices;
+            projectConstraints.restBends = this.restBends;
+            projectConstraints.stiffnesses = this.stiffnesses;
+            projectConstraints.plasticity = this.plasticity;
+            projectConstraints.lambdas = this.lambdas;
+
+            applyConstraints.particleIndices = this.particleIndices;
+        }
+
+        public override JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int substeps)
+        {
+            projectConstraints.positions = solverImplementation.positions;
+            projectConstraints.invMasses = solverImplementation.invMasses;
+            projectConstraints.deltas = solverImplementation.positionDeltas;
+            projectConstraints.counts = solverImplementation.positionConstraintCounts;
+            projectConstraints.deltaTime = substepTime;
+
+            return projectConstraints.Schedule(m_ConstraintCount, 32, inputDeps);
+        }
+
+        public override JobHandle Apply(JobHandle inputDeps, float substepTime)
+        {
+            var parameters = solverAbstraction.GetConstraintParameters(m_ConstraintType);
+
+            applyConstraints.positions = solverImplementation.positions;
+            applyConstraints.deltas = solverImplementation.positionDeltas;
+            applyConstraints.counts = solverImplementation.positionConstraintCounts;
+            applyConstraints.sorFactor = parameters.SORFactor;
+
+            return applyConstraints.Schedule(m_ConstraintCount, 64, inputDeps);
+        }
+
+        [BurstCompile]
+        public struct BendConstraintsBatchJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<int> particleIndices;
+            [ReadOnly] public NativeArray<float2> stiffnesses;
+            [ReadOnly] public NativeArray<float2> plasticity; //plastic yield, creep
+            public NativeArray<float> restBends;
+            public NativeArray<float> lambdas;
+
+            [ReadOnly] public NativeArray<float4> positions;
+            [ReadOnly] public NativeArray<float> invMasses;
+
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4> deltas;
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<int> counts;
+
+            [ReadOnly] public float deltaTime;
+
+            public void Execute(int i)
+            {
+                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;
+
+                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) +
+                             math.min(0, constraint + stiffnesses[i].x);
+
+                // plasticity:
+                if (math.abs(constraint) > plasticity[i].x)  
+                    restBends[i] += constraint * plasticity[i].y * deltaTime;
+
+                // 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 + BurstMath.epsilon);
+                float4 correction = dlambda * bendVector / (bend + BurstMath.epsilon);
+
+                lambdas[i] += dlambda;
+
+                deltas[p1] -= correction * 2 * w1;
+                deltas[p2] -= correction * 2 * w2;
+                deltas[p3] += correction * 4 * w3;
+
+                counts[p1]++;
+                counts[p2]++;
+                counts[p3]++;
+            }
+        }
+
+        [BurstCompile]
+        public struct ApplyBendConstraintsBatchJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<int> particleIndices;
+            [ReadOnly] public float sorFactor;
+
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> positions;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> deltas;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<int> counts;
+
+            public void Execute(int i)
+            {
+                int p1 = particleIndices[i * 3];
+                int p2 = particleIndices[i * 3 + 1];
+                int p3 = particleIndices[i * 3 + 2];
+
+                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;
+                }
+
+                if (counts[p3] > 0)
+                {
+                    positions[p3] += deltas[p3] * sorFactor / counts[p3];
+                    deltas[p3] = float4.zero;
+                    counts[p3] = 0;
+                }
+            }
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Bend/BurstBendConstraintsBatch.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Bend/BurstBendConstraintsBatch.cs.meta
new file mode 100644
index 000000000..174589037
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Bend/BurstBendConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/BendTwist.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/BendTwist.meta
new file mode 100644
index 000000000..ef85fae76
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/BendTwist.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: e62fc9e22b02847ba86a32d3d0f375da
+folderAsset: yes
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/BendTwist/BurstBendTwistConstraints.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/BendTwist/BurstBendTwistConstraints.cs
new file mode 100644
index 000000000..6f913d959
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/BendTwist/BurstBendTwistConstraints.cs
@@ -0,0 +1,26 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using System;
+
+namespace Obi
+{
+    public class BurstBendTwistConstraints : BurstConstraintsImpl<BurstBendTwistConstraintsBatch>
+    {
+        public BurstBendTwistConstraints(BurstSolverImpl solver) : base(solver, Oni.ConstraintType.BendTwist)
+        {
+        }
+
+        public override IConstraintsBatchImpl CreateConstraintsBatch()
+        {
+            var dataBatch = new BurstBendTwistConstraintsBatch(this);
+            batches.Add(dataBatch);
+            return dataBatch;
+        }
+
+        public override void RemoveBatch(IConstraintsBatchImpl batch)
+        {
+            batches.Remove(batch as BurstBendTwistConstraintsBatch);
+            batch.Destroy();
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/BendTwist/BurstBendTwistConstraints.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/BendTwist/BurstBendTwistConstraints.cs.meta
new file mode 100644
index 000000000..e87fcafa2
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/BendTwist/BurstBendTwistConstraints.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/BendTwist/BurstBendTwistConstraintsBatch.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/BendTwist/BurstBendTwistConstraintsBatch.cs
new file mode 100644
index 000000000..c34acf76c
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/BendTwist/BurstBendTwistConstraintsBatch.cs
@@ -0,0 +1,182 @@
+#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
+{
+    public class BurstBendTwistConstraintsBatch : BurstConstraintsBatchImpl, IBendTwistConstraintsBatchImpl
+    {
+        private NativeArray<int> orientationIndices;
+        private NativeArray<quaternion> restDarboux;
+        private NativeArray<float3> stiffnesses;
+        private NativeArray<float2> plasticity;
+
+        public BurstBendTwistConstraintsBatch(BurstBendTwistConstraints 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.AsNativeArray<int>();
+            this.restDarboux = restDarboux.AsNativeArray<quaternion>();
+            this.stiffnesses = stiffnesses.AsNativeArray<float3>();
+            this.plasticity = plasticity.AsNativeArray<float2>();
+            this.lambdas = lambdas.AsNativeArray<float>();
+            m_ConstraintCount = count;
+        }
+
+        public override JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int substeps)
+        {
+            var projectConstraints = new BendTwistConstraintsBatchJob()
+            {
+                orientationIndices = orientationIndices,
+                restDarboux = restDarboux,
+                stiffnesses = stiffnesses,
+                plasticity = plasticity,
+                lambdas = lambdas.Reinterpret<float, float3>(),
+
+                orientations = solverImplementation.orientations,
+                invRotationalMasses = solverImplementation.invRotationalMasses,
+
+                orientationDeltas = solverImplementation.orientationDeltas,
+                orientationCounts = solverImplementation.orientationConstraintCounts ,
+
+                deltaTime = substepTime
+            };
+
+            return projectConstraints.Schedule(m_ConstraintCount, 32, inputDeps);
+        }
+
+        public override JobHandle Apply(JobHandle inputDeps, float substepTime)
+        {
+            var parameters = solverAbstraction.GetConstraintParameters(m_ConstraintType);
+
+            var applyConstraints = new ApplyBendTwistConstraintsBatchJob()
+            {
+                orientationIndices = orientationIndices,
+
+                orientations = solverImplementation.orientations,
+                orientationDeltas = solverImplementation.orientationDeltas,
+                orientationCounts = solverImplementation.orientationConstraintCounts,
+
+                sorFactor = parameters.SORFactor
+            };
+
+            return applyConstraints.Schedule(m_ConstraintCount, 64, inputDeps);
+        }
+
+        [BurstCompile]
+        public struct BendTwistConstraintsBatchJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<int> orientationIndices;
+            [ReadOnly] public NativeArray<float3> stiffnesses;
+            [ReadOnly] public NativeArray<float2> plasticity;
+            public NativeArray<quaternion> restDarboux;
+            public NativeArray<float3> lambdas;
+
+            [ReadOnly] public NativeArray<quaternion> orientations;
+            [ReadOnly] public NativeArray<float> invRotationalMasses;
+
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<quaternion> orientationDeltas;
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<int> orientationCounts;
+
+            [ReadOnly] public float deltaTime;
+
+            public void Execute(int i)
+            {
+                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 = math.mul(math.conjugate(orientations[q1]), orientations[q2]);
+
+                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)
+                {
+                    rest.value += omega.value * plasticity[i].y * deltaTime;
+                    restDarboux[i] = rest;
+                }
+
+                float3 dlambda = (omega.value.xyz - compliances * lambdas[i]) / (compliances + new float3(w1 + w2 + BurstMath.epsilon));
+
+                //discrete Darboux vector does not have vanishing scalar part
+                quaternion dlambdaQ = new quaternion(dlambda[0], dlambda[1], dlambda[2],0);
+
+                quaternion d1 = orientationDeltas[q1];
+                quaternion d2 = orientationDeltas[q2];
+
+                d1.value += math.mul(orientations[q2], dlambdaQ).value * w1;
+                d2.value -= math.mul(orientations[q1], dlambdaQ).value * w2;
+
+                orientationDeltas[q1] = d1;
+                orientationDeltas[q2] = d2;
+
+                orientationCounts[q1]++;
+                orientationCounts[q2]++;
+
+                lambdas[i] += dlambda;
+
+            }
+        }
+
+        [BurstCompile]
+        public struct ApplyBendTwistConstraintsBatchJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<int> orientationIndices;
+            [ReadOnly] public float sorFactor;
+
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<quaternion> orientations;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<quaternion> orientationDeltas;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<int> orientationCounts;
+
+            public void Execute(int i)
+            {
+                int p1 = orientationIndices[i * 2];
+                int p2 = orientationIndices[i * 2 + 1];
+
+                if (orientationCounts[p1] > 0)
+                {
+                    quaternion q = orientations[p1];
+                    q.value += orientationDeltas[p1].value * sorFactor / orientationCounts[p1];
+                    orientations[p1] = math.normalize(q);
+
+                    orientationDeltas[p1] = new quaternion(0, 0, 0, 0);
+                    orientationCounts[p1] = 0;
+                }
+
+                if (orientationCounts[p2] > 0)
+                {
+                    quaternion q = orientations[p2];
+                    q.value += orientationDeltas[p2].value * sorFactor / orientationCounts[p2];
+                    orientations[p2] = math.normalize(q);
+
+                    orientationDeltas[p2] = new quaternion(0, 0, 0, 0);
+                    orientationCounts[p2] = 0;
+                }
+            }
+
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/BendTwist/BurstBendTwistConstraintsBatch.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/BendTwist/BurstBendTwistConstraintsBatch.cs.meta
new file mode 100644
index 000000000..3271c978d
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/BendTwist/BurstBendTwistConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: c6235d2e315a94287ab8a219496d7961
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/BurstConstraintsBatchImpl.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/BurstConstraintsBatchImpl.cs
new file mode 100644
index 000000000..5594e4786
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/BurstConstraintsBatchImpl.cs
@@ -0,0 +1,109 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using UnityEngine;
+using Unity.Burst;
+using Unity.Jobs;
+using Unity.Collections;
+using Unity.Collections.LowLevel.Unsafe;
+using Unity.Mathematics;
+using System.Collections;
+
+namespace Obi
+{
+    public abstract class BurstConstraintsBatchImpl : IConstraintsBatchImpl
+    {
+        protected IBurstConstraintsImpl 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 ((BurstSolverImpl)m_Constraints.solver).abstraction; }
+        }
+
+        public BurstSolverImpl solverImplementation
+        {
+            get { return (BurstSolverImpl)m_Constraints.solver; }
+        }
+
+        protected NativeArray<int> particleIndices;
+        protected NativeArray<float> lambdas;
+
+        public virtual JobHandle Initialize(JobHandle inputDeps, float substepTime)
+        {
+            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>());
+                }
+            }
+            return inputDeps;
+        }
+
+        // implemented by concrete constraint subclasses.
+        public abstract JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int substeps);
+        public abstract JobHandle Apply(JobHandle inputDeps, float substepTime);
+
+        public virtual void Destroy()
+        {
+            // clean resources allocated by the batch, no need for a default implementation.
+        }
+
+        public void SetConstraintCount(int constraintCount)
+        {
+            m_ConstraintCount = constraintCount;
+        }
+        public int GetConstraintCount()
+        {
+            return m_ConstraintCount;
+        }
+
+        public static void ApplyPositionDelta(int particleIndex, float sorFactor, ref NativeArray<float4> positions, ref NativeArray<float4> deltas, ref NativeArray<int> counts)
+        {
+            if (counts[particleIndex] > 0)
+            {
+                positions[particleIndex] += deltas[particleIndex] * sorFactor / counts[particleIndex];
+                deltas[particleIndex] = float4.zero;
+                counts[particleIndex] = 0;
+            }
+        }
+
+        public static void ApplyOrientationDelta(int particleIndex, float sorFactor, ref NativeArray<quaternion> orientations, ref NativeArray<quaternion> deltas, ref NativeArray<int> counts)
+        {
+            if (counts[particleIndex] > 0)
+            {
+                quaternion q = orientations[particleIndex];
+                q.value += deltas[particleIndex].value * sorFactor / counts[particleIndex];
+                orientations[particleIndex] = math.normalize(q);
+
+                deltas[particleIndex] = new quaternion(0, 0, 0, 0);
+                counts[particleIndex] = 0;
+            }
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/BurstConstraintsBatchImpl.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/BurstConstraintsBatchImpl.cs.meta
new file mode 100644
index 000000000..165c67449
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/BurstConstraintsBatchImpl.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/BurstConstraintsImpl.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/BurstConstraintsImpl.cs
new file mode 100644
index 000000000..2b502be8b
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/BurstConstraintsImpl.cs
@@ -0,0 +1,145 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using UnityEngine;
+using Unity.Jobs;
+using Unity.Collections;
+using System.Collections;
+using System.Collections.Generic;
+
+namespace Obi
+{
+    public interface IBurstConstraintsImpl : IConstraints
+    {
+        JobHandle Initialize(JobHandle inputDeps, float substepTime);
+        JobHandle Project(JobHandle inputDeps, float stepTime, float substepTime, int substeps);
+        void Dispose();
+
+        IConstraintsBatchImpl CreateConstraintsBatch();
+        void RemoveBatch(IConstraintsBatchImpl batch);
+    }
+
+    public abstract class BurstConstraintsImpl<T> : IBurstConstraintsImpl where T : BurstConstraintsBatchImpl
+    {
+        protected BurstSolverImpl 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 BurstConstraintsImpl(BurstSolverImpl 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 JobHandle Initialize(JobHandle inputDeps, float substepTime)
+        {
+            // 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;
+
+                JobHandle result = JobHandle.CombineDependencies(deps);
+                deps.Dispose();
+
+                return result;
+            }
+
+            return inputDeps;
+        }
+
+        public JobHandle Project(JobHandle inputDeps, float stepTime, float substepTime, int substeps)
+        {
+            UnityEngine.Profiling.Profiler.BeginSample("Project");
+
+            var parameters = m_Solver.abstraction.GetConstraintParameters(m_ConstraintType);
+
+            switch(parameters.evaluationOrder)
+            {
+                case Oni.ConstraintParameters.EvaluationOrder.Sequential:
+                    inputDeps = EvaluateSequential(inputDeps, stepTime, substepTime, substeps);
+                break;
+
+                case Oni.ConstraintParameters.EvaluationOrder.Parallel:
+                    inputDeps = EvaluateParallel(inputDeps, stepTime, substepTime, substeps);
+                break;
+            }
+
+            UnityEngine.Profiling.Profiler.EndSample();
+            
+            return inputDeps;
+        }
+
+        protected virtual JobHandle EvaluateSequential(JobHandle inputDeps, float stepTime, float substepTime,int substeps)
+        {
+            // 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].Apply(inputDeps, substepTime);
+                    m_Solver.ScheduleBatchedJobsIfNeeded();
+                }
+            }
+
+            return inputDeps;
+        }
+
+        protected virtual JobHandle EvaluateParallel(JobHandle inputDeps, float stepTime, float substepTime, int substeps)
+        {
+            // evaluate all batches:
+            for (int i = 0; i < batches.Count; ++i)
+                if (batches[i].enabled)
+                {
+                    inputDeps = batches[i].Evaluate(inputDeps, stepTime, substepTime, substeps);
+                    m_Solver.ScheduleBatchedJobsIfNeeded();
+                }
+
+            // then apply them:
+            for (int i = 0; i < batches.Count; ++i)
+                if (batches[i].enabled)
+                {
+                    inputDeps = batches[i].Apply(inputDeps, substepTime);
+                    m_Solver.ScheduleBatchedJobsIfNeeded();
+                }
+
+            return inputDeps;
+        }
+
+    }
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/BurstConstraintsImpl.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/BurstConstraintsImpl.cs.meta
new file mode 100644
index 000000000..3c1af147a
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/BurstConstraintsImpl.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Chain.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Chain.meta
new file mode 100644
index 000000000..b92adc0c8
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Chain.meta
@@ -0,0 +1,8 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Chain/BurstChainConstraints.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Chain/BurstChainConstraints.cs
new file mode 100644
index 000000000..9a4b5c58d
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Chain/BurstChainConstraints.cs
@@ -0,0 +1,26 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using System;
+
+namespace Obi
+{
+    public class BurstChainConstraints : BurstConstraintsImpl<BurstChainConstraintsBatch>
+    {
+        public BurstChainConstraints(BurstSolverImpl solver) : base(solver, Oni.ConstraintType.Chain)
+        {
+        }
+
+        public override IConstraintsBatchImpl CreateConstraintsBatch()
+        {
+            var dataBatch = new BurstChainConstraintsBatch(this);
+            batches.Add(dataBatch);
+            return dataBatch;
+        }
+
+        public override void RemoveBatch(IConstraintsBatchImpl batch)
+        {
+            batches.Remove(batch as BurstChainConstraintsBatch);
+            batch.Destroy();
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Chain/BurstChainConstraints.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Chain/BurstChainConstraints.cs.meta
new file mode 100644
index 000000000..31b28ddea
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Chain/BurstChainConstraints.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: ea608f10fe5d24cb392ca8dcd960a920
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Chain/BurstChainConstraintsBatch.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Chain/BurstChainConstraintsBatch.cs
new file mode 100644
index 000000000..080e3a65b
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Chain/BurstChainConstraintsBatch.cs
@@ -0,0 +1,217 @@
+#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
+{
+    public class BurstChainConstraintsBatch : BurstConstraintsBatchImpl, IChainConstraintsBatchImpl
+    {
+        private NativeArray<int> firstIndex;
+        private NativeArray<int> numIndices;
+        private NativeArray<float2> restLengths;
+
+        public BurstChainConstraintsBatch(BurstChainConstraints constraints)
+        {
+            m_Constraints = constraints;
+            m_ConstraintType = Oni.ConstraintType.Chain;
+        }
+
+        public void SetChainConstraints(ObiNativeIntList particleIndices, ObiNativeVector2List restLengths, ObiNativeIntList firstIndex, ObiNativeIntList numIndices, int count)
+        {
+            this.particleIndices = particleIndices.AsNativeArray<int>();
+            this.firstIndex = firstIndex.AsNativeArray<int>();
+            this.numIndices = numIndices.AsNativeArray<int>();
+            this.restLengths = restLengths.AsNativeArray<float2>();
+            m_ConstraintCount = count;
+        }
+
+        public override JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int substeps)
+        {
+
+            var projectConstraints = new ChainConstraintsBatchJob()
+            {
+                particleIndices = particleIndices,
+                firstIndex = firstIndex,
+                numIndices = numIndices,
+                restLengths = restLengths,
+
+                positions = solverImplementation.positions,
+                invMasses = solverImplementation.invMasses,
+
+                deltas = solverImplementation.positionDeltas,
+                counts = solverImplementation.positionConstraintCounts
+            };
+
+            return projectConstraints.Schedule(m_ConstraintCount, 4, inputDeps);
+        }
+
+        public override JobHandle Apply(JobHandle inputDeps, float substepTime)
+        {
+            var parameters = solverAbstraction.GetConstraintParameters(m_ConstraintType);
+
+            var applyConstraints = new ApplyChainConstraintsBatchJob()
+            {
+                particleIndices = particleIndices,
+                firstIndex = firstIndex,
+                numIndices = numIndices,
+
+                positions = solverImplementation.positions,
+                deltas = solverImplementation.positionDeltas,
+                counts = solverImplementation.positionConstraintCounts,
+
+                sorFactor = parameters.SORFactor
+            };
+
+            return applyConstraints.Schedule(m_ConstraintCount, 8, inputDeps);
+        }
+
+        [BurstCompile]
+        public struct ChainConstraintsBatchJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<int> particleIndices;
+            [ReadOnly] public NativeArray<int> firstIndex;
+            [ReadOnly] public NativeArray<int> numIndices;
+            [ReadOnly] public NativeArray<float2> restLengths;
+
+            [ReadOnly] public NativeArray<float4> positions;
+            [ReadOnly] public NativeArray<float> invMasses;
+
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4> deltas;
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<int> counts;
+
+            public void Execute(int c)
+            {
+                int numEdges = numIndices[c] - 1;
+                int first = firstIndex[c];
+                float minLength = restLengths[c].y;
+                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);
+
+                for (int 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 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);
+
+                for (int i = 0; i < numEdges; ++i)
+                {
+                    int edge = first + i;
+
+                    float w_i_ = invMasses[particleIndices[edge]];
+                    float w__i = invMasses[particleIndices[edge+1]];
+
+                    float4 ni__ = (i > 0) ? ni[i - 1] : float4.zero;
+                    float4 n_i_ = ni[i];
+                    float4 n__i = (i < numEdges - 1) ? ni[i + 1] : float4.zero;
+
+                    diagonals[i] = new float3(
+                                    -w_i_ * math.dot(n_i_, ni__), // ai
+                                    w_i_ + w__i,                  // bi
+                                    -w__i * math.dot(n_i_, n__i));// ci
+                }
+
+                NativeArray<float2> sweep = new NativeArray<float2>(numEdges, Allocator.Temp);
+
+                // solve step #1, forward sweep:
+                for (int i = 0; i < numEdges; ++i)
+                {
+                    int edge = first + i;
+
+                    float cip_ = (i > 0) ? sweep[i - 1].x : 0;
+                    float dip_ = (i > 0) ? sweep[i - 1].y : 0;
+                    float den = diagonals[i].y - cip_ * diagonals[i].x;
+
+                    if (den != 0)
+                    {
+                        sweep[i] = new float2((diagonals[i].z / den),
+                                              (di[i] - dip_ * diagonals[i].x) / den);
+                    }
+                    else
+                        sweep[i] = float2.zero;
+                }
+
+                // solve step #2, backward sweep:
+                NativeArray<float> xi = new NativeArray<float>(numEdges, Allocator.Temp);
+                for (int i = numEdges - 1; i >= 0; --i)
+                {
+                    int edge = first + i;
+
+                    float xi_ = (i < numEdges - 1) ? xi[i + 1] : 0;
+                    xi[i] = sweep[i].y - sweep[i].x * xi_;
+                }
+
+                // calculate deltas:
+                for (int i = 0; i < numIndices[c]; ++i)
+                {
+                    int index = first + i;
+
+                    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;
+
+                    int p = particleIndices[index];
+                    deltas[p] -= invMasses[p] * (-ni__ * xi_ + n_i_ * nxi);
+                    counts[p]++;
+                }
+            }
+        }
+
+        [BurstCompile]
+        public struct ApplyChainConstraintsBatchJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<int> particleIndices;
+            [ReadOnly] public NativeArray<int> firstIndex;
+            [ReadOnly] public NativeArray<int> numIndices;
+            [ReadOnly] public float sorFactor;
+
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> positions;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> deltas;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<int> counts;
+
+            public void Execute(int i)
+            {
+                int first = firstIndex[i];
+                int last = first + numIndices[i];
+
+                for (int k = first; k < last; ++k)
+                {
+                    int p = particleIndices[k];
+                    if (counts[p] > 0)
+                    {
+                        positions[p] += deltas[p] * sorFactor / counts[p];
+                        deltas[p] = float4.zero;
+                        counts[p] = 0;
+                    }
+                }
+            }
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Chain/BurstChainConstraintsBatch.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Chain/BurstChainConstraintsBatch.cs.meta
new file mode 100644
index 000000000..fdbcc4aac
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Chain/BurstChainConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ColliderCollision.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ColliderCollision.meta
new file mode 100644
index 000000000..a28d030e1
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ColliderCollision.meta
@@ -0,0 +1,8 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ColliderCollision/ApplyCollisionConstraintsJob.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ColliderCollision/ApplyCollisionConstraintsJob.cs
new file mode 100644
index 000000000..ccaf624b4
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ColliderCollision/ApplyCollisionConstraintsJob.cs
@@ -0,0 +1,49 @@
+#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]
+    public struct ApplyCollisionConstraintsBatchJob : IJob
+    {
+        [ReadOnly] public NativeArray<BurstContact> contacts;
+
+        [ReadOnly] public NativeArray<int> simplices;
+        [ReadOnly] public SimplexCounts simplexCounts;
+
+        [NativeDisableParallelForRestriction] public NativeArray<float4> positions;
+        [NativeDisableParallelForRestriction] public NativeArray<float4> deltas;
+        [NativeDisableParallelForRestriction] public NativeArray<int> counts;
+
+        [NativeDisableParallelForRestriction] public NativeArray<quaternion> orientations;
+        [NativeDisableParallelForRestriction] public NativeArray<quaternion> orientationDeltas;
+        [NativeDisableParallelForRestriction] public NativeArray<int> orientationCounts;
+
+        [ReadOnly] public Oni.ConstraintParameters constraintParameters;
+
+        public void Execute()
+        {
+            for (int i = 0; i < contacts.Length; ++i)
+            {
+                int simplexStart = simplexCounts.GetSimplexStartAndSize(contacts[i].bodyA, out int simplexSize);
+
+                for (int j = 0; j < simplexSize; ++j)
+                {
+                    int particleIndex = simplices[simplexStart + j];
+                    BurstConstraintsBatchImpl.ApplyPositionDelta(particleIndex, constraintParameters.SORFactor, ref positions, ref deltas, ref counts);
+                    BurstConstraintsBatchImpl.ApplyOrientationDelta(particleIndex, constraintParameters.SORFactor, ref orientations, ref orientationDeltas, ref orientationCounts);
+                }
+            }
+        }
+
+    }
+
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ColliderCollision/ApplyCollisionConstraintsJob.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ColliderCollision/ApplyCollisionConstraintsJob.cs.meta
new file mode 100644
index 000000000..82d43c729
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ColliderCollision/ApplyCollisionConstraintsJob.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ColliderCollision/BurstColliderCollisionConstraints.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ColliderCollision/BurstColliderCollisionConstraints.cs
new file mode 100644
index 000000000..e7d0e1a22
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ColliderCollision/BurstColliderCollisionConstraints.cs
@@ -0,0 +1,33 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using System;
+
+namespace Obi
+{
+    public class BurstColliderCollisionConstraints : BurstConstraintsImpl<BurstColliderCollisionConstraintsBatch>
+    {
+        public BurstColliderCollisionConstraints(BurstSolverImpl solver) : base(solver, Oni.ConstraintType.Collision)
+        {
+        }
+
+        public override IConstraintsBatchImpl CreateConstraintsBatch()
+        {
+            var dataBatch = new BurstColliderCollisionConstraintsBatch(this);
+            batches.Add(dataBatch);
+            return dataBatch;
+        }
+
+        public override void RemoveBatch(IConstraintsBatchImpl batch)
+        {
+            batches.Remove(batch as BurstColliderCollisionConstraintsBatch);
+            batch.Destroy();
+        }
+
+        public override int GetConstraintCount()
+        {
+            if (!((BurstSolverImpl)solver).colliderContacts.IsCreated)
+                return 0;
+            return ((BurstSolverImpl)solver).colliderContacts.Length;
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ColliderCollision/BurstColliderCollisionConstraints.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ColliderCollision/BurstColliderCollisionConstraints.cs.meta
new file mode 100644
index 000000000..2df9c312f
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ColliderCollision/BurstColliderCollisionConstraints.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ColliderCollision/BurstColliderCollisionConstraintsBatch.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ColliderCollision/BurstColliderCollisionConstraintsBatch.cs
new file mode 100644
index 000000000..12cd97c1b
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ColliderCollision/BurstColliderCollisionConstraintsBatch.cs
@@ -0,0 +1,330 @@
+#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
+{
+    public class BurstColliderCollisionConstraintsBatch : BurstConstraintsBatchImpl, IColliderCollisionConstraintsBatchImpl
+    {
+        public BurstColliderCollisionConstraintsBatch(BurstColliderCollisionConstraints constraints)
+        {
+            m_Constraints = constraints;
+            m_ConstraintType = Oni.ConstraintType.Collision;
+        }
+
+        public override JobHandle Initialize(JobHandle inputDeps, float substepTime)
+        {
+            var updateContacts = new UpdateContactsJob()
+            {
+                prevPositions = solverImplementation.prevPositions,
+                prevOrientations = solverImplementation.prevOrientations,
+                velocities = solverImplementation.velocities,
+                radii = solverImplementation.principalRadii,
+                invMasses = solverImplementation.invMasses,
+                invInertiaTensors = solverImplementation.invInertiaTensors,
+                particleMaterialIndices = solverImplementation.collisionMaterials,
+                collisionMaterials = ObiColliderWorld.GetInstance().collisionMaterials.AsNativeArray<BurstCollisionMaterial>(),
+
+                simplices = solverImplementation.simplices,
+                simplexCounts = solverImplementation.simplexCounts,
+
+                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>(),
+
+                contacts = ((BurstSolverImpl)constraints.solver).colliderContacts,
+                inertialFrame = ((BurstSolverImpl)constraints.solver).inertialFrame
+            };
+            return updateContacts.Schedule(((BurstSolverImpl)constraints.solver).colliderContacts.Length, 128, inputDeps);
+        }
+
+        public override JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int substeps)
+        {
+            var parameters = solverAbstraction.GetConstraintParameters(m_ConstraintType);
+
+            var projectConstraints = new CollisionConstraintsBatchJob()
+            {
+                positions = solverImplementation.positions,
+                prevPositions = solverImplementation.prevPositions,
+                orientations = solverImplementation.orientations,
+                prevOrientations = solverImplementation.prevOrientations,
+                invMasses = solverImplementation.invMasses,
+                radii = solverImplementation.principalRadii,
+                particleMaterialIndices = solverImplementation.collisionMaterials,
+
+                simplices = solverImplementation.simplices,
+                simplexCounts = solverImplementation.simplexCounts,
+
+                shapes = ObiColliderWorld.GetInstance().colliderShapes.AsNativeArray<BurstColliderShape>(),
+                transforms = ObiColliderWorld.GetInstance().colliderTransforms.AsNativeArray<BurstAffineTransform>(),
+                collisionMaterials = ObiColliderWorld.GetInstance().collisionMaterials.AsNativeArray<BurstCollisionMaterial>(),
+                rigidbodies = ObiColliderWorld.GetInstance().rigidbodies.AsNativeArray<BurstRigidbody>(),
+                rigidbodyLinearDeltas = solverImplementation.abstraction.rigidbodyLinearDeltas.AsNativeArray<float4>(),
+                rigidbodyAngularDeltas = solverImplementation.abstraction.rigidbodyAngularDeltas.AsNativeArray<float4>(),
+
+                deltas = solverAbstraction.positionDeltas.AsNativeArray<float4>(),
+                counts = solverAbstraction.positionConstraintCounts.AsNativeArray<int>(),
+
+                contacts = ((BurstSolverImpl)constraints.solver).colliderContacts,
+                inertialFrame = ((BurstSolverImpl)constraints.solver).inertialFrame,
+                constraintParameters = parameters,
+                solverParameters = solverAbstraction.parameters,
+                substeps = substeps,
+                stepTime = stepTime,
+                substepTime = substepTime
+            };
+            return projectConstraints.Schedule(inputDeps);
+        }
+
+        public override JobHandle Apply(JobHandle inputDeps, float substepTime)
+        {
+            var parameters = solverAbstraction.GetConstraintParameters(m_ConstraintType);
+
+            var applyConstraints = new ApplyCollisionConstraintsBatchJob()
+            {
+                contacts = ((BurstSolverImpl)constraints.solver).colliderContacts,
+
+                simplices = solverImplementation.simplices,
+                simplexCounts = solverImplementation.simplexCounts,
+
+                positions = solverImplementation.positions,
+                deltas = solverImplementation.positionDeltas,
+                counts = solverImplementation.positionConstraintCounts,
+                orientations = solverImplementation.orientations,
+                orientationDeltas = solverImplementation.orientationDeltas,
+                orientationCounts = solverImplementation.orientationConstraintCounts,
+                constraintParameters = parameters
+            };
+
+            return applyConstraints.Schedule(inputDeps);
+        }
+
+        /**
+         * 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.
+         */
+        [BurstCompile]
+        public struct UpdateContactsJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<float4> prevPositions;
+            [ReadOnly] public NativeArray<quaternion> prevOrientations;
+            [ReadOnly] public NativeArray<float4> velocities;
+            [ReadOnly] public NativeArray<float4> radii;
+            [ReadOnly] public NativeArray<float> invMasses;
+            [ReadOnly] public NativeArray<float4> invInertiaTensors;
+
+            [ReadOnly] public NativeArray<int> particleMaterialIndices;
+            [ReadOnly] public NativeArray<BurstCollisionMaterial> collisionMaterials;
+
+            // simplex arrays:
+            [ReadOnly] public NativeArray<int> simplices;
+            [ReadOnly] public SimplexCounts simplexCounts;
+
+            [ReadOnly] public NativeArray<BurstColliderShape> shapes;
+            [ReadOnly] public NativeArray<BurstAffineTransform> transforms;
+            [ReadOnly] public NativeArray<BurstRigidbody> rigidbodies;
+            [ReadOnly] public NativeArray<float4> rigidbodyLinearDeltas;
+            [ReadOnly] public NativeArray<float4> rigidbodyAngularDeltas;
+
+            public NativeArray<BurstContact> contacts;
+            [ReadOnly] public BurstInertialFrame inertialFrame;
+
+            public void Execute(int i)
+            {
+                var contact = contacts[i];
+
+                int simplexStart = simplexCounts.GetSimplexStartAndSize(contact.bodyA, out int simplexSize);
+
+                // get the material from the first particle in the simplex:
+                int aMaterialIndex = particleMaterialIndices[simplices[simplexStart]];
+                bool rollingContacts = aMaterialIndex >= 0 ? collisionMaterials[aMaterialIndex].rollingContacts > 0 : false;
+
+                float4 relativeVelocity = float4.zero;
+                float4 simplexPrevPosition = float4.zero;
+                quaternion simplexPrevOrientation = new quaternion(0, 0, 0, 0);
+                float simplexInvMass = 0;
+                float4 simplexInvInertia = float4.zero;
+                float simplexRadius = 0;
+
+                for (int j = 0; j < simplexSize; ++j)
+                {
+                    int particleIndex = simplices[simplexStart + j];
+                    relativeVelocity += velocities[particleIndex]    * contact.pointA[j];
+                    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];
+                    simplexRadius += BurstMath.EllipsoidRadius(contact.normal, prevOrientations[particleIndex], radii[particleIndex].xyz) * contact.pointA[j];
+                }
+
+                // if there's a rigidbody present, subtract its velocity from the relative velocity:
+                int rigidbodyIndex = shapes[contact.bodyB].rigidbodyIndex;
+                if (rigidbodyIndex >= 0)
+                {
+                    relativeVelocity -= BurstMath.GetRigidbodyVelocityAtPoint(rigidbodyIndex, contact.pointB, rigidbodies, rigidbodyLinearDeltas, rigidbodyAngularDeltas, inertialFrame.frame);
+
+                    int bMaterialIndex = shapes[contact.bodyB].materialIndex;
+                    rollingContacts |= bMaterialIndex >= 0 ? collisionMaterials[bMaterialIndex].rollingContacts > 0 : false;
+                }
+
+                // update contact distance
+                contact.distance = math.dot(simplexPrevPosition - contact.pointB, contact.normal) - simplexRadius;
+
+                // calculate contact point in A's surface:
+                float4 contactPoint = contact.pointB + contact.normal * contact.distance;
+
+                // update contact orthonormal basis:
+                contact.CalculateBasis(relativeVelocity);
+
+                // calculate A's contact mass.
+                contact.CalculateContactMassesA(simplexInvMass, simplexInvInertia, simplexPrevPosition, simplexPrevOrientation, contactPoint, rollingContacts);
+
+                // calculate B's contact mass.
+                if (rigidbodyIndex >= 0)
+                    contact.CalculateContactMassesB(rigidbodies[rigidbodyIndex], inertialFrame.frame);
+
+                contacts[i] = contact;
+            }
+        }
+
+        [BurstCompile]
+        public struct CollisionConstraintsBatchJob : IJob
+        {
+            [ReadOnly] public NativeArray<float4> prevPositions;
+            [ReadOnly] public NativeArray<quaternion> orientations;
+            [ReadOnly] public NativeArray<quaternion> prevOrientations;
+            [ReadOnly] public NativeArray<float> invMasses;
+            [ReadOnly] public NativeArray<float4> radii;
+            [ReadOnly] public NativeArray<int> particleMaterialIndices;
+
+            // simplex arrays:
+            [ReadOnly] public NativeArray<int> simplices;
+            [ReadOnly] public SimplexCounts simplexCounts;
+
+            [ReadOnly] public NativeArray<BurstColliderShape> shapes;
+            [ReadOnly] public NativeArray<BurstAffineTransform> transforms;
+            [ReadOnly] public NativeArray<BurstCollisionMaterial> collisionMaterials;
+            [ReadOnly] public NativeArray<BurstRigidbody> rigidbodies;
+            public NativeArray<float4> rigidbodyLinearDeltas;
+            public NativeArray<float4> rigidbodyAngularDeltas;
+
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> positions;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> deltas;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<int> counts;
+
+            public NativeArray<BurstContact> contacts;
+            [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;
+
+            public void Execute()
+            {
+                for (int i = 0; i < contacts.Length; ++i)
+                {
+                    var contact = contacts[i];
+
+                    int simplexStart = simplexCounts.GetSimplexStartAndSize(contact.bodyA, out int simplexSize);
+                    int colliderIndex = contact.bodyB;
+
+                    // Skip contacts involving triggers:
+                    if (shapes[colliderIndex].flags > 0)
+                        continue;
+
+                    // Get the rigidbody index (might be < 0, in that case there's no rigidbody present)
+                    int rigidbodyIndex = shapes[colliderIndex].rigidbodyIndex;
+
+                    // Combine collision materials (use material from first particle in simplex)
+                    BurstCollisionMaterial material = CombineCollisionMaterials(simplices[simplexStart], colliderIndex);
+
+                    // 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] * contact.pointA[j];
+                        simplexPrevPosition += prevPositions[particleIndex] * contact.pointA[j];
+                        simplexRadius += BurstMath.EllipsoidRadius(contact.normal, orientations[particleIndex], radii[particleIndex].xyz) * contact.pointA[j];
+                    }
+
+                    // project position to the end of the full step:
+                    float4 posA = math.lerp(simplexPrevPosition, simplexPosition, substeps);
+                    posA += -contact.normal * simplexRadius;
+
+                    float4 posB = contact.pointB;
+
+                    if (rigidbodyIndex >= 0)
+                        posB += BurstMath.GetRigidbodyVelocityAtPoint(rigidbodyIndex, contact.pointB, rigidbodies, rigidbodyLinearDeltas, rigidbodyAngularDeltas, inertialFrame.frame) * stepTime;
+
+                    // adhesion:
+                    float lambda = contact.SolveAdhesion(posA, posB, material.stickDistance, material.stickiness, stepTime);
+
+                    // depenetration:
+                    lambda += contact.SolvePenetration(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;
+                        for (int j = 0; j < simplexSize; ++j)
+                        {
+                            int particleIndex = simplices[simplexStart + j];
+                            deltas[particleIndex] += delta * invMasses[particleIndex] * contact.pointA[j];
+                            counts[particleIndex]++;
+                        }
+
+                        // Apply position deltas immediately, if using sequential evaluation:
+                        if (constraintParameters.evaluationOrder == Oni.ConstraintParameters.EvaluationOrder.Sequential)
+                        {
+                            for (int j = 0; j < simplexSize; ++j)
+                            {
+                                int particleIndex = simplices[simplexStart + j];
+                                BurstConstraintsBatchImpl.ApplyPositionDelta(particleIndex, constraintParameters.SORFactor, ref positions, ref deltas, ref counts);
+                            }
+                        }
+
+                        if (rigidbodyIndex >= 0)
+                        {
+                            BurstMath.ApplyImpulse(rigidbodyIndex, -lambda / stepTime * contact.normal, contact.pointB, rigidbodies, rigidbodyLinearDeltas, rigidbodyAngularDeltas, inertialFrame.frame);
+                        }
+                    }
+
+                    contacts[i] = contact;
+                }
+            }
+
+            private BurstCollisionMaterial CombineCollisionMaterials(int entityA, int entityB)
+            {
+                // Combine collision materials:
+                int particleMaterialIndex = particleMaterialIndices[entityA];
+                int colliderMaterialIndex = shapes[entityB].materialIndex;
+
+                if (colliderMaterialIndex >= 0 && particleMaterialIndex >= 0)
+                    return BurstCollisionMaterial.CombineWith(collisionMaterials[particleMaterialIndex], collisionMaterials[colliderMaterialIndex]);
+                else if (particleMaterialIndex >= 0)
+                    return collisionMaterials[particleMaterialIndex];
+                else if (colliderMaterialIndex >= 0)
+                    return collisionMaterials[colliderMaterialIndex];
+
+                return new BurstCollisionMaterial();
+            }
+        }
+
+
+    }
+}
+#endif
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ColliderCollision/BurstColliderCollisionConstraintsBatch.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ColliderCollision/BurstColliderCollisionConstraintsBatch.cs.meta
new file mode 100644
index 000000000..7f8067c92
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ColliderCollision/BurstColliderCollisionConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 273c5561da8534560bb9b9e8d32ae092
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ColliderCollision/BurstColliderFrictionConstraints.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ColliderCollision/BurstColliderFrictionConstraints.cs
new file mode 100644
index 000000000..e7be9989a
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ColliderCollision/BurstColliderFrictionConstraints.cs
@@ -0,0 +1,35 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using System;
+
+namespace Obi
+{
+    public class BurstColliderFrictionConstraints : BurstConstraintsImpl<BurstColliderFrictionConstraintsBatch>
+    {
+        public BurstColliderFrictionConstraints(BurstSolverImpl solver) : base(solver, Oni.ConstraintType.Friction)
+        {
+        }
+
+        public override IConstraintsBatchImpl CreateConstraintsBatch()
+        {
+            var dataBatch = new BurstColliderFrictionConstraintsBatch(this);
+            batches.Add(dataBatch);
+            return dataBatch;
+        }
+
+
+        public override void RemoveBatch(IConstraintsBatchImpl batch)
+        {
+            batches.Remove(batch as BurstColliderFrictionConstraintsBatch);
+            batch.Destroy();
+        }
+
+        public override int GetConstraintCount()
+        {
+            if (!((BurstSolverImpl)solver).colliderContacts.IsCreated)
+                return 0;
+            return ((BurstSolverImpl)solver).colliderContacts.Length;
+        }
+    }
+}
+#endif
+
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ColliderCollision/BurstColliderFrictionConstraints.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ColliderCollision/BurstColliderFrictionConstraints.cs.meta
new file mode 100644
index 000000000..08ea00753
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ColliderCollision/BurstColliderFrictionConstraints.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 00f91403e75564dc6ace566943caa172
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ColliderCollision/BurstColliderFrictionConstraintsBatch.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ColliderCollision/BurstColliderFrictionConstraintsBatch.cs
new file mode 100644
index 000000000..6505d5302
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ColliderCollision/BurstColliderFrictionConstraintsBatch.cs
@@ -0,0 +1,284 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using Unity.Jobs;
+using Unity.Collections;
+using Unity.Collections.LowLevel.Unsafe;
+using Unity.Mathematics;
+using Unity.Burst;
+
+namespace Obi
+{
+    public class BurstColliderFrictionConstraintsBatch : BurstConstraintsBatchImpl, IColliderFrictionConstraintsBatchImpl
+    {
+        public BurstColliderFrictionConstraintsBatch(BurstColliderFrictionConstraints constraints)
+        {
+            m_Constraints = constraints;
+            m_ConstraintType = Oni.ConstraintType.Friction;
+        }
+
+        public override JobHandle Initialize(JobHandle inputDeps, float substepTime)
+        {
+            return inputDeps;
+        }
+
+        public override JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int substeps)
+        {
+            if (!((BurstSolverImpl)constraints.solver).colliderContacts.IsCreated)
+                return inputDeps;
+
+            var projectConstraints = new FrictionConstraintsBatchJob()
+            {
+                positions = solverImplementation.positions,
+                prevPositions = solverImplementation.prevPositions,
+                orientations = solverImplementation.orientations,
+                prevOrientations = solverImplementation.prevOrientations,
+
+                invMasses = solverImplementation.invMasses,
+                invInertiaTensors = solverImplementation.invInertiaTensors,
+                radii = solverImplementation.principalRadii,
+                particleMaterialIndices = solverImplementation.collisionMaterials,
+
+                simplices = solverImplementation.simplices,
+                simplexCounts = solverImplementation.simplexCounts,
+
+                shapes = ObiColliderWorld.GetInstance().colliderShapes.AsNativeArray<BurstColliderShape>(),
+                transforms = ObiColliderWorld.GetInstance().colliderTransforms.AsNativeArray<BurstAffineTransform>(),
+                collisionMaterials = ObiColliderWorld.GetInstance().collisionMaterials.AsNativeArray<BurstCollisionMaterial>(),
+                rigidbodies = ObiColliderWorld.GetInstance().rigidbodies.AsNativeArray<BurstRigidbody>(),
+                rigidbodyLinearDeltas = solverImplementation.abstraction.rigidbodyLinearDeltas.AsNativeArray<float4>(),
+                rigidbodyAngularDeltas = solverImplementation.abstraction.rigidbodyAngularDeltas.AsNativeArray<float4>(),
+
+                deltas = solverImplementation.positionDeltas,
+                counts = solverImplementation.positionConstraintCounts,
+                orientationDeltas = solverImplementation.orientationDeltas,
+                orientationCounts = solverImplementation.orientationConstraintCounts,
+
+                contacts = ((BurstSolverImpl)constraints.solver).colliderContacts,
+                inertialFrame = ((BurstSolverImpl)constraints.solver).inertialFrame,
+                substeps = substeps,
+                stepTime = stepTime,
+                substepTime = substepTime
+            };
+            return projectConstraints.Schedule(inputDeps);
+        }
+
+        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,
+
+                simplices = solverImplementation.simplices,
+                simplexCounts = solverImplementation.simplexCounts,
+
+                positions = solverImplementation.positions,
+                deltas = solverImplementation.positionDeltas,
+                counts = solverImplementation.positionConstraintCounts,
+                orientations = solverImplementation.orientations,
+                orientationDeltas = solverImplementation.orientationDeltas,
+                orientationCounts = solverImplementation.orientationConstraintCounts,
+                constraintParameters = parameters
+            };
+
+            return applyConstraints.Schedule(inputDeps);
+        }
+
+        [BurstCompile]
+        public struct FrictionConstraintsBatchJob : IJob
+        {
+            [ReadOnly] public NativeArray<float4> positions;
+            [ReadOnly] public NativeArray<float4> prevPositions;
+            [ReadOnly] public NativeArray<quaternion> orientations;
+            [ReadOnly] public NativeArray<quaternion> prevOrientations;
+
+            [ReadOnly] public NativeArray<float> invMasses;
+            [ReadOnly] public NativeArray<float4> invInertiaTensors;
+            [ReadOnly] public NativeArray<float4> radii;
+            [ReadOnly] public NativeArray<int> particleMaterialIndices;
+
+            // simplex arrays:
+            [ReadOnly] public NativeArray<int> simplices;
+            [ReadOnly] public SimplexCounts simplexCounts;
+
+            [ReadOnly] public NativeArray<BurstColliderShape> shapes;
+            [ReadOnly] public NativeArray<BurstAffineTransform> transforms;
+            [ReadOnly] public NativeArray<BurstCollisionMaterial> collisionMaterials;
+            [ReadOnly] public NativeArray<BurstRigidbody> rigidbodies;
+            public NativeArray<float4> rigidbodyLinearDeltas;
+            public NativeArray<float4> rigidbodyAngularDeltas;
+
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> deltas;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<int> counts;
+
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<quaternion> orientationDeltas;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<int> orientationCounts;
+
+            public NativeArray<BurstContact> contacts;
+            [ReadOnly] public BurstInertialFrame inertialFrame;
+            [ReadOnly] public float stepTime;
+            [ReadOnly] public float substepTime;
+            [ReadOnly] public int substeps;
+
+            public void Execute()
+            {
+                for (int i = 0; i < contacts.Length; ++i)
+                {
+                    var contact = contacts[i];
+
+                    // Get the indices of the particle and collider involved in this contact:
+                    int simplexStart = simplexCounts.GetSimplexStartAndSize(contact.bodyA, out int simplexSize);
+                    int colliderIndex = contact.bodyB;
+
+                    // Skip contacts involving triggers:
+                    if (shapes[colliderIndex].flags > 0)
+                        continue;
+
+                    // Get the rigidbody index (might be < 0, in that case there's no rigidbody present)
+                    int rigidbodyIndex = shapes[colliderIndex].rigidbodyIndex;
+
+                    // Combine collision materials (use material from first particle in simplex)
+                    BurstCollisionMaterial material = CombineCollisionMaterials(simplices[simplexStart], colliderIndex);
+
+                    // Calculate relative velocity:
+                    float4 rA = float4.zero, rB = float4.zero;
+
+                    float4 prevPositionA = float4.zero;
+                    float4 linearVelocityA = float4.zero;
+                    float4 angularVelocityA = float4.zero;
+                    float4 invInertiaTensorA = float4.zero;
+                    quaternion orientationA = new quaternion(0, 0, 0, 0);
+                    float simplexRadiusA = 0;
+
+                    for (int j = 0; j < simplexSize; ++j)
+                    {
+                        int particleIndex = simplices[simplexStart + j];
+                        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];
+                        orientationA.value += orientations[particleIndex].value * contact.pointA[j];
+                        simplexRadiusA += BurstMath.EllipsoidRadius(contact.normal, prevOrientations[particleIndex], radii[particleIndex].xyz) * contact.pointA[j];
+                    }
+
+                    float4 relativeVelocity = linearVelocityA;
+
+                    // Add particle angular velocity if rolling contacts are enabled:
+                    if (material.rollingContacts > 0)
+                    {
+                        rA = -contact.normal * simplexRadiusA;
+                        relativeVelocity += new float4(math.cross(angularVelocityA.xyz, rA.xyz), 0);
+                    }
+
+                    // Subtract rigidbody velocity:
+                    if (rigidbodyIndex >= 0)
+                    {
+                        // 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);
+                    }
+
+                    // Determine impulse magnitude:
+                    float2 impulses = contact.SolveFriction(relativeVelocity, material.staticFriction, material.dynamicFriction, stepTime);
+
+                    if (math.abs(impulses.x) > BurstMath.epsilon || math.abs(impulses.y) > BurstMath.epsilon)
+                    {
+                        float4 tangentImpulse   = impulses.x * contact.tangent;
+                        float4 bitangentImpulse = impulses.y * contact.bitangent;
+                        float4 totalImpulse = tangentImpulse + bitangentImpulse;
+
+                        float baryScale = BurstMath.BaryScale(contact.pointA);
+                        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; 
+                            counts[particleIndex]++;
+                        }
+
+                        if (rigidbodyIndex >= 0)
+                        {
+                            BurstMath.ApplyImpulse(rigidbodyIndex, -totalImpulse, contact.pointB, rigidbodies, rigidbodyLinearDeltas, rigidbodyAngularDeltas, inertialFrame.frame);
+                        }
+
+                        // Rolling contacts:
+                        if (material.rollingContacts > 0)
+                        {
+                            // Calculate angular velocity deltas due to friction impulse:
+                            float4x4 solverInertiaA = BurstMath.TransformInertiaTensor(invInertiaTensorA, orientationA);
+
+                            float4 angVelDeltaA = math.mul(solverInertiaA, new float4(math.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 = math.length(math.mul(solverInertiaA, math.normalizesafe(angularVelocityA)));
+                            float invMassB = 0;
+
+                            if (rigidbodyIndex >= 0)
+                            {
+                                angVelDeltaB = math.mul(-rigidbodies[rigidbodyIndex].inverseInertiaTensor, new float4(math.cross(rB.xyz, totalImpulse.xyz), 0));
+                                angularVelocityB = rigidbodies[rigidbodyIndex].angularVelocity + angVelDeltaB;
+                                invMassB = math.length(math.mul(rigidbodies[rigidbodyIndex].inverseInertiaTensor, math.normalizesafe(angularVelocityB)));
+                            }
+
+                            // Calculate rolling axis and angular velocity deltas:
+                            float4 rollAxis = float4.zero;
+                            float rollingImpulse = contact.SolveRollingFriction(angularVelocityA, angularVelocityB, material.rollingFriction, invMassA, invMassB, ref rollAxis);
+                            angVelDeltaA += rollAxis * rollingImpulse * invMassA;
+                            angVelDeltaB -= rollAxis * rollingImpulse * invMassB;
+
+                            // Apply orientation delta to particles:
+                            quaternion orientationDelta = BurstIntegration.AngularVelocityToSpinQuaternion(orientationA, angVelDeltaA, substepTime);
+
+                            for (int j = 0; j < simplexSize; ++j)
+                            {
+                                int particleIndex = simplices[simplexStart + j];
+                                quaternion qA = orientationDeltas[particleIndex];
+                                qA.value += orientationDelta.value;
+                                orientationDeltas[particleIndex] = qA;
+                                orientationCounts[particleIndex]++;
+                            }
+
+                            // Apply angular velocity delta to rigidbody:
+                            if (rigidbodyIndex >= 0)
+                            {
+                                float4 angularDelta = rigidbodyAngularDeltas[rigidbodyIndex];
+                                angularDelta += angVelDeltaB;
+                                rigidbodyAngularDeltas[rigidbodyIndex] = angularDelta;
+                            }
+                        }
+                    }
+
+                    contacts[i] = contact;
+                }
+            }
+
+            private BurstCollisionMaterial CombineCollisionMaterials(int entityA, int entityB)
+            {
+                // Combine collision materials:
+                int particleMaterialIndex = particleMaterialIndices[entityA];
+                int colliderMaterialIndex = shapes[entityB].materialIndex;
+
+                if (colliderMaterialIndex >= 0 && particleMaterialIndex >= 0)
+                    return BurstCollisionMaterial.CombineWith(collisionMaterials[particleMaterialIndex], collisionMaterials[colliderMaterialIndex]);
+                else if (particleMaterialIndex >= 0)
+                    return collisionMaterials[particleMaterialIndex];
+                else if (colliderMaterialIndex >= 0)
+                    return collisionMaterials[colliderMaterialIndex];
+
+                return new BurstCollisionMaterial();
+            }
+
+        }
+
+
+    }
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ColliderCollision/BurstColliderFrictionConstraintsBatch.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ColliderCollision/BurstColliderFrictionConstraintsBatch.cs.meta
new file mode 100644
index 000000000..fb3228fd6
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ColliderCollision/BurstColliderFrictionConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 9abf9b1d2ee1a4d09b965103ae78fe53
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Density.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Density.meta
new file mode 100644
index 000000000..10b4e12b9
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Density.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 1d2e0de656b27431f9501fe6ffacff67
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Density/BurstDensityConstraints.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Density/BurstDensityConstraints.cs
new file mode 100644
index 000000000..602e3b3f1
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Density/BurstDensityConstraints.cs
@@ -0,0 +1,452 @@
+#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.Mathematics;
+
+namespace Obi
+{
+    public class BurstDensityConstraints : BurstConstraintsImpl<BurstDensityConstraintsBatch>
+    {
+        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);
+        }
+
+        public override IConstraintsBatchImpl CreateConstraintsBatch()
+        {
+            var dataBatch = new BurstDensityConstraintsBatch(this);
+            batches.Add(dataBatch);
+            return dataBatch;
+        }
+
+        public override void Dispose()
+        {
+            fluidParticles.Dispose();
+        }
+
+        public override void RemoveBatch(IConstraintsBatchImpl batch)
+        {
+            batches.Remove(batch as BurstDensityConstraintsBatch);
+            batch.Destroy();
+        }
+
+        protected override JobHandle EvaluateSequential(JobHandle inputDeps, float stepTime, float substepTime, int substeps)
+        {
+            return EvaluateParallel(inputDeps, stepTime, substepTime, substeps);
+        }
+
+        protected override JobHandle EvaluateParallel(JobHandle inputDeps, float stepTime, float substepTime, int substeps)
+        {
+            inputDeps = UpdateInteractions(inputDeps);
+
+            // evaluate all batches as a chain of dependencies:
+            for (int i = 0; i < batches.Count; ++i)
+            {
+                if (batches[i].enabled)
+                {
+                    inputDeps = batches[i].Evaluate(inputDeps, stepTime, substepTime, substeps);
+                    m_Solver.ScheduleBatchedJobsIfNeeded();
+                }
+            }
+
+            // calculate per-particle lambdas:
+            inputDeps = CalculateLambdas(inputDeps, substepTime);
+
+            // then apply them:
+            for (int i = 0; i < batches.Count; ++i)
+            {
+                if (batches[i].enabled)
+                {
+                    inputDeps = batches[i].Apply(inputDeps, substepTime);
+                    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);
+            m_Solver.ScheduleBatchedJobsIfNeeded();
+
+            return inputDeps;
+        }
+
+        public JobHandle CalculateAnisotropyLaplacianSmoothing(JobHandle inputDeps)
+        {
+            // 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);
+
+            for (int i = 0; i < batches.Count; ++i)
+            {
+                if (batches[i].enabled)
+                {
+                    inputDeps = batches[i].AccumulateSmoothPositions(inputDeps);
+                    m_Solver.ScheduleBatchedJobsIfNeeded();
+                }
+            }
+
+            inputDeps = AverageSmoothPositions(inputDeps);
+
+            for (int i = 0; i < batches.Count; ++i)
+            {
+                if (batches[i].enabled)
+                {
+                    inputDeps = batches[i].AccumulateAnisotropy(inputDeps);
+                    m_Solver.ScheduleBatchedJobsIfNeeded();
+                }
+            }
+             
+            return AverageAnisotropy(inputDeps);
+        }
+
+        private JobHandle UpdateInteractions(JobHandle inputDeps)
+        {
+            // clear existing fluid data:
+            var clearData = new ClearFluidDataJob()
+            {
+                fluidParticles = fluidParticles.AsDeferredJobArray(),
+                fluidData = ((BurstSolverImpl)solver).abstraction.fluidData.AsNativeArray<float4>(),
+            };
+
+            inputDeps = clearData.Schedule(fluidParticles.Length, 64, inputDeps);
+
+            // update fluid interactions:
+            var updateInteractions = new UpdateInteractionsJob()
+            {
+                pairs = m_Solver.fluidInteractions,
+                positions = m_Solver.positions,
+                radii = m_Solver.smoothingRadii,
+                densityKernel = new Poly6Kernel(((BurstSolverImpl)solver).abstraction.parameters.mode == Oni.SolverParameters.Mode.Mode2D),
+                gradientKernel = new SpikyKernel(((BurstSolverImpl)solver).abstraction.parameters.mode == Oni.SolverParameters.Mode.Mode2D),
+            };
+
+            return updateInteractions.Schedule(((BurstSolverImpl)solver).fluidInteractions.Length, 64, inputDeps);
+        }
+
+        private JobHandle CalculateLambdas(JobHandle inputDeps, float deltaTime)
+        {
+            // calculate lagrange multipliers:
+            var calculateLambdas = new CalculateLambdasJob()
+            {
+                fluidParticles = fluidParticles.AsDeferredJobArray(),
+                invMasses = m_Solver.invMasses,
+                radii = m_Solver.smoothingRadii,
+                restDensities = m_Solver.restDensities,
+                surfaceTension = m_Solver.surfaceTension,
+                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
+            };
+
+            return calculateLambdas.Schedule(fluidParticles.Length,64,inputDeps);
+        }
+
+        private JobHandle ApplyVorticityAndAtmosphere(JobHandle inputDeps, float deltaTime)
+        {
+            // calculate lagrange multipliers:
+            var conf = new ApplyVorticityConfinementAndAtmosphere()
+            {
+                fluidParticles = fluidParticles.AsDeferredJobArray(),
+                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,
+                normals = m_Solver.normals,
+                fluidData = m_Solver.fluidData,
+                velocities = m_Solver.velocities,
+                dt = deltaTime
+            };
+
+            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(),
+                renderablePositions = m_Solver.renderablePositions,
+                smoothPositions = smoothPositions
+            };
+
+            return average.Schedule(fluidParticles.Length, 64, inputDeps);
+        }
+
+        private JobHandle AverageAnisotropy(JobHandle inputDeps)
+        {
+            var average = new AverageAnisotropyJob()
+            {
+                fluidParticles = fluidParticles.AsDeferredJobArray(),
+                renderablePositions = m_Solver.renderablePositions,
+                smoothPositions = smoothPositions,
+                principalRadii = m_Solver.principalRadii,
+                anisotropies = anisotropies,
+                maxAnisotropy = m_Solver.abstraction.parameters.maxAnisotropy,
+                principalAxes = m_Solver.anisotropies
+            };
+
+            return average.Schedule(fluidParticles.Length, 64, inputDeps);
+        }
+
+        [BurstCompile]
+        public struct ClearFluidDataJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<int> fluidParticles;
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4> fluidData;
+
+            public void Execute(int i)
+            {
+                fluidData[fluidParticles[i]] = float4.zero;
+            }
+        }
+
+        [BurstCompile]
+        public struct UpdateInteractionsJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<float4> positions;
+            [ReadOnly] public NativeArray<float> radii;
+            [ReadOnly] public Poly6Kernel densityKernel;
+            [ReadOnly] public SpikyKernel gradientKernel;
+
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<FluidInteraction> pairs;
+
+            [ReadOnly] public BatchData batchData;
+
+            public void Execute(int i)
+            {
+                var pair = pairs[i];
+
+                // calculate normalized gradient vector:
+                pair.gradient = (positions[pair.particleA] - positions[pair.particleB]);
+                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.avgGradient = (gradientKernel.W(distance, radii[pair.particleA]) +
+                                    gradientKernel.W(distance, radii[pair.particleB])) * 0.5f;
+
+                pairs[i] = pair;
+            }
+        }
+
+        [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 Poly6Kernel densityKernel;
+            [ReadOnly] public SpikyKernel gradientKernel; 
+
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4> normals;
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4> vorticity;
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4> fluidData;
+
+            public void Execute(int p)
+            {
+                int i = fluidParticles[p];
+
+                normals[i] = float4.zero;
+                vorticity[i] = float4.zero;
+
+                float4 data = fluidData[i];
+
+                float grad = gradientKernel.W(0, radii[i]) / invMasses[i] / restDensities[i];
+
+                // self particle contribution to density and gradient:
+                data += new float4(densityKernel.W(0, radii[i]), 0, grad, grad * grad + data[2] * data[2]);
+
+                // 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);
+
+                // calculate lambda:
+                data[1] = -constraint / (invMasses[i] * data[3] + math.FLT_MIN_NORMAL);
+
+                fluidData[i] = data;
+            }
+        }
+
+        [BurstCompile]
+        public struct ApplyVorticityConfinementAndAtmosphere : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<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> normals;
+            [ReadOnly] public NativeArray<float4> fluidData;
+
+            [DeallocateOnJobCompletion] [ReadOnly] public NativeArray<float4> eta;
+
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4> velocities;
+
+            [ReadOnly] public float dt;
+
+            public void Execute(int p)
+            {
+                int i = fluidParticles[p];
+
+                //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;
+
+                // ambient pressure:
+                velocities[i] += atmosphericPressure[i] * normals[i] * dt;
+
+                // apply vorticity confinement:
+                velocities[i] += new float4(math.cross(math.normalizesafe(eta[i]).xyz,vorticities[i].xyz), 0) * vorticityConfinement[i] * dt;
+            }
+        }
+
+        [BurstCompile]
+        public struct IdentityAnisotropyJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<int> fluidParticles;
+            [ReadOnly] public NativeArray<float4> radii;
+
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4> principalAxes;
+
+            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);
+            }
+        }
+
+        [BurstCompile]
+        public struct AverageSmoothPositionsJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<int> fluidParticles;
+            [ReadOnly] public NativeArray<float4> renderablePositions;
+
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4> smoothPositions;
+
+            public void Execute(int p)
+            {
+                int i = fluidParticles[p];
+
+                if (smoothPositions[i].w > 0)
+                    smoothPositions[i] /= smoothPositions[i].w;
+                else
+                    smoothPositions[i] = renderablePositions[i];
+            }
+        }
+
+        [BurstCompile]
+        public struct AverageAnisotropyJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<int> fluidParticles;
+            [ReadOnly] public NativeArray<float4> principalRadii;
+            [ReadOnly] public float maxAnisotropy;
+
+            [ReadOnly]
+            [DeallocateOnJobCompletion]
+            public NativeArray<float4> smoothPositions;
+
+            [ReadOnly]
+            [DeallocateOnJobCompletion]
+            public NativeArray<float3x3> anisotropies;
+
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4> renderablePositions;
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4> principalAxes;
+
+            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)
+                {
+                    float3 singularValues;
+                    float3x3 u;
+                    BurstMath.EigenSolve(anisotropies[i] / smoothPositions[i].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);
+                }
+                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);
+                }
+
+                renderablePositions[i] = smoothPositions[i];
+            }
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Density/BurstDensityConstraints.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Density/BurstDensityConstraints.cs.meta
new file mode 100644
index 000000000..6099508ed
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Density/BurstDensityConstraints.cs.meta
@@ -0,0 +1,11 @@
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+  serializedVersion: 2
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+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Density/BurstDensityConstraintsBatch.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Density/BurstDensityConstraintsBatch.cs
new file mode 100644
index 000000000..c44762137
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Density/BurstDensityConstraintsBatch.cs
@@ -0,0 +1,371 @@
+#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
+{
+    public class BurstDensityConstraintsBatch : BurstConstraintsBatchImpl, IDensityConstraintsBatchImpl
+    {
+        public BatchData batchData;
+
+        public BurstDensityConstraintsBatch(BurstDensityConstraints constraints)
+        {
+            m_Constraints = constraints;
+            m_ConstraintType = Oni.ConstraintType.Density;
+        }
+
+        public override JobHandle Initialize(JobHandle inputDeps, float substepTime)
+        {
+            return inputDeps;
+        }
+
+        public override JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int substeps)
+        {
+
+            // update densities and gradients:
+            var updateDensities = new UpdateDensitiesJob()
+            {
+                pairs = ((BurstSolverImpl)constraints.solver).fluidInteractions,
+                positions = solverImplementation.positions,
+                invMasses = solverImplementation.invMasses,
+                restDensities = solverImplementation.restDensities,
+                diffusion = solverImplementation.diffusion,
+                userData = solverImplementation.userData,
+                fluidData = solverImplementation.fluidData,
+                batchData = batchData,
+                dt = substepTime
+            };
+
+            int batchCount = batchData.isLast ? batchData.workItemCount : 1;
+            return updateDensities.Schedule(batchData.workItemCount, batchCount, inputDeps);
+        }
+
+        public override JobHandle Apply(JobHandle inputDeps, float substepTime)
+        {
+            var parameters = solverAbstraction.GetConstraintParameters(m_ConstraintType);
+
+            // update densities and gradients:
+            var apply = new ApplyDensityConstraintsJob()
+            {
+                invMasses = solverImplementation.invMasses,
+                radii = solverImplementation.smoothingRadii,
+                restDensities = solverImplementation.restDensities,
+                surfaceTension = solverImplementation.surfaceTension,
+                pairs = ((BurstSolverImpl)constraints.solver).fluidInteractions,
+                densityKernel = new Poly6Kernel(solverAbstraction.parameters.mode == Oni.SolverParameters.Mode.Mode2D),
+                positions = solverImplementation.positions,
+                fluidData = solverImplementation.fluidData,
+                batchData = batchData,
+                sorFactor = parameters.SORFactor
+            };
+
+            int batchCount = batchData.isLast ? batchData.workItemCount : 1;
+            return apply.Schedule(batchData.workItemCount, batchCount, inputDeps);
+        }
+
+        public JobHandle CalculateViscosityAndNormals(JobHandle inputDeps, float deltaTime)
+        {
+            var viscosity = new NormalsViscosityAndVorticityJob()
+            {
+                positions = solverImplementation.positions,
+                invMasses = solverImplementation.invMasses,
+                radii = solverImplementation.smoothingRadii,
+                restDensities = solverImplementation.restDensities,
+                viscosities = solverImplementation.viscosities,
+                fluidData = solverImplementation.fluidData,
+                pairs = ((BurstSolverImpl)constraints.solver).fluidInteractions,
+                velocities = solverImplementation.velocities,
+                vorticities = solverImplementation.vorticities,
+                normals = solverImplementation.normals,
+                batchData = batchData
+            };
+
+            int batchCount = batchData.isLast ? batchData.workItemCount : 1;
+            return viscosity.Schedule(batchData.workItemCount, batchCount, inputDeps);
+        }
+
+        public JobHandle CalculateVorticity(JobHandle inputDeps)
+        {
+            var eta = new CalculateVorticityEta()
+            {
+                invMasses = solverImplementation.invMasses,
+                restDensities = solverImplementation.restDensities,
+                pairs = ((BurstSolverImpl)constraints.solver).fluidInteractions,
+                vorticities = solverImplementation.vorticities,
+                eta = ((BurstDensityConstraints)this.constraints).eta,
+                batchData = batchData
+            };
+
+            int batchCount = batchData.isLast ? batchData.workItemCount : 1;
+            return eta.Schedule(batchData.workItemCount, batchCount, inputDeps);
+        }
+
+        public JobHandle AccumulateSmoothPositions(JobHandle inputDeps)
+        {
+            var accumulateSmooth = new AccumulateSmoothPositionsJob()
+            {
+                renderablePositions = solverImplementation.renderablePositions,
+                smoothPositions = ((BurstDensityConstraints)this.constraints).smoothPositions,
+                radii = solverImplementation.smoothingRadii,
+                densityKernel = new Poly6Kernel(solverAbstraction.parameters.mode == Oni.SolverParameters.Mode.Mode2D),
+                pairs = ((BurstSolverImpl)constraints.solver).fluidInteractions,
+                batchData = batchData
+            };
+
+            int batchCount = batchData.isLast ? batchData.workItemCount : 1;
+            return accumulateSmooth.Schedule(batchData.workItemCount, batchCount, inputDeps);
+        }
+
+        public JobHandle AccumulateAnisotropy(JobHandle inputDeps)
+        {
+            var accumulateAnisotropy = new AccumulateAnisotropyJob()
+            {
+                renderablePositions = solverImplementation.renderablePositions,
+                smoothPositions = ((BurstDensityConstraints)this.constraints).smoothPositions,
+                anisotropies = ((BurstDensityConstraints)this.constraints).anisotropies,
+                pairs = ((BurstSolverImpl)constraints.solver).fluidInteractions,
+                batchData = batchData
+            };
+
+            int batchCount = batchData.isLast ? batchData.workItemCount : 1;
+            return accumulateAnisotropy.Schedule(batchData.workItemCount, batchCount, inputDeps);
+        }
+
+        [BurstCompile]
+        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<FluidInteraction> pairs;
+
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4> userData;
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4> fluidData;
+
+            [ReadOnly] public BatchData batchData;
+
+            [ReadOnly] public float dt;
+
+            public void Execute(int workItemIndex)
+            {
+                int start, end;
+                batchData.GetConstraintRange(workItemIndex, out start, out end);
+
+                for (int i = start; i < end; ++i)
+                {
+                    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 gradA = restVolumeB * pair.avgGradient;
+                    float gradB = restVolumeA * pair.avgGradient;
+
+                    float vA = restVolumeB / restVolumeA;
+                    float vB = restVolumeA / restVolumeB;
+
+                    // accumulate pbf data (density, gradients):
+                    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;
+                }
+            }
+        }
+
+        [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<FluidInteraction> pairs;
+            [ReadOnly] public Poly6Kernel densityKernel;
+
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4> positions;
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4> fluidData;
+
+            [ReadOnly] public BatchData batchData;
+            [ReadOnly] public float sorFactor;
+
+            public void Execute(int workItemIndex)
+            {
+                int start, end;
+                batchData.GetConstraintRange(workItemIndex, out start, out end);
+
+                for (int i = start; i < end; ++i)
+                {
+                    var pair = pairs[i];
+
+                    float restVolumeA = 1.0f / invMasses[pair.particleA] / restDensities[pair.particleA];
+                    float restVolumeB = 1.0f / invMasses[pair.particleB] / restDensities[pair.particleB];
+
+                    // 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]);
+
+                    // 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];
+                }
+            }
+        }
+
+        [BurstCompile]
+        public struct NormalsViscosityAndVorticityJob : 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<FluidInteraction> pairs;
+
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4> velocities;
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4> vorticities;
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4> normals;
+
+            [ReadOnly] public BatchData batchData;
+
+            public void Execute(int workItemIndex)
+            {
+                int start, end;
+                batchData.GetConstraintRange(workItemIndex, out start, out end);
+
+                for (int i = start; i < end; ++i)
+                {
+                    var pair = pairs[i];
+
+                    float restVolumeA = 1.0f / invMasses[pair.particleA] / restDensities[pair.particleA];
+                    float restVolumeB = 1.0f / invMasses[pair.particleB] / restDensities[pair.particleB];
+
+                    // 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;
+
+                    // 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];
+                }
+            }
+        }
+
+        [BurstCompile]
+        public struct CalculateVorticityEta : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<float4> vorticities;
+            [ReadOnly] public NativeArray<float> invMasses;
+            [ReadOnly] public NativeArray<float> restDensities;
+
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<FluidInteraction> pairs;
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4> eta;
+
+            [ReadOnly] public BatchData batchData;
+
+            public void Execute(int workItemIndex)
+            {
+                int start, end;
+                batchData.GetConstraintRange(workItemIndex, out start, out end);
+
+                for (int i = start; i < end; ++i)
+                {
+                    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];
+                }
+            }
+        }
+
+        [BurstCompile]
+        public struct AccumulateSmoothPositionsJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<float4> renderablePositions;
+            [ReadOnly] public NativeArray<float> radii;
+            [ReadOnly] public Poly6Kernel densityKernel;
+
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4> smoothPositions;
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<FluidInteraction> pairs;
+
+            [ReadOnly] public BatchData batchData;
+
+            public void Execute(int workItemIndex)
+            {
+                int start, end;
+                batchData.GetConstraintRange(workItemIndex, out start, out end);
+
+                for (int i = start; i < end; ++i)
+                {
+                    var pair = pairs[i];
+
+                    float4 gradient = (renderablePositions[pair.particleA] - renderablePositions[pair.particleB]);
+                    float distance = math.length(gradient);
+
+                    pair.avgKernel = (densityKernel.W(distance, radii[pair.particleA]) +
+                                      densityKernel.W(distance, radii[pair.particleB])) * 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;
+
+                    pairs[i] = pair;
+                }
+            }
+        }
+
+        [BurstCompile]
+        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;
+
+            [ReadOnly] public BatchData batchData;
+
+            public void Execute(int workItemIndex)
+            {
+                int start, end;
+                batchData.GetConstraintRange(workItemIndex, out start, out end);
+
+                for (int i = start; i < end; ++i)
+                {
+                    var pair = pairs[i];
+
+                    float4 distanceA = renderablePositions[pair.particleB] - smoothPositions[pair.particleA];
+                    float4 distanceB = renderablePositions[pair.particleA] - smoothPositions[pair.particleB];
+
+                    anisotropies[pair.particleA] += BurstMath.multrnsp(distanceA,distanceA) * pair.avgKernel;
+                    anisotropies[pair.particleB] += BurstMath.multrnsp(distanceB,distanceB) * pair.avgKernel;
+                }
+            }
+        }
+
+    }
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Density/BurstDensityConstraintsBatch.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Density/BurstDensityConstraintsBatch.cs.meta
new file mode 100644
index 000000000..f1d82202a
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Density/BurstDensityConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Density/Kernels.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Density/Kernels.meta
new file mode 100644
index 000000000..4f0f6fa9d
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Density/Kernels.meta
@@ -0,0 +1,8 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Density/Kernels/Poly6Kernel.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Density/Kernels/Poly6Kernel.cs
new file mode 100644
index 000000000..412f3b189
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Density/Kernels/Poly6Kernel.cs
@@ -0,0 +1,36 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using System;
+using Unity.Mathematics;
+
+namespace Obi
+{
+    public struct Poly6Kernel
+    {
+        public float norm;
+        public bool norm2D;
+
+        public Poly6Kernel(bool norm2D)
+        {
+            this.norm2D = norm2D;
+            if (norm2D)
+                norm = 4.0f / math.PI;
+            else
+                norm = 315.0f / (64.0f * math.PI);
+        }
+
+        public float W(float r, float h)
+        {
+            float h2 = h * h;
+            float h4 = h2 * h2;
+            float h8 = h4 * h4;
+
+            float rl = math.min(r, h);
+            float hr = h2 - rl * rl;
+
+            if (norm2D)
+                return norm / h8 * hr * hr * hr;
+            return norm / (h8 * h) * hr * hr * hr;
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Density/Kernels/Poly6Kernel.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Density/Kernels/Poly6Kernel.cs.meta
new file mode 100644
index 000000000..ccf533149
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Density/Kernels/Poly6Kernel.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Density/Kernels/SpikyKernel.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Density/Kernels/SpikyKernel.cs
new file mode 100644
index 000000000..113fbc6b4
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Density/Kernels/SpikyKernel.cs
@@ -0,0 +1,35 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using System;
+using Unity.Mathematics;
+
+namespace Obi
+{
+    public struct SpikyKernel
+    {
+        public float norm;
+        public bool norm2D;
+
+        public SpikyKernel(bool norm2D)
+        {
+            this.norm2D = norm2D;
+            if (norm2D)
+                norm = -30.0f / math.PI;
+            else
+                norm = -45.0f / math.PI;
+        }
+
+        public float W(float r, float h)
+        {
+            float h2 = h * h;
+            float h4 = h2 * h2;
+
+            float rl = math.min(r, h);
+            float hr = h - rl;
+
+            if (norm2D)
+                return norm / (h4 * h) * hr * hr;
+            return norm / (h4 * h2) * hr * hr;
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Density/Kernels/SpikyKernel.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Density/Kernels/SpikyKernel.cs.meta
new file mode 100644
index 000000000..d80dd5a91
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Density/Kernels/SpikyKernel.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Distance.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Distance.meta
new file mode 100644
index 000000000..4f562f2dc
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Distance.meta
@@ -0,0 +1,8 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Distance/BurstDistanceConstraints.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Distance/BurstDistanceConstraints.cs
new file mode 100644
index 000000000..66ed256ba
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Distance/BurstDistanceConstraints.cs
@@ -0,0 +1,26 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using System;
+
+namespace Obi
+{
+    public class BurstDistanceConstraints : BurstConstraintsImpl<BurstDistanceConstraintsBatch>
+    {
+        public BurstDistanceConstraints(BurstSolverImpl solver) : base(solver, Oni.ConstraintType.Distance)
+        {
+        }
+
+        public override IConstraintsBatchImpl CreateConstraintsBatch()
+        {
+            var dataBatch = new BurstDistanceConstraintsBatch(this);
+            batches.Add(dataBatch);
+            return dataBatch;
+        }
+
+        public override void RemoveBatch(IConstraintsBatchImpl batch)
+        {
+            batches.Remove(batch as BurstDistanceConstraintsBatch);
+            batch.Destroy();
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Distance/BurstDistanceConstraints.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Distance/BurstDistanceConstraints.cs.meta
new file mode 100644
index 000000000..578334695
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Distance/BurstDistanceConstraints.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: af06abf9c29a04274842dbcb65a2a753
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Distance/BurstDistanceConstraintsBatch.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Distance/BurstDistanceConstraintsBatch.cs
new file mode 100644
index 000000000..5bdf72c08
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Distance/BurstDistanceConstraintsBatch.cs
@@ -0,0 +1,146 @@
+#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
+{
+    public class BurstDistanceConstraintsBatch : BurstConstraintsBatchImpl, IDistanceConstraintsBatchImpl
+    {
+        private NativeArray<float> restLengths;
+        private NativeArray<float2> stiffnesses;
+
+        DistanceConstraintsBatchJob projectConstraints;
+        ApplyDistanceConstraintsBatchJob applyConstraints;
+
+        public BurstDistanceConstraintsBatch(BurstDistanceConstraints 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.AsNativeArray<int>();
+            this.restLengths = restLengths.AsNativeArray<float>();
+            this.stiffnesses = stiffnesses.AsNativeArray<float2>();
+            this.lambdas = lambdas.AsNativeArray<float>();
+            m_ConstraintCount = count;
+
+            projectConstraints.particleIndices = this.particleIndices;
+            projectConstraints.restLengths = this.restLengths;
+            projectConstraints.stiffnesses = this.stiffnesses;
+            projectConstraints.lambdas = this.lambdas;
+
+            applyConstraints.particleIndices = this.particleIndices;
+        }
+
+        public override JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int substeps)
+        {
+            projectConstraints.positions = solverImplementation.positions;
+            projectConstraints.invMasses = solverImplementation.invMasses;
+            projectConstraints.deltas = solverImplementation.positionDeltas;
+            projectConstraints.counts = solverImplementation.positionConstraintCounts;
+            projectConstraints.deltaTimeSqr = substepTime * substepTime;
+
+            return projectConstraints.Schedule(m_ConstraintCount, 32, inputDeps);
+        }
+
+        public override JobHandle Apply(JobHandle inputDeps, float substepTime)
+        {
+            var parameters = solverAbstraction.GetConstraintParameters(m_ConstraintType);
+
+            applyConstraints.positions = solverImplementation.positions;
+            applyConstraints.deltas = solverImplementation.positionDeltas;
+            applyConstraints.counts = solverImplementation.positionConstraintCounts;
+            applyConstraints.sorFactor = parameters.SORFactor;
+
+            return applyConstraints.Schedule(m_ConstraintCount, 64, inputDeps);
+        }
+
+        [BurstCompile]
+        public struct DistanceConstraintsBatchJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<int> particleIndices;
+            [ReadOnly] public NativeArray<float> restLengths;
+            [ReadOnly] public NativeArray<float2> stiffnesses;
+            public NativeArray<float> lambdas;
+
+            [ReadOnly] public NativeArray<float4> positions;
+            [ReadOnly] public NativeArray<float> invMasses;
+
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4> deltas;
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<int> counts;
+
+            [ReadOnly] public float deltaTimeSqr;
+
+            public void Execute(int i)
+            {
+                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 / deltaTimeSqr;
+
+                // calculate position and lambda deltas:
+                float4 distance = positions[p1] - positions[p2];
+                float d = math.length(distance);
+
+                // calculate constraint value:
+                float constraint = d - restLengths[i];
+                constraint -= math.max(math.min(constraint, 0), -stiffnesses[i].y);
+
+                // calculate lambda and position deltas:
+                float dlambda = (-constraint - compliance * lambdas[i]) / (w1 + w2 + compliance + BurstMath.epsilon);
+                float4 delta = dlambda * distance / (d + BurstMath.epsilon);
+
+                lambdas[i] += dlambda;
+
+                deltas[p1] += delta * w1;
+                deltas[p2] -= delta * w2;
+
+                counts[p1]++;
+                counts[p2]++;
+            }
+        }
+
+        [BurstCompile]
+        public struct ApplyDistanceConstraintsBatchJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<int> particleIndices;
+            [ReadOnly] public float sorFactor;
+
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4> positions;
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4> deltas;
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<int> counts;
+
+            public void Execute(int i)
+            {
+                int p1 = particleIndices[i * 2];
+                int p2 = particleIndices[i * 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/Distance/BurstDistanceConstraintsBatch.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Distance/BurstDistanceConstraintsBatch.cs.meta
new file mode 100644
index 000000000..5c4e478c6
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Distance/BurstDistanceConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 31ee5bf24da6847f0b93a69dbbdecf25
+MonoImporter:
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+  defaultReferences: []
+  executionOrder: 0
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ParticleCollision.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ParticleCollision.meta
new file mode 100644
index 000000000..18a7fb3c1
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ParticleCollision.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 66103ca5acc86407cab9aa94d1e6d1fd
+folderAsset: yes
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ParticleCollision/ApplyBatchedCollisionConstraintsBatchJob.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ParticleCollision/ApplyBatchedCollisionConstraintsBatchJob.cs
new file mode 100644
index 000000000..170e0840b
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ParticleCollision/ApplyBatchedCollisionConstraintsBatchJob.cs
@@ -0,0 +1,62 @@
+#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]
+    public struct ApplyBatchedCollisionConstraintsBatchJob : IJobParallelFor
+    {
+        [ReadOnly] public NativeArray<BurstContact> contacts;
+
+        [ReadOnly] public NativeArray<int> simplices;
+        [ReadOnly] public SimplexCounts simplexCounts;
+
+        [NativeDisableParallelForRestriction] public NativeArray<float4> positions;
+        [NativeDisableParallelForRestriction] public NativeArray<float4> deltas;
+        [NativeDisableParallelForRestriction] public NativeArray<int> counts;
+
+        [NativeDisableParallelForRestriction] public NativeArray<quaternion> orientations;
+        [NativeDisableParallelForRestriction] public NativeArray<quaternion> orientationDeltas;
+        [NativeDisableParallelForRestriction] public NativeArray<int> orientationCounts;
+
+        [ReadOnly] public Oni.ConstraintParameters constraintParameters;
+        [ReadOnly] public BatchData batchData;
+
+        public void Execute(int workItemIndex)
+        {
+            int start, end;
+            batchData.GetConstraintRange(workItemIndex, out start, out end);
+
+            for (int i = start; i < end; ++i)
+            {
+                int simplexStartA = simplexCounts.GetSimplexStartAndSize(contacts[i].bodyA, out int simplexSizeA);
+                int simplexStartB = simplexCounts.GetSimplexStartAndSize(contacts[i].bodyB, out int simplexSizeB);
+
+                for (int j = 0; j < simplexSizeA; ++j)
+                {
+                    int particleIndex = simplices[simplexStartA + j];
+                    BurstConstraintsBatchImpl.ApplyPositionDelta(particleIndex, constraintParameters.SORFactor, ref positions, ref deltas, ref counts);
+                    BurstConstraintsBatchImpl.ApplyOrientationDelta(particleIndex, constraintParameters.SORFactor, ref orientations, ref orientationDeltas, ref orientationCounts);
+                }
+
+                for (int j = 0; j < simplexSizeB; ++j)
+                {
+                    int particleIndex = simplices[simplexStartB + j];
+                    BurstConstraintsBatchImpl.ApplyPositionDelta(particleIndex, constraintParameters.SORFactor, ref positions, ref deltas, ref counts);
+                    BurstConstraintsBatchImpl.ApplyOrientationDelta(particleIndex, constraintParameters.SORFactor, ref orientations, ref orientationDeltas, ref orientationCounts);
+                }
+
+            }
+            
+        }
+
+    }
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ParticleCollision/ApplyBatchedCollisionConstraintsBatchJob.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ParticleCollision/ApplyBatchedCollisionConstraintsBatchJob.cs.meta
new file mode 100644
index 000000000..5b2e6ce64
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ParticleCollision/ApplyBatchedCollisionConstraintsBatchJob.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ParticleCollision/BurstParticleCollisionConstraints.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ParticleCollision/BurstParticleCollisionConstraints.cs
new file mode 100644
index 000000000..02bb86246
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ParticleCollision/BurstParticleCollisionConstraints.cs
@@ -0,0 +1,34 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using System;
+using Unity.Jobs;
+
+namespace Obi
+{
+    public class BurstParticleCollisionConstraints : BurstConstraintsImpl<BurstParticleCollisionConstraintsBatch>
+    {
+        public BurstParticleCollisionConstraints(BurstSolverImpl solver) : base(solver, Oni.ConstraintType.ParticleCollision)
+        {
+        }
+
+        public override IConstraintsBatchImpl CreateConstraintsBatch()
+        {
+            var dataBatch = new BurstParticleCollisionConstraintsBatch(this);
+            batches.Add(dataBatch);
+            return dataBatch;
+        }
+
+        public override void RemoveBatch(IConstraintsBatchImpl batch)
+        {
+            batches.Remove(batch as BurstParticleCollisionConstraintsBatch);
+            batch.Destroy();
+        }
+
+        public override int GetConstraintCount()
+        {
+            if (!((BurstSolverImpl)solver).particleContacts.IsCreated)
+                return 0;
+            return ((BurstSolverImpl)solver).particleContacts.Length;
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ParticleCollision/BurstParticleCollisionConstraints.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ParticleCollision/BurstParticleCollisionConstraints.cs.meta
new file mode 100644
index 000000000..41c44704e
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ParticleCollision/BurstParticleCollisionConstraints.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ParticleCollision/BurstParticleCollisionConstraintsBatch.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ParticleCollision/BurstParticleCollisionConstraintsBatch.cs
new file mode 100644
index 000000000..735144267
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ParticleCollision/BurstParticleCollisionConstraintsBatch.cs
@@ -0,0 +1,335 @@
+#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
+{
+    public class BurstParticleCollisionConstraintsBatch : BurstConstraintsBatchImpl, IParticleCollisionConstraintsBatchImpl
+    {
+        public BatchData batchData;
+
+        public BurstParticleCollisionConstraintsBatch(BurstParticleCollisionConstraints constraints)
+        {
+            m_Constraints = constraints;
+            m_ConstraintType = Oni.ConstraintType.ParticleCollision;
+        }
+
+        public BurstParticleCollisionConstraintsBatch(BatchData batchData) : base()
+        {
+            this.batchData = batchData;
+        }
+
+        public override JobHandle Initialize(JobHandle inputDeps, float substepTime)
+        {
+            var updateContacts = new UpdateParticleContactsJob()
+            {
+                prevPositions = solverImplementation.prevPositions,
+                prevOrientations = solverImplementation.prevOrientations,
+                velocities = solverImplementation.velocities,
+                radii = solverImplementation.principalRadii,
+                invMasses = solverImplementation.invMasses,
+                invInertiaTensors = solverImplementation.invInertiaTensors,
+
+                simplices = solverImplementation.simplices,
+                simplexCounts = solverImplementation.simplexCounts,
+
+                particleMaterialIndices = solverImplementation.collisionMaterials,
+                collisionMaterials = ObiColliderWorld.GetInstance().collisionMaterials.AsNativeArray<BurstCollisionMaterial>(),
+
+                contacts = ((BurstSolverImpl)constraints.solver).particleContacts,
+                batchData = batchData
+            };
+
+            int batchCount = batchData.isLast ? batchData.workItemCount : 1;
+            return updateContacts.Schedule(batchData.workItemCount, batchCount, inputDeps);
+        }
+
+        public override JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int substeps)
+        {
+            var parameters = solverAbstraction.GetConstraintParameters(m_ConstraintType);
+
+            var projectConstraints = new ParticleCollisionConstraintsBatchJob()
+            {
+                positions = solverImplementation.positions,
+                orientations = solverImplementation.orientations,
+                invMasses = solverImplementation.invMasses,
+                radii = solverImplementation.principalRadii,
+                particleMaterialIndices = solverImplementation.collisionMaterials,
+                collisionMaterials = ObiColliderWorld.GetInstance().collisionMaterials.AsNativeArray<BurstCollisionMaterial>(),
+
+                simplices = solverImplementation.simplices,
+                simplexCounts = solverImplementation.simplexCounts,
+
+                deltas = solverImplementation.positionDeltas,
+                counts = solverImplementation.positionConstraintCounts,
+                contacts = ((BurstSolverImpl)constraints.solver).particleContacts,
+                batchData = batchData,
+
+                constraintParameters = parameters,
+                solverParameters = solverImplementation.abstraction.parameters,
+                gravity = new float4(solverImplementation.abstraction.parameters.gravity, 0),
+                substepTime = substepTime,
+            };
+
+            int batchCount = batchData.isLast ? batchData.workItemCount : 1;
+            return projectConstraints.Schedule(batchData.workItemCount, batchCount, inputDeps);
+        }
+
+        public override JobHandle Apply(JobHandle inputDeps, float substepTime)
+        {
+            var parameters = solverAbstraction.GetConstraintParameters(m_ConstraintType);
+
+            var applyConstraints = new ApplyBatchedCollisionConstraintsBatchJob()
+            {
+                contacts = ((BurstSolverImpl)constraints.solver).particleContacts,
+
+                simplices = solverImplementation.simplices,
+                simplexCounts = solverImplementation.simplexCounts,
+
+                positions = solverImplementation.positions,
+                deltas = solverImplementation.positionDeltas,
+                counts = solverImplementation.positionConstraintCounts,
+                orientations = solverImplementation.orientations,
+                orientationDeltas = solverImplementation.orientationDeltas,
+                orientationCounts = solverImplementation.orientationConstraintCounts,
+                batchData = batchData,
+                constraintParameters = parameters,
+            };
+
+            int batchCount = batchData.isLast ? batchData.workItemCount : 1;
+            return applyConstraints.Schedule(batchData.workItemCount, batchCount, inputDeps);
+        }
+
+        /**
+         * Updates contact data (contact distance and frame) at the beginning of each substep. This is
+         * necessary because contacts are generated only once at the beginning of each step, not every substep.
+         */
+        [BurstCompile]
+        public struct UpdateParticleContactsJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<float4> prevPositions;
+            [ReadOnly] public NativeArray<quaternion> prevOrientations;
+            [ReadOnly] public NativeArray<float4> velocities;
+            [ReadOnly] public NativeArray<float4> radii;
+            [ReadOnly] public NativeArray<float> invMasses;
+            [ReadOnly] public NativeArray<float4> invInertiaTensors;
+
+            [ReadOnly] public NativeArray<int> particleMaterialIndices;
+            [ReadOnly] public NativeArray<BurstCollisionMaterial> collisionMaterials;
+
+            // simplex arrays:
+            [ReadOnly] public NativeArray<int> simplices;
+            [ReadOnly] public SimplexCounts simplexCounts;
+
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<BurstContact> contacts;
+
+            [ReadOnly] public BatchData batchData;
+
+            public void Execute(int workItemIndex)
+            {
+                int start, end;
+                batchData.GetConstraintRange(workItemIndex, out start, out end);
+
+                for (int i = start; i < end; ++i)
+                {
+                    var contact = contacts[i];
+
+                    int simplexStartA = simplexCounts.GetSimplexStartAndSize(contact.bodyA, out int simplexSizeA);
+                    int simplexStartB = simplexCounts.GetSimplexStartAndSize(contact.bodyB, out int simplexSizeB);
+
+                    float4 simplexVelocityA = float4.zero;
+                    float4 simplexPrevPositionA = float4.zero;
+                    quaternion simplexPrevOrientationA = new quaternion(0, 0, 0, 0);
+                    float simplexRadiusA = 0;
+                    float simplexInvMassA = 0;
+                    float4 simplexInvInertiaA = float4.zero;
+
+                    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;
+
+                    for (int j = 0; j < simplexSizeA; ++j)
+                    {
+                        int particleIndex = simplices[simplexStartA + j];
+                        simplexVelocityA += velocities[particleIndex] * contact.pointA[j];
+                        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];
+                        simplexRadiusA += BurstMath.EllipsoidRadius(contact.normal, prevOrientations[particleIndex], radii[particleIndex].xyz) * contact.pointA[j];
+                    }
+
+                    for (int j = 0; j < simplexSizeB; ++j)
+                    {
+                        int particleIndex = simplices[simplexStartB + j];
+                        simplexVelocityB += velocities[particleIndex] * contact.pointB[j];
+                        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];
+                        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);
+
+                    // calculate contact points:
+                    float4 contactPointA = simplexPrevPositionB + contact.normal * (contact.distance + simplexRadiusB);
+                    float4 contactPointB = simplexPrevPositionA - contact.normal * (contact.distance + simplexRadiusA);
+
+                    // update contact basis:
+                    contact.CalculateBasis(simplexVelocityA - simplexVelocityB);
+
+                    // update contact masses:
+                    int aMaterialIndex = particleMaterialIndices[simplices[simplexStartA]];
+                    int bMaterialIndex = particleMaterialIndices[simplices[simplexStartB]];
+                    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);
+
+                    contacts[i] = contact;
+                }
+            }
+        }
+
+        [BurstCompile]
+        public struct ParticleCollisionConstraintsBatchJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<quaternion> orientations;
+            [ReadOnly] public NativeArray<float> invMasses;
+            [ReadOnly] public NativeArray<float4> radii;
+            [ReadOnly] public NativeArray<int> particleMaterialIndices;
+            [ReadOnly] public NativeArray<BurstCollisionMaterial> collisionMaterials;
+
+            // simplex arrays:
+            [ReadOnly] public NativeArray<int> simplices;
+            [ReadOnly] public SimplexCounts simplexCounts;
+
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> positions;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> deltas;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<int> counts;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<BurstContact> contacts;
+
+            [ReadOnly] public Oni.ConstraintParameters constraintParameters;
+            [ReadOnly] public Oni.SolverParameters solverParameters;
+            [ReadOnly] public float4 gravity;
+            [ReadOnly] public float substepTime;
+
+            [ReadOnly] public BatchData batchData;
+
+            public void Execute(int workItemIndex)
+            {
+                int start, end;
+                batchData.GetConstraintRange(workItemIndex, out start, out end);
+
+                for (int i = start; i < end; ++i)
+                {
+                    var contact = contacts[i];
+
+                    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;
+
+                    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];
+                    }
+                    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];
+                    }
+
+                    float4 posA = simplexPositionA - contact.normal * simplexRadiusA;
+                    float4 posB = simplexPositionB + contact.normal * simplexRadiusB;
+
+                    // adhesion:
+                    float lambda = contact.SolveAdhesion(posA, posB, material.stickDistance, material.stickiness, substepTime);
+
+                    // depenetration:
+                    lambda += contact.SolvePenetration(posA, posB, solverParameters.maxDepenetration * substepTime);
+
+                    // Apply normal impulse to both particles (w/ shock propagation):
+                    if (math.abs(lambda) > BurstMath.epsilon)
+                    {
+                        float shock = solverParameters.shockPropagation * math.dot(contact.normal, math.normalizesafe(gravity));
+                        float4 delta = lambda * contact.normal;
+
+                        float baryScale = BurstMath.BaryScale(contact.pointA);
+                        for (int j = 0; j < simplexSizeA; ++j)
+                        {
+                            int particleIndex = simplices[simplexStartA + j];
+                            deltas[particleIndex] += delta * invMasses[particleIndex] * contact.pointA[j] * baryScale * (1 - shock);
+                            counts[particleIndex]++;
+                        }
+
+                        baryScale = BurstMath.BaryScale(contact.pointB);
+                        for (int j = 0; j < simplexSizeB; ++j)
+                        {
+                            int particleIndex = simplices[simplexStartB + j];
+                            deltas[particleIndex] -= delta * invMasses[particleIndex] * contact.pointB[j] * baryScale * (1 + shock);
+                            counts[particleIndex]++;
+                        }
+                    }
+
+                    // 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);
+                        }
+
+                        for (int j = 0; j < simplexSizeB; ++j)
+                        {
+                            int particleIndex = simplices[simplexStartB + j];
+                            BurstConstraintsBatchImpl.ApplyPositionDelta(particleIndex, constraintParameters.SORFactor, ref positions, ref deltas, ref counts);
+                        }
+                    }
+
+                    contacts[i] = contact;
+                }
+            }
+
+            private BurstCollisionMaterial CombineCollisionMaterials(int entityA, int entityB)
+            {
+                // Combine collision materials:
+                int aMaterialIndex = particleMaterialIndices[entityA];
+                int bMaterialIndex = particleMaterialIndices[entityB];
+
+                if (aMaterialIndex >= 0 && bMaterialIndex >= 0)
+                    return BurstCollisionMaterial.CombineWith(collisionMaterials[aMaterialIndex], collisionMaterials[bMaterialIndex]);
+                else if (aMaterialIndex >= 0)
+                    return collisionMaterials[aMaterialIndex];
+                else if (bMaterialIndex >= 0)
+                    return collisionMaterials[bMaterialIndex];
+
+                return new BurstCollisionMaterial();
+            }
+        }
+
+
+    }
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ParticleCollision/BurstParticleCollisionConstraintsBatch.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ParticleCollision/BurstParticleCollisionConstraintsBatch.cs.meta
new file mode 100644
index 000000000..18a62f383
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ParticleCollision/BurstParticleCollisionConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 61f5c3e93290646948b251d617f01c8d
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ParticleCollision/BurstParticleFrictionConstraints.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ParticleCollision/BurstParticleFrictionConstraints.cs
new file mode 100644
index 000000000..3e9974dde
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ParticleCollision/BurstParticleFrictionConstraints.cs
@@ -0,0 +1,33 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using System;
+
+namespace Obi
+{
+    public class BurstParticleFrictionConstraints : BurstConstraintsImpl<BurstParticleFrictionConstraintsBatch>
+    {
+        public BurstParticleFrictionConstraints(BurstSolverImpl solver) : base(solver, Oni.ConstraintType.ParticleFriction)
+        {
+        }
+
+        public override IConstraintsBatchImpl CreateConstraintsBatch()
+        {
+            var dataBatch = new BurstParticleFrictionConstraintsBatch(this);
+            batches.Add(dataBatch);
+            return dataBatch;
+        }
+
+        public override void RemoveBatch(IConstraintsBatchImpl batch)
+        {
+            batches.Remove(batch as BurstParticleFrictionConstraintsBatch);
+            batch.Destroy();
+        }
+
+        public override int GetConstraintCount()
+        {
+            if (!((BurstSolverImpl)solver).particleContacts.IsCreated)
+                return 0;
+            return ((BurstSolverImpl)solver).particleContacts.Length;
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ParticleCollision/BurstParticleFrictionConstraints.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ParticleCollision/BurstParticleFrictionConstraints.cs.meta
new file mode 100644
index 000000000..b28ae4e1c
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ParticleCollision/BurstParticleFrictionConstraints.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 63dade0c384ee4c1398ddf4d60038764
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ParticleCollision/BurstParticleFrictionConstraintsBatch.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ParticleCollision/BurstParticleFrictionConstraintsBatch.cs
new file mode 100644
index 000000000..c96cfbd21
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ParticleCollision/BurstParticleFrictionConstraintsBatch.cs
@@ -0,0 +1,288 @@
+#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
+{
+    public class BurstParticleFrictionConstraintsBatch : BurstConstraintsBatchImpl, IParticleFrictionConstraintsBatchImpl
+    {
+        public BatchData batchData;
+
+        public BurstParticleFrictionConstraintsBatch(BurstParticleFrictionConstraints constraints)
+        {
+            m_Constraints = constraints;
+            m_ConstraintType = Oni.ConstraintType.ParticleFriction;
+        }
+
+        public BurstParticleFrictionConstraintsBatch(BatchData batchData) : base()
+        {
+            this.batchData = batchData;
+        }
+
+        public override JobHandle Initialize(JobHandle inputDeps, float substepTime)
+        {
+            return inputDeps;
+        }
+
+        public override JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int substeps)
+        {
+            if (!((BurstSolverImpl)constraints.solver).particleContacts.IsCreated)
+                return inputDeps;
+
+            var projectConstraints = new ParticleFrictionConstraintsBatchJob()
+            {
+                positions = solverImplementation.positions,
+                prevPositions = solverImplementation.prevPositions,
+                orientations = solverImplementation.orientations,
+                prevOrientations = solverImplementation.prevOrientations,
+
+                invMasses = solverImplementation.invMasses,
+                invInertiaTensors = solverImplementation.invInertiaTensors,
+                radii = solverImplementation.principalRadii,
+                particleMaterialIndices = solverImplementation.collisionMaterials,
+                collisionMaterials = ObiColliderWorld.GetInstance().collisionMaterials.AsNativeArray<BurstCollisionMaterial>(),
+
+                simplices = solverImplementation.simplices,
+                simplexCounts = solverImplementation.simplexCounts,
+
+                deltas = solverImplementation.positionDeltas,
+                counts = solverImplementation.positionConstraintCounts,
+                orientationDeltas = solverImplementation.orientationDeltas,
+                orientationCounts = solverImplementation.orientationConstraintCounts,
+                contacts = ((BurstSolverImpl)constraints.solver).particleContacts,
+
+                batchData = batchData,
+                substepTime = substepTime,
+            };
+
+            int batchCount = batchData.isLast ? batchData.workItemCount : 1;
+            return projectConstraints.Schedule(batchData.workItemCount, batchCount, inputDeps);
+        }
+
+        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,
+
+                simplices = solverImplementation.simplices,
+                simplexCounts = solverImplementation.simplexCounts,
+
+                positions = solverImplementation.positions,
+                deltas = solverImplementation.positionDeltas,
+                counts = solverImplementation.positionConstraintCounts,
+                orientations = solverImplementation.orientations,
+                orientationDeltas = solverImplementation.orientationDeltas,
+                orientationCounts = solverImplementation.orientationConstraintCounts,
+                constraintParameters = parameters,
+                batchData = batchData
+            };
+
+            int batchCount = batchData.isLast ? batchData.workItemCount : 1;
+            return applyConstraints.Schedule(batchData.workItemCount, batchCount, inputDeps);
+        }
+
+        [BurstCompile]
+        public struct ParticleFrictionConstraintsBatchJob : IJobParallelFor
+        {
+
+            [ReadOnly] public NativeArray<float4> positions;
+            [ReadOnly] public NativeArray<float4> prevPositions;
+            [ReadOnly] public NativeArray<quaternion> orientations;
+            [ReadOnly] public NativeArray<quaternion> prevOrientations;
+
+            [ReadOnly] public NativeArray<float> invMasses;
+            [ReadOnly] public NativeArray<float4> invInertiaTensors;
+            [ReadOnly] public NativeArray<float4> radii;
+            [ReadOnly] public NativeArray<int> particleMaterialIndices;
+            [ReadOnly] public NativeArray<BurstCollisionMaterial> collisionMaterials;
+
+            // simplex arrays:
+            [ReadOnly] public NativeArray<int> simplices;
+            [ReadOnly] public SimplexCounts simplexCounts;
+
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> deltas;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<int> counts;
+
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<quaternion> orientationDeltas;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<int> orientationCounts;
+
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<BurstContact> contacts;
+
+            [ReadOnly] public BatchData batchData;
+            [ReadOnly] public float substepTime;
+
+            public void Execute(int workItemIndex)
+            {
+                int start, end;
+                batchData.GetConstraintRange(workItemIndex, out start, out end);
+
+                for (int i = start; i < end; ++i)
+                {
+                    var contact = contacts[i];
+
+                    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 prevPositionA = float4.zero;
+                    float4 linearVelocityA = float4.zero;
+                    float4 angularVelocityA = float4.zero;
+                    float4 invInertiaTensorA = float4.zero;
+                    quaternion orientationA = new quaternion(0, 0, 0, 0);
+                    float simplexRadiusA = 0;
+
+                    float4 prevPositionB = float4.zero;
+                    float4 linearVelocityB = float4.zero;
+                    float4 angularVelocityB = float4.zero;
+                    float4 invInertiaTensorB = float4.zero;
+                    quaternion orientationB = new quaternion(0, 0, 0, 0);
+                    float simplexRadiusB = 0;
+
+                    for (int j = 0; j < simplexSizeA; ++j)
+                    {
+                        int particleIndex = simplices[simplexStartA + j];
+                        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];
+                        orientationA.value += orientations[particleIndex].value * contact.pointA[j];
+                        simplexRadiusA += BurstMath.EllipsoidRadius(contact.normal, prevOrientations[particleIndex], radii[particleIndex].xyz) * contact.pointA[j];
+                    }
+                    for (int j = 0; j < simplexSizeB; ++j)
+                    {
+                        int particleIndex = simplices[simplexStartB + j];
+                        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];
+                        orientationB.value += orientations[particleIndex].value * contact.pointB[j];
+                        simplexRadiusB += BurstMath.EllipsoidRadius(contact.normal, prevOrientations[particleIndex], radii[particleIndex].xyz) * contact.pointB[j];
+                    }
+
+                    float4 rA = float4.zero, rB = float4.zero;
+
+                    // Consider angular velocities if rolling contacts are enabled:
+                    if (material.rollingContacts > 0)
+                    {
+                        rA = -contact.normal * simplexRadiusA;
+                        rB = contact.normal * simplexRadiusB;
+
+                        linearVelocityA += new float4(math.cross(angularVelocityA.xyz, rA.xyz), 0);
+                        linearVelocityB += new float4(math.cross(angularVelocityB.xyz, rB.xyz), 0);
+                    }
+
+                    // 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);
+
+                    // Apply friction impulses to both particles:
+                    if (math.abs(impulses.x) > BurstMath.epsilon || math.abs(impulses.y) > BurstMath.epsilon)
+                    {
+                        float4 tangentImpulse = impulses.x * contact.tangent;
+                        float4 bitangentImpulse = impulses.y * contact.bitangent;
+                        float4 totalImpulse = tangentImpulse + bitangentImpulse;
+
+                        float baryScale = BurstMath.BaryScale(contact.pointA);
+                        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;
+                            counts[particleIndex]++;
+                        }
+
+                        baryScale = BurstMath.BaryScale(contact.pointB);
+                        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;
+                            counts[particleIndex]++;
+                        }
+
+                        // Rolling contacts:
+                        if (material.rollingContacts > 0)
+                        {
+                            // Calculate angular velocity deltas due to friction impulse:
+                            float4x4 solverInertiaA = BurstMath.TransformInertiaTensor(invInertiaTensorA, orientationA);
+                            float4x4 solverInertiaB = BurstMath.TransformInertiaTensor(invInertiaTensorB, orientationB);
+
+                            float4 angVelDeltaA = math.mul(solverInertiaA, new float4(math.cross(rA.xyz, totalImpulse.xyz), 0));
+                            float4 angVelDeltaB = -math.mul(solverInertiaB, new float4(math.cross(rB.xyz, totalImpulse.xyz), 0));
+
+                            // Final angular velocities, after adding the deltas:
+                            angularVelocityA += angVelDeltaA;
+                            angularVelocityB += angVelDeltaB;
+
+                            // Calculate weights (inverse masses):
+                            float invMassA = math.length(math.mul(solverInertiaA, math.normalizesafe(angularVelocityA)));
+                            float invMassB = math.length(math.mul(solverInertiaB, math.normalizesafe(angularVelocityB)));
+
+                            // Calculate rolling axis and angular velocity deltas:
+                            float4 rollAxis = float4.zero;
+                            float rollingImpulse = contact.SolveRollingFriction(angularVelocityA, angularVelocityB, material.rollingFriction, invMassA, invMassB, ref rollAxis);
+                            angVelDeltaA += rollAxis * rollingImpulse * invMassA;
+                            angVelDeltaB -= rollAxis * rollingImpulse * invMassB;
+
+                            // Apply orientation deltas to particles:
+                            quaternion orientationDeltaA = BurstIntegration.AngularVelocityToSpinQuaternion(orientationA, angVelDeltaA, substepTime);
+                            quaternion orientationDeltaB = BurstIntegration.AngularVelocityToSpinQuaternion(orientationB, angVelDeltaB, substepTime);
+
+                            for (int j = 0; j < simplexSizeA; ++j)
+                            {
+                                int particleIndex = simplices[simplexStartA + j];
+                                quaternion qA = orientationDeltas[particleIndex];
+                                qA.value += orientationDeltaA.value;
+                                orientationDeltas[particleIndex] = qA;
+                                orientationCounts[particleIndex]++;
+                            }
+
+                            for (int j = 0; j < simplexSizeB; ++j)
+                            {
+                                int particleIndex = simplices[simplexStartB+ j];
+                                quaternion qB = orientationDeltas[particleIndex];
+                                qB.value += orientationDeltaB.value;
+                                orientationDeltas[particleIndex] = qB;
+                                orientationCounts[particleIndex]++;
+                            }
+                        }
+                    }
+
+                    contacts[i] = contact;
+                }
+            }
+
+            private BurstCollisionMaterial CombineCollisionMaterials(int entityA, int entityB)
+            {
+                // Combine collision materials:
+                int aMaterialIndex = particleMaterialIndices[entityA];
+                int bMaterialIndex = particleMaterialIndices[entityB];
+
+                if (aMaterialIndex >= 0 && bMaterialIndex >= 0)
+                    return BurstCollisionMaterial.CombineWith(collisionMaterials[aMaterialIndex], collisionMaterials[bMaterialIndex]);
+                else if (aMaterialIndex >= 0)
+                    return collisionMaterials[aMaterialIndex];
+                else if (bMaterialIndex >= 0)
+                    return collisionMaterials[bMaterialIndex];
+
+                return new BurstCollisionMaterial();
+            }
+        }
+
+
+    }
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ParticleCollision/BurstParticleFrictionConstraintsBatch.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ParticleCollision/BurstParticleFrictionConstraintsBatch.cs.meta
new file mode 100644
index 000000000..17dfb971e
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ParticleCollision/BurstParticleFrictionConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Pin.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Pin.meta
new file mode 100644
index 000000000..d0bbb0cf6
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Pin.meta
@@ -0,0 +1,8 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Pin/BurstPinConstraints.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Pin/BurstPinConstraints.cs
new file mode 100644
index 000000000..530040132
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Pin/BurstPinConstraints.cs
@@ -0,0 +1,26 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using System;
+
+namespace Obi
+{
+    public class BurstPinConstraints : BurstConstraintsImpl<BurstPinConstraintsBatch>
+    {
+        public BurstPinConstraints(BurstSolverImpl solver) : base(solver, Oni.ConstraintType.Pin)
+        {
+        }
+
+        public override IConstraintsBatchImpl CreateConstraintsBatch()
+        {
+            var dataBatch = new BurstPinConstraintsBatch(this);
+            batches.Add(dataBatch);
+            return dataBatch;
+        }
+
+        public override void RemoveBatch(IConstraintsBatchImpl batch)
+        {
+            batches.Remove(batch as BurstPinConstraintsBatch);
+            batch.Destroy();
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Pin/BurstPinConstraints.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Pin/BurstPinConstraints.cs.meta
new file mode 100644
index 000000000..8a357a986
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Pin/BurstPinConstraints.cs.meta
@@ -0,0 +1,11 @@
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+guid: 73ae545b061fa4db988fd3b64410fc6d
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Pin/BurstPinConstraintsBatch.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Pin/BurstPinConstraintsBatch.cs
new file mode 100644
index 000000000..bf8efe8cc
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Pin/BurstPinConstraintsBatch.cs
@@ -0,0 +1,280 @@
+#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;
+
+namespace Obi
+{
+    public class BurstPinConstraintsBatch : BurstConstraintsBatchImpl, IPinConstraintsBatchImpl
+    {
+        private NativeArray<int> colliderIndices;
+        private NativeArray<float4> offsets;
+        private NativeArray<quaternion> restDarbouxVectors;
+        private NativeArray<float2> stiffnesses;
+
+        public BurstPinConstraintsBatch(BurstPinConstraints 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.AsNativeArray<int>();
+            this.colliderIndices = colliderIndices.AsNativeArray<int>();
+            this.offsets = offsets.AsNativeArray<float4>();
+            this.restDarbouxVectors = restDarbouxVectors.AsNativeArray<quaternion>();
+            this.stiffnesses = stiffnesses.AsNativeArray<float2>();
+            this.lambdas = lambdas.AsNativeArray<float>();
+            m_ConstraintCount = count;
+        }
+
+        public override JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int substeps)
+        {
+            var projectConstraints = new PinConstraintsBatchJob()
+            {
+                particleIndices = particleIndices,
+                colliderIndices = colliderIndices,
+                offsets = offsets,
+                stiffnesses = stiffnesses,
+                restDarboux = restDarbouxVectors,
+                lambdas = lambdas.Reinterpret<float, float4>(),
+
+                positions = solverImplementation.positions,
+                prevPositions = solverImplementation.prevPositions,
+                invMasses = solverImplementation.invMasses,
+                orientations = solverImplementation.orientations,
+                invRotationalMasses = solverImplementation.invRotationalMasses,
+
+                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,
+                orientationDeltas = solverImplementation.orientationDeltas,
+                orientationCounts = solverImplementation.orientationConstraintCounts,
+
+                inertialFrame = ((BurstSolverImpl)constraints.solver).inertialFrame,
+                stepTime = stepTime,
+                substepTime = substepTime,
+                substeps = substeps,
+                activeConstraintCount = m_ConstraintCount
+            };
+
+            return projectConstraints.Schedule(inputDeps);
+        }
+
+        public override JobHandle Apply(JobHandle inputDeps, float substepTime)
+        {
+            var parameters = solverAbstraction.GetConstraintParameters(m_ConstraintType);
+
+            var applyConstraints = new ApplyPinConstraintsBatchJob()
+            {
+                particleIndices = particleIndices,
+
+                positions = solverImplementation.positions,
+                deltas = solverImplementation.positionDeltas,
+                counts = solverImplementation.positionConstraintCounts,
+
+                orientations = solverImplementation.orientations,
+                orientationDeltas = solverImplementation.orientationDeltas,
+                orientationCounts = solverImplementation.orientationConstraintCounts,
+
+                sorFactor = parameters.SORFactor,
+                activeConstraintCount = m_ConstraintCount,
+            };
+
+            return applyConstraints.Schedule(inputDeps);
+        }
+
+        [BurstCompile]
+        public unsafe struct PinConstraintsBatchJob : IJob
+        {
+            [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;
+            public NativeArray<float4> lambdas;
+
+            [ReadOnly] public NativeArray<float4> positions;
+            [ReadOnly] public NativeArray<float4> prevPositions;
+            [ReadOnly] public NativeArray<float> invMasses;
+            [ReadOnly] public NativeArray<quaternion> orientations;
+            [ReadOnly] public NativeArray<float> invRotationalMasses;
+
+            [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> deltas;
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<int> counts;
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<quaternion> orientationDeltas;
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<int> orientationCounts;
+
+            [ReadOnly] public BurstInertialFrame inertialFrame;
+            [ReadOnly] public float stepTime;
+            [ReadOnly] public float substepTime;
+            [ReadOnly] public int substeps;
+            [ReadOnly] public int activeConstraintCount;
+
+            public void Execute()
+            {
+                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)
+                        continue;
+
+                    int rigidbodyIndex = shapes[colliderIndex].rigidbodyIndex;
+
+                    // 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], 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;
+                }
+            }
+        }
+
+        [BurstCompile]
+        public struct ApplyPinConstraintsBatchJob : IJob
+        {
+            [ReadOnly] public NativeArray<int> particleIndices;
+            [ReadOnly] public float sorFactor;
+
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> positions;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> deltas;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<int> counts;
+
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<quaternion> orientations;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<quaternion> orientationDeltas;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<int> orientationCounts;
+
+            [ReadOnly] public int activeConstraintCount;
+
+            public void Execute()
+            {
+                for (int i = 0; i < activeConstraintCount; ++i)
+                {
+                    int p1 = particleIndices[i];
+
+                    if (counts[p1] > 0)
+                    {
+                        positions[p1] += deltas[p1] * sorFactor / counts[p1];
+                        deltas[p1] = float4.zero;
+                        counts[p1] = 0;
+                    }
+
+                    if (orientationCounts[p1] > 0)
+                    {
+                        quaternion q = orientations[p1];
+                        q.value += orientationDeltas[p1].value * sorFactor / orientationCounts[p1];
+                        orientations[p1] = math.normalize(q);
+
+                        orientationDeltas[p1] = new quaternion(0, 0, 0, 0);
+                        orientationCounts[p1] = 0;
+                    }
+                }
+            }
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Pin/BurstPinConstraintsBatch.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Pin/BurstPinConstraintsBatch.cs.meta
new file mode 100644
index 000000000..36ea9d25f
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Pin/BurstPinConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: a383dd79fc24448059bb45283b12a52b
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ShapeMatching.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ShapeMatching.meta
new file mode 100644
index 000000000..63ebf86ac
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ShapeMatching.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: bf9959ac1dc214a0799c42583ae2cbdb
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ShapeMatching/BurstShapeMatchingConstraints.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ShapeMatching/BurstShapeMatchingConstraints.cs
new file mode 100644
index 000000000..562da3ad8
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ShapeMatching/BurstShapeMatchingConstraints.cs
@@ -0,0 +1,26 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using System;
+
+namespace Obi
+{
+    public class BurstShapeMatchingConstraints : BurstConstraintsImpl<BurstShapeMatchingConstraintsBatch>
+    {
+        public BurstShapeMatchingConstraints(BurstSolverImpl solver) : base(solver, Oni.ConstraintType.ShapeMatching)
+        {
+        }
+
+        public override IConstraintsBatchImpl CreateConstraintsBatch()
+        {
+            var dataBatch = new BurstShapeMatchingConstraintsBatch(this);
+            batches.Add(dataBatch);
+            return dataBatch;
+        }
+
+        public override void RemoveBatch(IConstraintsBatchImpl batch)
+        {
+            batches.Remove(batch as BurstShapeMatchingConstraintsBatch);
+            batch.Destroy();
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ShapeMatching/BurstShapeMatchingConstraints.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ShapeMatching/BurstShapeMatchingConstraints.cs.meta
new file mode 100644
index 000000000..4827c585b
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ShapeMatching/BurstShapeMatchingConstraints.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: cf31f7a95aadc4c85a69a3400ba30608
+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
new file mode 100644
index 000000000..c73dc01c4
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ShapeMatching/BurstShapeMatchingConstraintsBatch.cs
@@ -0,0 +1,459 @@
+#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
+{
+    public class BurstShapeMatchingConstraintsBatch : BurstConstraintsBatchImpl, IShapeMatchingConstraintsBatchImpl
+    {
+        private NativeArray<int> firstIndex;
+        private NativeArray<int> numIndices;
+        private NativeArray<int> explicitGroup;
+        private NativeArray<float> shapeMaterialParameters;
+        private NativeArray<float4>     restComs;
+        private NativeArray<float4>     coms;
+        private NativeArray<quaternion> constraintOrientations;
+
+        private NativeArray<float4x4> Aqq;
+        private NativeArray<float4x4> linearTransforms;
+        private NativeArray<float4x4> plasticDeformations;
+
+        public BurstShapeMatchingConstraintsBatch(BurstShapeMatchingConstraints 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.AsNativeArray<int>();
+            this.firstIndex = firstIndex.AsNativeArray<int>();
+            this.numIndices = numIndices.AsNativeArray<int>();
+            this.explicitGroup = explicitGroup.AsNativeArray<int>();
+            this.shapeMaterialParameters = shapeMaterialParameters.AsNativeArray<float>();
+            this.restComs = restComs.AsNativeArray<float4>();
+            this.coms = coms.AsNativeArray<float4>();
+            this.constraintOrientations = constraintOrientations.AsNativeArray<quaternion>();
+            this.linearTransforms = linearTransforms.AsNativeArray<float4x4>();
+            this.plasticDeformations = plasticDeformations.AsNativeArray<float4x4>();
+
+            if (Aqq.IsCreated)
+                Aqq.Dispose();
+
+            Aqq = new NativeArray<float4x4>(count,Allocator.Persistent);
+
+            m_ConstraintCount = count;
+        }
+
+        public override void Destroy()
+        {
+            if (Aqq.IsCreated)
+                Aqq.Dispose();
+        }
+
+        public override JobHandle Initialize(JobHandle inputDeps, float substepTime)
+        {
+            return inputDeps;
+        }
+
+        public override JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int substeps)
+        {
+            var projectConstraints = new ShapeMatchingConstraintsBatchJob()
+            {
+                particleIndices = particleIndices,
+                firstIndex = firstIndex,
+                numIndices = numIndices,
+                explicitGroup = explicitGroup,
+                shapeMaterialParameters = shapeMaterialParameters,
+                restComs = restComs,
+                coms = coms,
+                constraintOrientations = constraintOrientations,
+                Aqq = Aqq,
+                linearTransforms = linearTransforms,
+                deformation = plasticDeformations,
+
+                positions = solverImplementation.positions,
+                restPositions = solverImplementation.restPositions,
+                orientations = solverImplementation.orientations,
+                restOrientations = solverImplementation.restOrientations,
+                invMasses = solverImplementation.invMasses,
+                invRotationalMasses = solverImplementation.invRotationalMasses,
+                invInertiaTensors = solverImplementation.invInertiaTensors,
+
+                deltas = solverImplementation.positionDeltas,
+                counts = solverImplementation.positionConstraintCounts,
+
+                deltaTime = substepTime
+            };
+
+            return projectConstraints.Schedule(m_ConstraintCount, 4, inputDeps);
+        }
+
+        public override JobHandle Apply(JobHandle inputDeps, float substepTime)
+        {
+            var parameters = solverAbstraction.GetConstraintParameters(m_ConstraintType);
+
+            var applyConstraints = new ApplyShapeMatchingConstraintsBatchJob()
+            {
+                particleIndices = particleIndices,
+                firstIndex = firstIndex,
+                numIndices = numIndices,
+
+                positions = solverImplementation.positions,
+                deltas = solverImplementation.positionDeltas,
+                counts = solverImplementation.positionConstraintCounts,
+
+                sorFactor = parameters.SORFactor
+            };
+
+            return applyConstraints.Schedule(m_ConstraintCount, 8, inputDeps);
+        }
+
+        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();
+        }
+
+        protected static void RecalculateRestData(int i,
+                                                  ref NativeArray<int> particleIndices,
+                                                  ref NativeArray<int> firstIndex,
+                                                  ref NativeArray<float4> restComs,
+                                                  ref NativeArray<float4x4> Aqq,
+                                                  ref NativeArray<float4x4> deformation,
+                                                  ref NativeArray<int> numIndices,
+                                                  ref NativeArray<float> invMasses,
+                                                  ref NativeArray<float4> restPositions,
+                                                  ref NativeArray<quaternion> restOrientations,
+                                                  ref NativeArray<float4> invInertiaTensors)
+        {
+            int k = 0;
+            float maximumMass = 10000;
+
+            // initialize rest center of mass and shape matrix:
+            restComs[i] = float4.zero;
+            Aqq[i] = float4x4.zero;
+
+            float4 restCom = float4.zero;
+            float4x4 _Aqq = float4x4.zero, _Rqq = float4x4.zero;
+
+            // calculate rest center of mass, shape mass and 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 = restOrientations[k].toMatrix();
+                particleR[3][3] = 0;
+
+                _Rqq += math.mul(particleR,
+                                 math.mul(math.rcp(invInertiaTensors[k] + new float4(BurstMath.epsilon)).asDiagonal(),
+                                 math.transpose(particleR))
+                                );
+
+                float4 restPosition = restPositions[k];
+                restPosition[3] = 0;
+
+                _Aqq += mass * BurstMath.multrnsp4(restPosition, restPosition);
+
+            }
+
+
+            if (restCom[3] < BurstMath.epsilon)
+                return;
+
+            restCom.xyz /= restCom[3];
+            restComs[i] = restCom;
+
+            restCom[3] = 0;
+            _Aqq -= restComs[i][3] * BurstMath.multrnsp4(restCom, restCom);
+            _Aqq[3][3] = 1; // so that the determinant is never 0 due to all-zeros row/column.
+
+            Aqq[i] = math.inverse(_Rqq + math.mul(deformation[i], math.mul(_Aqq, math.transpose(deformation[i]))));
+        }
+
+        [BurstCompile]
+        public struct ShapeMatchingCalculateRestJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<int> particleIndices;
+            [ReadOnly] public NativeArray<int> firstIndex;
+            [ReadOnly] public NativeArray<int> numIndices;
+            public NativeArray<float4> restComs;
+            [ReadOnly] public NativeArray<float4> coms;
+
+            public NativeArray<float4x4> Aqq;
+            [ReadOnly] public NativeArray<float4x4> deformation;
+
+            [ReadOnly] public NativeArray<float4> restPositions;
+            [ReadOnly] public NativeArray<quaternion> restOrientations;
+            [ReadOnly] public NativeArray<float> invMasses;
+            [ReadOnly] public NativeArray<float4> invInertiaTensors;
+
+            public void Execute(int i)
+            {
+                RecalculateRestData(i,
+                                    ref particleIndices,
+                                    ref firstIndex,
+                                    ref restComs,
+                                    ref Aqq,
+                                    ref deformation,
+                                    ref numIndices,
+                                    ref invMasses,
+                                    ref restPositions,
+                                    ref restOrientations,
+                                    ref invInertiaTensors);
+            }
+        }
+
+        [BurstCompile]
+        public struct ShapeMatchingConstraintsBatchJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<int> particleIndices;
+            [ReadOnly] public NativeArray<int> firstIndex;
+            [ReadOnly] public NativeArray<int> numIndices;
+            [ReadOnly] public NativeArray<int> explicitGroup;
+            [ReadOnly] public NativeArray<float> shapeMaterialParameters;
+            public NativeArray<float4> restComs;
+            public NativeArray<float4> coms;
+            public NativeArray<quaternion> constraintOrientations;
+
+            public NativeArray<float4x4> Aqq;
+            public NativeArray<float4x4> linearTransforms;
+            public NativeArray<float4x4> deformation;
+
+            [ReadOnly] public NativeArray<float4> positions;
+            [ReadOnly] public NativeArray<float4> restPositions;
+
+            [ReadOnly] public NativeArray<quaternion> restOrientations;
+            [ReadOnly] public NativeArray<float> invMasses;
+            [ReadOnly] public NativeArray<float> invRotationalMasses;
+            [ReadOnly] public NativeArray<float4> invInertiaTensors;
+
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<quaternion> orientations;
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4> deltas;
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<int> counts;
+
+            [ReadOnly] public float deltaTime;
+
+            public void Execute(int i)
+            {
+                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:
+                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];
+
+                    coms[i] += positions[k] * mass;
+
+                    float4x4 particleR = orientations[k].toMatrix();
+                    float4x4 particleRT = restOrientations[k].toMatrix();
+                    particleR[3][3] = 0;
+                    particleRT[3][3] = 0;
+
+                    Rpq += math.mul(particleR,
+                                    math.mul(math.rcp(invInertiaTensors[k] + new float4(BurstMath.epsilon)).asDiagonal(),
+                                    math.transpose(particleRT))
+                                    );
+
+                    float4 restPosition = restPositions[k];
+                    restPosition[3] = 0;
+
+                    Apq += mass * BurstMath.multrnsp4(positions[k], restPosition);
+                }
+
+                if (restComs[i][3] < BurstMath.epsilon)
+                    return;
+
+                coms[i] /= restComs[i][3];
+
+                // subtract global shape moment:
+                float4 restCom = restComs[i];
+                restCom[3] = 0;
+
+                Apq -= restComs[i][3] * BurstMath.multrnsp4(coms[i], restCom);
+
+                // calculate optimal transform including plastic deformation:
+                float4x4 Apq_def = Rpq + math.mul(Apq , math.transpose(deformation[i]));
+                Apq_def[3][3] = 1;
+
+                // reconstruct full best-matching linear transform:
+                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);
+
+                // finally, obtain rotation matrix:
+                float4x4 R = constraintOrientations[i].toMatrix();
+                R[3][3] = 0;
+
+                // 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] = math.mul(constraintOrientations[i], restOrientations[k]);
+                    }
+                }
+                else
+                {
+                    // set orientation of center particle only:
+                    int centerIndex = particleIndices[firstIndex[i]];
+                    orientations[centerIndex] = math.mul(constraintOrientations[i], restOrientations[centerIndex]);
+                }
+
+                // calculate and accumulate particle goal positions:
+                float4 goal;
+                float4x4 transform = math.mul(R,deformation[i]);
+                for (int j = 0; j < numIndices[i]; ++j)
+                {
+                    k = particleIndices[firstIndex[i] + j];
+                    goal = coms[i] + math.mul(transform, restPositions[k] - restComs[i]);
+                    deltas[k] += (goal - positions[k]) * shapeMaterialParameters[i * 5];
+                    counts[k]++;
+                }
+
+                // update plastic deformation:
+                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)
+                {
+                    R[3][3] = 1;
+
+                    // get scale matrix (A = RS so S = Rt * A) and its deviation from the identity matrix:
+                    float4x4 deform_matrix = math.mul(math.transpose(R), linearTransforms[i]) - float4x4.identity;
+
+                    // if the amount of deformation exceeds the yield threshold:
+                    float norm = deform_matrix.frobeniusNorm();
+                    if (norm > plastic_yield)
+                    {
+                        // deform the shape permanently:
+                        deformation[i] = math.mul(float4x4.identity + plastic_creep * deform_matrix, deformation[i]);
+
+                        // clamp deformation so that it does not exceed a percentage;
+                        deform_matrix = deformation[i] - float4x4.identity;
+                        norm = deform_matrix.frobeniusNorm();
+                        if (norm > max_deform)
+                        {
+                            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,
+                                    ref particleIndices,
+                                    ref firstIndex,
+                                    ref restComs,
+                                    ref Aqq,
+                                    ref deformation,
+                                    ref numIndices,
+                                    ref invMasses,
+                                    ref restPositions,
+                                    ref restOrientations,
+                                    ref invInertiaTensors);
+                    }
+                }
+
+                // if we can recover from plastic deformation, lerp towards non-deformed shape and recalculate rest shape:
+                if (plastic_recovery > 0)
+                {
+                    deformation[i] += (float4x4.identity - deformation[i]) * math.min(plastic_recovery * deltaTime, 1.0f);
+                    RecalculateRestData(i,
+                                    ref particleIndices,
+                                    ref firstIndex,
+                                    ref restComs,
+                                    ref Aqq,
+                                    ref deformation,
+                                    ref numIndices,
+                                    ref invMasses,
+                                    ref restPositions,
+                                    ref restOrientations,
+                                    ref invInertiaTensors);
+                }
+            }
+        }
+
+        [BurstCompile]
+        public struct ApplyShapeMatchingConstraintsBatchJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<int> particleIndices;
+            [ReadOnly] public NativeArray<int> firstIndex;
+            [ReadOnly] public NativeArray<int> numIndices;
+            [ReadOnly] public float sorFactor;
+
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> positions;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> deltas;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<int> counts;
+
+            public void Execute(int i)
+            {
+                int first = firstIndex[i];
+                int last = first + numIndices[i];
+
+                for (int k = first; k < last; ++k)
+                {
+                    int p = particleIndices[k];
+                    if (counts[p] > 0)
+                    {
+                        positions[p] += deltas[p] * sorFactor / counts[p];
+                        deltas[p] = float4.zero;
+                        counts[p] = 0;
+                    }
+                }
+            }
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ShapeMatching/BurstShapeMatchingConstraintsBatch.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ShapeMatching/BurstShapeMatchingConstraintsBatch.cs.meta
new file mode 100644
index 000000000..aedc56273
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/ShapeMatching/BurstShapeMatchingConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
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+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
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+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Skin.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Skin.meta
new file mode 100644
index 000000000..b8d49053d
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Skin.meta
@@ -0,0 +1,8 @@
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+guid: da67648eb6cfe43fbb5574da14d23dc6
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Skin/BurstSkinConstraints.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Skin/BurstSkinConstraints.cs
new file mode 100644
index 000000000..e823e01cc
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Skin/BurstSkinConstraints.cs
@@ -0,0 +1,26 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using System;
+
+namespace Obi
+{
+    public class BurstSkinConstraints : BurstConstraintsImpl<BurstSkinConstraintsBatch>
+    {
+        public BurstSkinConstraints(BurstSolverImpl solver) : base(solver, Oni.ConstraintType.Skin)
+        {
+        }
+
+        public override IConstraintsBatchImpl CreateConstraintsBatch()
+        {
+            var dataBatch = new BurstSkinConstraintsBatch(this);
+            batches.Add(dataBatch);
+            return dataBatch;
+        }
+
+        public override void RemoveBatch(IConstraintsBatchImpl batch)
+        {
+            batches.Remove(batch as BurstSkinConstraintsBatch);
+            batch.Destroy();
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Skin/BurstSkinConstraints.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Skin/BurstSkinConstraints.cs.meta
new file mode 100644
index 000000000..65f8d7486
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Skin/BurstSkinConstraints.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: f501f9a4acdd34395a31db88db413cb7
+MonoImporter:
+  externalObjects: {}
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Skin/BurstSkinConstraintsBatch.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Skin/BurstSkinConstraintsBatch.cs
new file mode 100644
index 000000000..01ebb638b
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Skin/BurstSkinConstraintsBatch.cs
@@ -0,0 +1,151 @@
+#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
+{
+    public class BurstSkinConstraintsBatch : BurstConstraintsBatchImpl, ISkinConstraintsBatchImpl
+    {
+        private NativeArray<float4> skinPoints;
+        private NativeArray<float4> skinNormals;
+        private NativeArray<float> skinRadiiBackstop;
+        private NativeArray<float> skinCompliance;
+
+        public BurstSkinConstraintsBatch(BurstSkinConstraints 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.AsNativeArray<int>();
+            this.skinPoints = skinPoints.AsNativeArray<float4>();
+            this.skinNormals = skinNormals.AsNativeArray<float4>();
+            this.skinRadiiBackstop = skinRadiiBackstop.AsNativeArray<float>();
+            this.skinCompliance = skinCompliance.AsNativeArray<float>();
+            this.lambdas = lambdas.AsNativeArray<float>();
+            m_ConstraintCount = count;
+        }
+
+        public override JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int substeps)
+        {
+            var projectConstraints = new SkinConstraintsBatchJob()
+            {
+                particleIndices = particleIndices,
+                skinPoints = skinPoints,
+                skinNormals = skinNormals,
+                skinRadiiBackstop = skinRadiiBackstop.Reinterpret<float, float3>(),
+                skinCompliance = skinCompliance,
+                lambdas = lambdas,
+                positions = solverImplementation.positions,
+                invMasses = solverImplementation.invMasses,
+                deltas = solverImplementation.positionDeltas,
+                counts = solverImplementation.positionConstraintCounts,
+                deltaTimeSqr = substepTime * substepTime
+            };
+
+            return projectConstraints.Schedule(m_ConstraintCount, 32, inputDeps);
+        }
+
+        public override JobHandle Apply(JobHandle inputDeps, float substepTime)
+        {
+            var parameters = solverAbstraction.GetConstraintParameters(m_ConstraintType);
+
+            var applyConstraints = new ApplySkinConstraintsBatchJob()
+            {
+                particleIndices = particleIndices,
+
+                positions = solverImplementation.positions,
+                deltas = solverImplementation.positionDeltas,
+                counts = solverImplementation.positionConstraintCounts,
+
+                sorFactor = parameters.SORFactor
+            };
+
+            return applyConstraints.Schedule(m_ConstraintCount, 64, inputDeps);
+        }
+
+        [BurstCompile]
+        public struct SkinConstraintsBatchJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<int> particleIndices;
+            [ReadOnly] public NativeArray<float4> skinPoints;
+            [ReadOnly] public NativeArray<float4> skinNormals;
+            [ReadOnly] public NativeArray<float3> skinRadiiBackstop;
+            [ReadOnly] public NativeArray<float> skinCompliance;
+            public NativeArray<float> lambdas;
+
+            [ReadOnly] public NativeArray<float4> positions;
+            [ReadOnly] public NativeArray<float> invMasses;
+
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4> deltas;
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<int> counts;
+
+            [ReadOnly] public float deltaTimeSqr;
+
+            public void Execute(int i)
+            {
+                float radius = skinRadiiBackstop[i].x;
+                float collisionRadius = skinRadiiBackstop[i].y;
+                float backstopDistance = collisionRadius + skinRadiiBackstop[i].z;
+
+                float compliance = skinCompliance[i] / deltaTimeSqr;
+                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 = math.length(toSkin);
+                    float b = math.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 = math.max(0,d - radius);
+                    float dlambda = (-constraint - compliance * lambdas[i]) / (1 + compliance); 
+                    lambdas[i] += dlambda;
+                    deltas[p] += dlambda * toSkin / (d + BurstMath.epsilon);
+                    counts[p]++;
+
+                    // constrain particle outside the backstop sphere (0 compliance):
+                    constraint = math.min(0, b - collisionRadius);
+                    deltas[p] -= constraint * toBackstop / (b + BurstMath.epsilon); 
+                }
+
+            }
+        }
+
+        [BurstCompile]
+        public struct ApplySkinConstraintsBatchJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<int> particleIndices;
+            [ReadOnly] public float sorFactor;
+
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> positions;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> deltas;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<int> counts;
+
+            public void Execute(int i)
+            {
+                int p1 = particleIndices[i];
+
+                if (counts[p1] > 0)
+                {
+                    positions[p1] += deltas[p1] * sorFactor / counts[p1];
+                    deltas[p1] = float4.zero;
+                    counts[p1] = 0;
+                }
+            }
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Skin/BurstSkinConstraintsBatch.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Skin/BurstSkinConstraintsBatch.cs.meta
new file mode 100644
index 000000000..8bb9f7646
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Skin/BurstSkinConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Stitch.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Stitch.meta
new file mode 100644
index 000000000..902647464
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Stitch.meta
@@ -0,0 +1,8 @@
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+guid: 5d27732f644a64569a0e8a1595d1f2a7
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+  userData: 
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Stitch/BurstStitchConstraints.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Stitch/BurstStitchConstraints.cs
new file mode 100644
index 000000000..2856d1303
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Stitch/BurstStitchConstraints.cs
@@ -0,0 +1,26 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using System;
+
+namespace Obi
+{
+    public class BurstStitchConstraints : BurstConstraintsImpl<BurstStitchConstraintsBatch>
+    {
+        public BurstStitchConstraints(BurstSolverImpl solver) : base(solver, Oni.ConstraintType.Stitch)
+        {
+        }
+
+        public override IConstraintsBatchImpl CreateConstraintsBatch()
+        {
+            var dataBatch = new BurstStitchConstraintsBatch(this);
+            batches.Add(dataBatch);
+            return dataBatch;
+        }
+
+        public override void RemoveBatch(IConstraintsBatchImpl batch)
+        {
+            batches.Remove(batch as BurstStitchConstraintsBatch);
+            batch.Destroy();
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Stitch/BurstStitchConstraints.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Stitch/BurstStitchConstraints.cs.meta
new file mode 100644
index 000000000..8282ae031
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Stitch/BurstStitchConstraints.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Stitch/BurstStitchConstraintsBatch.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Stitch/BurstStitchConstraintsBatch.cs
new file mode 100644
index 000000000..58cabef91
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Stitch/BurstStitchConstraintsBatch.cs
@@ -0,0 +1,152 @@
+#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
+{
+    public class BurstStitchConstraintsBatch : BurstConstraintsBatchImpl, IStitchConstraintsBatchImpl
+    {
+        private NativeArray<float> stiffnesses;
+
+        public BurstStitchConstraintsBatch(BurstStitchConstraints constraints)
+        {
+            m_Constraints = constraints;
+            m_ConstraintType = Oni.ConstraintType.Stitch;
+        }
+
+        public void SetStitchConstraints(ObiNativeIntList particleIndices, ObiNativeFloatList stiffnesses, ObiNativeFloatList lambdas, int count)
+        {
+            this.particleIndices = particleIndices.AsNativeArray<int>();
+            this.stiffnesses = stiffnesses.AsNativeArray<float>();
+            this.lambdas = lambdas.AsNativeArray<float>();
+            m_ConstraintCount = count;
+        }
+
+        public override JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int substeps)
+        {
+            var projectConstraints = new StitchConstraintsBatchJob()
+            {
+                particleIndices = particleIndices,
+                stiffnesses = stiffnesses,
+                lambdas = lambdas,
+                positions = solverImplementation.positions,
+                invMasses = solverImplementation.invMasses,
+                deltas = solverImplementation.positionDeltas,
+                counts = solverImplementation.positionConstraintCounts,
+                deltaTimeSqr = substepTime * substepTime,
+                activeConstraintCount = m_ConstraintCount
+            };
+
+            return projectConstraints.Schedule(inputDeps);
+        }
+
+        public override JobHandle Apply(JobHandle inputDeps, float substepTime)
+        {
+            var parameters = solverAbstraction.GetConstraintParameters(m_ConstraintType);
+
+            var applyConstraints = new ApplyStitchConstraintsBatchJob()
+            {
+                particleIndices = particleIndices,
+
+                positions = solverImplementation.positions,
+                deltas = solverImplementation.positionDeltas,
+                counts = solverImplementation.positionConstraintCounts,
+
+                sorFactor = parameters.SORFactor,
+                activeConstraintCount = m_ConstraintCount
+            };
+
+            return applyConstraints.Schedule(inputDeps);
+        }
+
+        [BurstCompile]
+        public struct StitchConstraintsBatchJob : IJob
+        {
+            [ReadOnly] public NativeArray<int> particleIndices;
+            [ReadOnly] public NativeArray<float> stiffnesses;
+            public NativeArray<float> lambdas;
+
+            [ReadOnly] public NativeArray<float4> positions;
+            [ReadOnly] public NativeArray<float> invMasses;
+
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4> deltas;
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<int> counts;
+
+            [ReadOnly] public float deltaTimeSqr;
+            [ReadOnly] public int activeConstraintCount;
+
+            public void Execute()
+            {
+                for (int i = 0; i < activeConstraintCount; ++i)
+                {
+                    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] / deltaTimeSqr;
+
+                    // calculate position and lambda deltas:
+                    float4 distance = positions[p1] - positions[p2];
+                    float constraint = math.length(distance);
+
+                    // calculate lambda and position deltas:
+                    float dlambda = (-constraint - compliance * lambdas[i]) / (w1 + w2 + compliance + BurstMath.epsilon);
+                    float4 delta = dlambda * distance / (constraint + BurstMath.epsilon);
+
+                    lambdas[i] += dlambda;
+
+                    deltas[p1] += delta * w1;
+                    deltas[p2] -= delta * w2;
+
+                    counts[p1]++;
+                    counts[p2]++;
+                }
+            }
+        }
+
+        [BurstCompile]
+        public struct ApplyStitchConstraintsBatchJob : IJob
+        {
+            [ReadOnly] public NativeArray<int> particleIndices;
+            [ReadOnly] public float sorFactor;
+
+            [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 p1 = particleIndices[i * 2];
+                    int p2 = particleIndices[i * 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/Stitch/BurstStitchConstraintsBatch.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Stitch/BurstStitchConstraintsBatch.cs.meta
new file mode 100644
index 000000000..fbecad961
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Stitch/BurstStitchConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/StretchShear.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/StretchShear.meta
new file mode 100644
index 000000000..06639848b
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/StretchShear.meta
@@ -0,0 +1,8 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/StretchShear/BurstStretchShearConstraints.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/StretchShear/BurstStretchShearConstraints.cs
new file mode 100644
index 000000000..be5283ecd
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/StretchShear/BurstStretchShearConstraints.cs
@@ -0,0 +1,26 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using System;
+
+namespace Obi
+{
+    public class BurstStretchShearConstraints : BurstConstraintsImpl<BurstStretchShearConstraintsBatch>
+    {
+        public BurstStretchShearConstraints(BurstSolverImpl solver) : base(solver, Oni.ConstraintType.StretchShear)
+        {
+        }
+
+        public override IConstraintsBatchImpl CreateConstraintsBatch()
+        {
+            var dataBatch = new BurstStretchShearConstraintsBatch(this);
+            batches.Add(dataBatch);
+            return dataBatch;
+        }
+
+        public override void RemoveBatch(IConstraintsBatchImpl batch)
+        {
+            batches.Remove(batch as BurstStretchShearConstraintsBatch);
+            batch.Destroy();
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/StretchShear/BurstStretchShearConstraints.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/StretchShear/BurstStretchShearConstraints.cs.meta
new file mode 100644
index 000000000..8e0f8f779
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/StretchShear/BurstStretchShearConstraints.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: a79c4e863802e4ca19939ab6766329e8
+MonoImporter:
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+  serializedVersion: 2
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/StretchShear/BurstStretchShearConstraintsBatch.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/StretchShear/BurstStretchShearConstraintsBatch.cs
new file mode 100644
index 000000000..4824c5bab
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/StretchShear/BurstStretchShearConstraintsBatch.cs
@@ -0,0 +1,203 @@
+#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
+{
+    public class BurstStretchShearConstraintsBatch : BurstConstraintsBatchImpl, IStretchShearConstraintsBatchImpl
+    {
+        private NativeArray<int> orientationIndices;
+        private NativeArray<float> restLengths;
+        private NativeArray<quaternion> restOrientations;
+        private NativeArray<float3> stiffnesses;
+
+        public BurstStretchShearConstraintsBatch(BurstStretchShearConstraints 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.AsNativeArray<int>();
+            this.orientationIndices = orientationIndices.AsNativeArray<int>();
+            this.restLengths = restLengths.AsNativeArray<float>();
+            this.restOrientations = restOrientations.AsNativeArray<quaternion>();
+            this.stiffnesses = stiffnesses.AsNativeArray<float3>();
+            this.lambdas = lambdas.AsNativeArray<float>();
+            m_ConstraintCount = count;
+        }
+
+        public override JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int substeps)
+        {
+            var projectConstraints = new StretchShearConstraintsBatchJob()
+            {
+                particleIndices = particleIndices,
+                orientationIndices = orientationIndices,
+                restLengths = restLengths,
+                restOrientations = restOrientations,
+                stiffnesses = stiffnesses,
+                lambdas = lambdas.Reinterpret<float, float3>(),
+
+                positions = solverImplementation.positions,
+                orientations = solverImplementation.orientations,
+                invMasses = solverImplementation.invMasses,
+                invRotationalMasses = solverImplementation.invRotationalMasses,
+
+                deltas = solverImplementation.positionDeltas,
+                orientationDeltas = solverImplementation.orientationDeltas,
+                counts = solverImplementation.positionConstraintCounts,
+                orientationCounts = solverImplementation.orientationConstraintCounts,
+
+                deltaTimeSqr = substepTime * substepTime
+            };
+
+            return projectConstraints.Schedule(m_ConstraintCount, 32, inputDeps);
+        }
+
+        public override JobHandle Apply(JobHandle inputDeps, float substepTime)
+        {
+            var parameters = solverAbstraction.GetConstraintParameters(m_ConstraintType);
+
+            var applyConstraints = new ApplyStretchShearConstraintsBatchJob()
+            {
+                particleIndices = particleIndices,
+                orientationIndices = orientationIndices,
+
+                positions = solverImplementation.positions,
+                deltas = solverImplementation.positionDeltas,
+                counts = solverImplementation.positionConstraintCounts,
+
+                orientations = solverImplementation.orientations,
+                orientationDeltas = solverImplementation.orientationDeltas,
+                orientationCounts = solverImplementation.orientationConstraintCounts,
+
+                sorFactor = parameters.SORFactor
+            };
+
+            return applyConstraints.Schedule(m_ConstraintCount, 64, inputDeps);
+        }
+
+        [BurstCompile]
+        public struct StretchShearConstraintsBatchJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<int> particleIndices;
+            [ReadOnly] public NativeArray<int> orientationIndices;
+            [ReadOnly] public NativeArray<float> restLengths;
+            [ReadOnly] public NativeArray<quaternion> restOrientations;
+            [ReadOnly] public NativeArray<float3> stiffnesses;
+            public NativeArray<float3> lambdas;
+
+            [ReadOnly] public NativeArray<float4> positions;
+            [ReadOnly] public NativeArray<quaternion> orientations;
+            [ReadOnly] public NativeArray<float> invMasses;
+            [ReadOnly] public NativeArray<float> invRotationalMasses;
+
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4> deltas;
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<quaternion> orientationDeltas;
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<int> counts;
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<int> orientationCounts;
+
+            [ReadOnly] public float deltaTimeSqr;
+
+            public void Execute(int i)
+            {
+                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] / deltaTimeSqr;
+
+                float3 e = math.rotate(restOrientations[i],new float3(0, 0, 1));
+                quaternion basis = math.mul(orientations[q],restOrientations[i]);
+
+                // calculate rod vector in local element space:
+                float3 gamma = math.rotate(math.conjugate(basis), (positions[p2] - positions[p1]).xyz) / (restLengths[i] + BurstMath.epsilon);
+
+                // 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);
+                lambdas[i] += dlambda;
+
+                // convert lambda delta lambda back to world space:
+                dlambda = math.mul(basis, dlambda);
+
+                deltas[p1] += new float4(dlambda, 0) * w1;
+                deltas[p2] -= new float4(dlambda, 0) * w2;
+
+                quaternion e_3 = new quaternion(e.x,e.y,e.z,0);
+                quaternion q_e_3_bar = math.mul(orientations[q],math.conjugate(e_3));
+
+                // 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;
+
+                counts[p1]++;
+                counts[p2]++;
+                orientationCounts[q]++;
+
+            }
+        }
+
+        [BurstCompile]
+        public struct ApplyStretchShearConstraintsBatchJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<int> particleIndices;
+            [ReadOnly] public NativeArray<int> orientationIndices;
+            [ReadOnly] public float sorFactor;
+
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> positions;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> deltas;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<int> counts;
+
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<quaternion> orientations;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<quaternion> orientationDeltas;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<int> orientationCounts;
+
+            public void Execute(int i)
+            {
+                int p1 = particleIndices[i * 2];
+                int p2 = particleIndices[i * 2 + 1];
+                int q1 = orientationIndices[i];
+
+                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;
+                }
+
+                if (orientationCounts[q1] > 0)
+                {
+                    quaternion q = orientations[q1];
+                    q.value += orientationDeltas[q1].value * sorFactor / orientationCounts[q1];
+                    orientations[q1] = math.normalize(q);
+
+                    orientationDeltas[q1] = new quaternion(0, 0, 0, 0);
+                    orientationCounts[q1] = 0;
+                }
+
+            }
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/StretchShear/BurstStretchShearConstraintsBatch.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/StretchShear/BurstStretchShearConstraintsBatch.cs.meta
new file mode 100644
index 000000000..fd4594af8
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/StretchShear/BurstStretchShearConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Tether.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Tether.meta
new file mode 100644
index 000000000..edc510757
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Tether.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: c77d80d2f6a7b4136bfdc684b23b91f3
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Tether/BurstTetherConstraints.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Tether/BurstTetherConstraints.cs
new file mode 100644
index 000000000..ad12a2d49
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Tether/BurstTetherConstraints.cs
@@ -0,0 +1,26 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using System;
+
+namespace Obi
+{
+    public class BurstTetherConstraints : BurstConstraintsImpl<BurstTetherConstraintsBatch>
+    {
+        public BurstTetherConstraints(BurstSolverImpl solver) : base(solver, Oni.ConstraintType.Distance)
+        {
+        }
+
+        public override IConstraintsBatchImpl CreateConstraintsBatch()
+        {
+            var dataBatch = new BurstTetherConstraintsBatch(this);
+            batches.Add(dataBatch);
+            return dataBatch;
+        }
+
+        public override void RemoveBatch(IConstraintsBatchImpl batch)
+        {
+            batches.Remove(batch as BurstTetherConstraintsBatch);
+            batch.Destroy();
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Tether/BurstTetherConstraints.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Tether/BurstTetherConstraints.cs.meta
new file mode 100644
index 000000000..0a7fa83a9
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Tether/BurstTetherConstraints.cs.meta
@@ -0,0 +1,11 @@
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+guid: 0c12658b3bc614f3c921a54dc2489881
+MonoImporter:
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Tether/BurstTetherConstraintsBatch.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Tether/BurstTetherConstraintsBatch.cs
new file mode 100644
index 000000000..4e3cd237c
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Tether/BurstTetherConstraintsBatch.cs
@@ -0,0 +1,141 @@
+#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
+{
+    public class BurstTetherConstraintsBatch : BurstConstraintsBatchImpl, ITetherConstraintsBatchImpl
+    {
+        private NativeArray<float2> maxLengthScale;
+        private NativeArray<float> stiffnesses;
+
+        public BurstTetherConstraintsBatch(BurstTetherConstraints 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.AsNativeArray<int>();
+            this.maxLengthScale = maxLengthScale.AsNativeArray<float2>();
+            this.stiffnesses = stiffnesses.AsNativeArray<float>();
+            this.lambdas = lambdas.AsNativeArray<float>();
+            m_ConstraintCount = count;
+        }
+
+        public override JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int substeps)
+        {
+            var projectConstraints = new TetherConstraintsBatchJob()
+            {
+                particleIndices = particleIndices,
+                maxLengthScale = maxLengthScale,
+                stiffnesses = stiffnesses,
+                lambdas = lambdas,
+                positions = solverImplementation.positions,
+                invMasses = solverImplementation.invMasses,
+                deltas = solverImplementation.positionDeltas,
+                counts = solverImplementation.positionConstraintCounts,
+                deltaTimeSqr = substepTime * substepTime
+            };
+
+            return projectConstraints.Schedule(m_ConstraintCount, 32, inputDeps);
+        }
+
+        public override JobHandle Apply(JobHandle inputDeps, float substepTime)
+        {
+            var parameters = solverAbstraction.GetConstraintParameters(m_ConstraintType);
+
+            var applyConstraints = new ApplyTetherConstraintsBatchJob()
+            {
+                particleIndices = particleIndices,
+
+                positions = solverImplementation.positions,
+                deltas = solverImplementation.positionDeltas,
+                counts = solverImplementation.positionConstraintCounts,
+
+                sorFactor = parameters.SORFactor
+            };
+
+            return applyConstraints.Schedule(m_ConstraintCount, 64, inputDeps);
+        }
+
+        [BurstCompile]
+        public struct TetherConstraintsBatchJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<int> particleIndices;
+            [ReadOnly] public NativeArray<float2> maxLengthScale;
+            [ReadOnly] public NativeArray<float> stiffnesses;
+            public NativeArray<float> lambdas;
+
+            [ReadOnly] public NativeArray<float4> positions;
+            [ReadOnly] public NativeArray<float> invMasses;
+
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4> deltas;
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<int> counts;
+
+            [ReadOnly] public float deltaTimeSqr;
+
+            public void Execute(int i)
+            {
+                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] / deltaTimeSqr;
+
+                // calculate position and lambda deltas:
+                float4 distance = positions[p1] - positions[p2];
+                float d = math.length(distance);
+
+                // 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 + BurstMath.epsilon);
+                    float4 delta = dlambda * distance / (d + BurstMath.epsilon);
+                    lambdas[i] += dlambda;
+                    deltas[p1] += delta * w1;
+                    counts[p1]++;
+                }
+            }
+        }
+
+        [BurstCompile]
+        public struct ApplyTetherConstraintsBatchJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeSlice<int> particleIndices;
+
+            // linear/position properties:
+            [NativeDisableParallelForRestriction] public NativeArray<float4> positions;
+            [NativeDisableParallelForRestriction] public NativeArray<float4> deltas;
+            [NativeDisableParallelForRestriction] public NativeArray<int> counts;
+
+            [ReadOnly] public float sorFactor;
+
+            public void Execute(int index)
+            {
+                // only the first particle out of each pair is affected:
+                int i = particleIndices[index * 2];
+
+                if (counts[i] > 0)
+                {
+                    positions[i] += deltas[i] * sorFactor / counts[i];
+                    deltas[i] = float4.zero;
+                    counts[i] = 0;
+                }
+            }
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Tether/BurstTetherConstraintsBatch.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Tether/BurstTetherConstraintsBatch.cs.meta
new file mode 100644
index 000000000..ef9db3d30
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Tether/BurstTetherConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Volume.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Volume.meta
new file mode 100644
index 000000000..40b34b228
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Volume.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 0b17a4f4853654722be7ce3458a4ce7a
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Volume/BurstVolumeConstraints.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Volume/BurstVolumeConstraints.cs
new file mode 100644
index 000000000..aae0fa86f
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Volume/BurstVolumeConstraints.cs
@@ -0,0 +1,26 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using System;
+
+namespace Obi
+{
+    public class BurstVolumeConstraints : BurstConstraintsImpl<BurstVolumeConstraintsBatch>
+    {
+        public BurstVolumeConstraints(BurstSolverImpl solver) : base(solver, Oni.ConstraintType.Volume)
+        {
+        }
+
+        public override IConstraintsBatchImpl CreateConstraintsBatch()
+        {
+            var dataBatch = new BurstVolumeConstraintsBatch(this);
+            batches.Add(dataBatch);
+            return dataBatch;
+        }
+
+        public override void RemoveBatch(IConstraintsBatchImpl batch)
+        {
+            batches.Remove(batch as BurstVolumeConstraintsBatch);
+            batch.Destroy();
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Volume/BurstVolumeConstraints.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Volume/BurstVolumeConstraints.cs.meta
new file mode 100644
index 000000000..9aceba9bd
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Volume/BurstVolumeConstraints.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 54b3de3345cef43db9f6b37df8cafabb
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Volume/BurstVolumeConstraintsBatch.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Volume/BurstVolumeConstraintsBatch.cs
new file mode 100644
index 000000000..6d49fcd21
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Volume/BurstVolumeConstraintsBatch.cs
@@ -0,0 +1,220 @@
+#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
+{
+    public class BurstVolumeConstraintsBatch : BurstConstraintsBatchImpl, IVolumeConstraintsBatchImpl
+    {
+        private NativeArray<int> firstTriangle;
+        private NativeArray<int> numTriangles;
+        private NativeArray<float> restVolumes;
+        private NativeArray<float2> pressureStiffness;
+
+        public BurstVolumeConstraintsBatch(BurstVolumeConstraints 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)
+        {
+            this.particleIndices = triangles.AsNativeArray<int>();
+            this.firstTriangle = firstTriangle.AsNativeArray<int>();
+            this.numTriangles = numTriangles.AsNativeArray<int>();
+            this.restVolumes = restVolumes.AsNativeArray<float>();
+            this.pressureStiffness = pressureStiffness.AsNativeArray<float2>();
+            this.lambdas = lambdas.AsNativeArray<float>();
+            m_ConstraintCount = count;
+        }
+
+
+        public override JobHandle Evaluate(JobHandle inputDeps, float stepTime, float substepTime, int substeps)
+        {
+            var projectConstraints = new VolumeConstraintsBatchJob()
+            {
+                triangles = particleIndices,
+                firstTriangle = firstTriangle,
+                numTriangles = numTriangles,
+                restVolumes = restVolumes,
+                pressureStiffness = pressureStiffness,
+                lambdas = lambdas,
+
+                positions = solverImplementation.positions,
+                invMasses = solverImplementation.invMasses,
+
+                gradients = solverImplementation.fluidData, // reuse fluidData for temp gradients.
+                deltas = solverImplementation.positionDeltas,
+                counts = solverImplementation.positionConstraintCounts,
+
+                deltaTimeSqr = substepTime * substepTime
+            };
+
+            return projectConstraints.Schedule(m_ConstraintCount, 4, inputDeps);
+        }
+
+        public override JobHandle Apply(JobHandle inputDeps, float substepTime)
+        {
+            var parameters = solverAbstraction.GetConstraintParameters(m_ConstraintType);
+
+            var applyConstraints = new ApplyVolumeConstraintsBatchJob()
+            {
+                triangles = particleIndices,
+                firstTriangle = firstTriangle,
+                numTriangles = numTriangles,
+                positions = solverImplementation.positions,
+                deltas = solverImplementation.positionDeltas,
+                counts = solverImplementation.positionConstraintCounts,
+
+                sorFactor = parameters.SORFactor
+            };
+
+            return applyConstraints.Schedule(m_ConstraintCount, 8, inputDeps);
+        }
+
+        [BurstCompile]
+        public struct VolumeConstraintsBatchJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<int> triangles;
+            [ReadOnly] public NativeArray<int> firstTriangle;
+            [ReadOnly] public NativeArray<int> numTriangles;
+            [ReadOnly] public NativeArray<float> restVolumes;
+            [ReadOnly] public NativeArray<float2> pressureStiffness;
+            public NativeArray<float> lambdas;
+
+            [ReadOnly] public NativeArray<float4> positions;
+            [ReadOnly] public NativeArray<float> invMasses;
+
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4> gradients;
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<float4> deltas;
+            [NativeDisableContainerSafetyRestriction][NativeDisableParallelForRestriction] public NativeArray<int> counts;
+
+            [ReadOnly] public float deltaTimeSqr;
+
+            public void Execute(int i)
+            {
+                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;
+                    int i1 = triangles[v];
+                    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;
+                }
+
+                particleIndices.Sort();
+                int particleCount = particleIndices.AsArray().Unique();
+
+                // accumulate particle gradients:
+                for (int j = 0; j < particleCount; ++j)
+                    gradients[particleIndices[j]] = float4.zero;
+
+                for (int j = 0; j < numTriangles[i]; ++j)
+                {
+                    int v = (firstTriangle[i] + j) * 3;
+                    int i1 = triangles[v];
+                    int i2 = triangles[v + 1];
+                    int i3 = triangles[v + 2];
+
+                    //accumulate gradient for each particle:
+                    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 constraint denominator (G(Cj)*inv(M)):
+                float denominator = 0;
+                for (int j = 0; j < particleCount; ++j)
+                {
+                    int p = particleIndices[j];
+                    denominator += invMasses[p] * math.lengthsq(gradients[p]);
+                }
+
+                // equality constraint: volume - pressure * rest volume = 0
+                float constraint = volume - pressureStiffness[i].x * restVolumes[i];
+
+                // calculate lagrange multiplier delta:
+                float dlambda = (-constraint - compliance * lambdas[i]) / (denominator + compliance + BurstMath.epsilon);
+                lambdas[i] += dlambda;
+
+                // calculate position deltas:
+                for (int j = 0; j < particleCount; ++j)
+                {
+                    int p = particleIndices[j];
+                    deltas[p] += dlambda * invMasses[p] * gradients[p];
+                    counts[p]++;
+                }
+            }
+        }
+
+        [BurstCompile]
+        public struct ApplyVolumeConstraintsBatchJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeArray<int> triangles;
+            [ReadOnly] public NativeArray<int> firstTriangle;
+            [ReadOnly] public NativeArray<int> numTriangles;
+            [ReadOnly] public float sorFactor;
+
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> positions;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<float4> deltas;
+            [NativeDisableContainerSafetyRestriction] [NativeDisableParallelForRestriction] public NativeArray<int> counts;
+
+            public void Execute(int i)
+            {
+
+                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];
+
+                    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;
+                    }
+
+                    if (counts[p3] > 0)
+                    {
+                        positions[p3] += deltas[p3] * sorFactor / counts[p3];
+                        deltas[p3] = float4.zero;
+                        counts[p3] = 0;
+                    }
+                }
+            }
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Volume/BurstVolumeConstraintsBatch.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Volume/BurstVolumeConstraintsBatch.cs.meta
new file mode 100644
index 000000000..cff4f91be
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Constraints/Volume/BurstVolumeConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
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+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures.meta b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures.meta
new file mode 100644
index 000000000..0c37e0436
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 7d7a8ea58f9a3403e9147d6d8874db86
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstAabb.cs b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstAabb.cs
new file mode 100644
index 000000000..a02213b38
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstAabb.cs
@@ -0,0 +1,156 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using Unity.Mathematics;
+
+namespace Obi
+{
+    public struct BurstAabb
+    {
+        public float4 min;
+        public float4 max;
+
+        public float4 size
+        {
+            get { return max - min; }
+        }
+
+        public float4 center
+        {
+            get { return min + (max - min) * 0.5f; }
+        }
+
+        public BurstAabb(float4 min, float4 max)
+        {
+            this.min = min;
+            this.max = max;
+        }
+
+        public BurstAabb(float4 v1, float4 v2, float4 v3, float 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);
+        }
+
+        public BurstAabb(float2 v1, float2 v2, float 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);
+        }
+
+        public BurstAabb(float4 previousPosition, float4 position, float radius)
+        {
+            min = math.min(position - radius, previousPosition - radius);
+            max = math.max(position + radius, previousPosition + radius);
+        }
+
+        public float AverageAxisLength()
+        {
+            float4 d = max - min;
+            return (d.x + d.y + d.z) * 0.33f;
+        }
+
+        public float MaxAxisLength()
+        {
+            return math.cmax(max - min);
+        }
+
+        public void EncapsulateParticle(float4 position, float radius)
+        {
+            min = math.min(min, position - radius);
+            max = math.max(max, position + radius);
+        }
+
+        public void EncapsulateParticle(float4 previousPosition, float4 position, float radius)
+        {
+            min = math.min(math.min(min, position - radius), previousPosition - radius);
+            max = math.max(math.max(max, position + radius), previousPosition + radius);
+        }
+
+        public void EncapsulateBounds(in BurstAabb bounds)
+        {
+            min = math.min(min,bounds.min);
+            max = math.max(max,bounds.max);
+        }
+
+        public void Expand(float4 amount)
+        {
+            min -= amount;
+            max += amount;
+        }
+
+        public void Sweep(float4 velocity)
+        {
+            min = math.min(min, min + velocity);
+            max = math.max(max, max + velocity);
+        }
+
+        public void Transform(in BurstAffineTransform transform)
+        {
+            Transform(float4x4.TRS(transform.translation.xyz, transform.rotation, transform.scale.xyz));
+        }
+
+        public void Transform(in float4x4 transform)
+        {
+            float3 xa = transform.c0.xyz * min.x;
+            float3 xb = transform.c0.xyz * max.x;
+
+            float3 ya = transform.c1.xyz * min.y;
+            float3 yb = transform.c1.xyz * max.y;
+
+            float3 za = transform.c2.xyz * min.z;
+            float3 zb = transform.c2.xyz * max.z;
+
+            min = new float4(math.min(xa, xb) + math.min(ya, yb) + math.min(za, zb) + transform.c3.xyz, 0);
+            max = new float4(math.max(xa, xb) + math.max(ya, yb) + math.max(za, zb) + transform.c3.xyz, 0);
+        }
+
+        public BurstAabb Transformed(in BurstAffineTransform transform)
+        {
+            var cpy = this;
+            cpy.Transform(transform);
+            return cpy;
+        }
+
+        public BurstAabb Transformed(in float4x4 transform)
+        {
+            var cpy = this;
+            cpy.Transform(transform);
+            return cpy;
+        }
+
+        public bool IntersectsAabb(in BurstAabb bounds, bool in2D = false)
+        {
+            if (in2D)
+            return (min[0] <= bounds.max[0] && max[0] >= bounds.min[0]) &&
+                   (min[1] <= bounds.max[1] && max[1] >= bounds.min[1]);
+
+            return (min[0] <= bounds.max[0] && max[0] >= bounds.min[0]) &&
+                   (min[1] <= bounds.max[1] && max[1] >= bounds.min[1]) &&
+                   (min[2] <= bounds.max[2] && max[2] >= bounds.min[2]);
+        }
+
+        public bool IntersectsRay(float4 origin, float4 inv_dir, bool in2D = false) 
+        {
+            float4 t1 = (min - origin) * inv_dir;
+            float4 t2 = (max - origin) * inv_dir;
+
+            float4 tmin1 = math.min(t1,t2);
+            float4 tmax1 = math.max(t1,t2);
+
+            float tmin, tmax;
+        
+            if (in2D) 
+            {
+                tmin = math.cmax(tmin1.xy);
+                tmax = math.cmin(tmax1.xy);
+            }
+            else
+            {
+                tmin = math.cmax(tmin1.xyz);
+                tmax = math.cmin(tmax1.xyz);
+            }
+        
+            return tmax >= math.max(0, tmin) && tmin <= 1;
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstAabb.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstAabb.cs.meta
new file mode 100644
index 000000000..e9a0ee4e2
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstAabb.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 2766a51cbde7a4fe490989456f737d23
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstAffineTransform.cs b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstAffineTransform.cs
new file mode 100644
index 000000000..cda36e3f0
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstAffineTransform.cs
@@ -0,0 +1,88 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using UnityEngine;
+using Unity.Mathematics;
+using System.Collections;
+
+namespace Obi
+{
+    public struct BurstAffineTransform
+    {
+        public float4 translation;
+        public float4 scale;
+        public quaternion rotation;
+
+        public BurstAffineTransform(float4 translation, quaternion rotation, float4 scale)
+        {
+            // make sure there are good values in the 4th component:
+            translation[3] = 0;
+            scale[3] = 1;
+
+            this.translation = translation;
+            this.rotation = rotation;
+            this.scale = scale;
+        }
+
+        public static BurstAffineTransform operator *(BurstAffineTransform a, BurstAffineTransform b)
+        {
+            return new BurstAffineTransform(a.TransformPoint(b.translation),
+                                            math.mul(a.rotation,b.rotation),
+                                            a.scale * b.scale);
+        }
+
+        public BurstAffineTransform Inverse()
+        {
+            return new BurstAffineTransform(new float4(math.rotate(math.conjugate(rotation),(translation / -scale).xyz),0),
+                                            math.conjugate(rotation),
+                                            1 / scale);
+        }
+
+        public BurstAffineTransform Interpolate(BurstAffineTransform other, float translationalMu, float rotationalMu, float scaleMu)
+        {
+            return new BurstAffineTransform(math.lerp(translation, other.translation, translationalMu),
+                                            math.slerp(rotation, other.rotation, rotationalMu),
+                                            math.lerp(scale, other.scale, scaleMu));
+        }
+
+        public float4 TransformPoint(float4 point)
+        {
+            return new float4(translation.xyz + math.rotate(rotation, (point * scale).xyz),0);
+        }
+
+        public float4 InverseTransformPoint(float4 point)
+        {
+            return new float4(math.rotate(math.conjugate(rotation),(point - translation).xyz) / scale.xyz , 0);
+        }
+
+        public float4 TransformPointUnscaled(float4 point)
+        {
+            return new float4(translation.xyz + math.rotate(rotation,point.xyz), 0);
+        }
+
+        public float4 InverseTransformPointUnscaled(float4 point)
+        {
+            return new float4(math.rotate(math.conjugate(rotation), (point - translation).xyz), 0);
+        }
+
+
+        public float4 TransformDirection(float4 direction)
+        {
+            return new float4(math.rotate(rotation, direction.xyz), 0);
+        }
+
+        public float4 InverseTransformDirection(float4 direction)
+        {
+            return new float4(math.rotate(math.conjugate(rotation), direction.xyz), 0);
+        }
+
+        public float4 TransformVector(float4 vector)
+        {
+            return new float4(math.rotate(rotation, (vector * scale).xyz), 0);
+        }
+
+        public float4 InverseTransformVector(float4 vector)
+        {
+            return new float4(math.rotate(math.conjugate(rotation),vector.xyz) / scale.xyz, 0);
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstAffineTransform.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstAffineTransform.cs.meta
new file mode 100644
index 000000000..f5c311f19
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstAffineTransform.cs.meta
@@ -0,0 +1,11 @@
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+guid: 42d935e53ff25405bb572c630431a08e
+MonoImporter:
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstCellSpan.cs b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstCellSpan.cs
new file mode 100644
index 000000000..beadf1007
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstCellSpan.cs
@@ -0,0 +1,60 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using UnityEngine;
+using Unity.Mathematics;
+using System.Collections;
+using System;
+
+namespace Obi
+{
+    public struct BurstCellSpan : IEquatable<BurstCellSpan>
+    {
+        public int4 min;
+        public int4 max;
+
+
+        public BurstCellSpan(CellSpan span)
+        {
+            this.min = new int4(span.min.x, span.min.y, span.min.z, span.min.w);
+            this.max = new int4(span.max.x, span.max.y, span.max.z, span.max.w);
+        }
+
+        public BurstCellSpan(int4 min, int4 max)
+        {
+            this.min = min;
+            this.max = max;
+        }
+
+        public int level
+        {
+            get{return min.w;}
+        }
+
+        public bool Equals(BurstCellSpan other)
+        {
+            return min.Equals(other.min) && max.Equals(other.max);
+        }
+
+        public override bool Equals(object obj)
+        {
+            return this.Equals((BurstCellSpan)obj);
+        }
+
+        public override int GetHashCode()
+        {
+            return 0; // we don't have any non-mutable fields, so just return 0.
+        }
+
+        public static bool operator ==(BurstCellSpan a, BurstCellSpan b)
+        {
+            return a.Equals(b);
+        }
+
+        public static bool operator !=(BurstCellSpan a, BurstCellSpan b)
+        {
+            return !a.Equals(b);
+        }
+
+
+    }
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstCellSpan.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstCellSpan.cs.meta
new file mode 100644
index 000000000..a574d71c4
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstCellSpan.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 9612a967e340a428ba9353b922a881be
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstCollisionMaterial.cs b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstCollisionMaterial.cs
new file mode 100644
index 000000000..6bb3d5994
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstCollisionMaterial.cs
@@ -0,0 +1,78 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using UnityEngine;
+using Unity.Mathematics;
+using System.Collections;
+using System;
+
+namespace Obi
+{
+    public struct BurstCollisionMaterial // TODO: use CollisionMaterial directly.
+    {
+        public float dynamicFriction;
+        public float staticFriction;
+        public float rollingFriction;
+        public float stickiness;
+        public float stickDistance;
+        public Oni.MaterialCombineMode frictionCombine;
+        public Oni.MaterialCombineMode stickinessCombine;
+        public int rollingContacts;
+
+        public static BurstCollisionMaterial CombineWith(BurstCollisionMaterial a, BurstCollisionMaterial b)
+        {
+            BurstCollisionMaterial result = new BurstCollisionMaterial();
+            var frictionCombineMode = (Oni.MaterialCombineMode)math.max((int)a.frictionCombine, (int)b.frictionCombine);
+            var stickCombineMode = (Oni.MaterialCombineMode)math.max((int)a.stickinessCombine, (int)b.stickinessCombine);
+
+            switch (frictionCombineMode)
+            {
+                case Oni.MaterialCombineMode.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;
+                    break;
+
+                case Oni.MaterialCombineMode.Minimum:
+                    result.dynamicFriction = math.min(a.dynamicFriction, b.dynamicFriction);
+                    result.staticFriction = math.min(a.staticFriction, b.staticFriction);
+                    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;
+            }
+
+            switch (stickCombineMode)
+            {
+                case Oni.MaterialCombineMode.Average:
+                    result.stickiness = (a.stickiness + b.stickiness) * 0.5f;
+                    break;
+
+                case Oni.MaterialCombineMode.Minimum:
+                    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;
+            }
+
+            result.stickDistance = math.max(a.stickDistance, b.stickDistance);
+            result.rollingContacts = a.rollingContacts | b.rollingContacts;
+            return result;
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstCollisionMaterial.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstCollisionMaterial.cs.meta
new file mode 100644
index 000000000..0adfc9556
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstCollisionMaterial.cs.meta
@@ -0,0 +1,11 @@
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+guid: de388c94a975a489a8093d110d42af2a
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstInertialFrame.cs b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstInertialFrame.cs
new file mode 100644
index 000000000..a49d7d566
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstInertialFrame.cs
@@ -0,0 +1,60 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using UnityEngine;
+using Unity.Mathematics;
+using System.Collections;
+
+namespace Obi
+{
+    public struct BurstInertialFrame
+    {
+        public BurstAffineTransform frame;
+        public BurstAffineTransform prevFrame;
+
+        public float4 velocity;
+        public float4 angularVelocity;
+
+        public float4 acceleration;
+        public float4 angularAcceleration;
+
+        public BurstInertialFrame(float4 position, float4 scale, quaternion rotation)
+        {
+            this.frame = new BurstAffineTransform(position, rotation, scale);
+            this.prevFrame = frame;
+
+            velocity = float4.zero;
+            angularVelocity = float4.zero;
+            acceleration = float4.zero;
+            angularAcceleration = float4.zero;
+        }
+
+        public BurstInertialFrame(BurstAffineTransform frame)
+        {
+            this.frame = frame;
+            this.prevFrame = frame;
+
+            velocity = float4.zero;
+            angularVelocity = float4.zero;
+            acceleration = float4.zero;
+            angularAcceleration = float4.zero;
+        }
+
+        public void Update(float4 position, float4 scale, quaternion rotation, float dt)
+        {
+            prevFrame = frame;
+            float4 prevVelocity = velocity;
+            float4 prevAngularVelocity = angularVelocity;
+
+            frame.translation = position;
+            frame.rotation = rotation;
+            frame.scale = scale;
+
+            velocity = BurstIntegration.DifferentiateLinear(frame.translation, prevFrame.translation, dt);
+            angularVelocity = BurstIntegration.DifferentiateAngular(frame.rotation, prevFrame.rotation, dt);
+
+            acceleration = BurstIntegration.DifferentiateLinear(velocity, prevVelocity, dt);
+            angularAcceleration = BurstIntegration.DifferentiateLinear(angularVelocity, prevAngularVelocity, dt);
+        }
+       
+    }
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstInertialFrame.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstInertialFrame.cs.meta
new file mode 100644
index 000000000..f48cd9ee5
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstInertialFrame.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: e3c3b9a94006d4984a94f040e6d2c737
+MonoImporter:
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstQueryShape.cs b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstQueryShape.cs
new file mode 100644
index 000000000..39f7cf90c
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstQueryShape.cs
@@ -0,0 +1,16 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using Unity.Mathematics;
+
+namespace Obi
+{
+    public struct BurstQueryShape
+    {
+        public float4 center;
+        public float4 size;
+        public QueryShape.QueryType type;
+        public float contactOffset;
+        public float distance;
+        public int filter;
+    }
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstQueryShape.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstQueryShape.cs.meta
new file mode 100644
index 000000000..538a4ca17
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstQueryShape.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstRigidbody.cs b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstRigidbody.cs
new file mode 100644
index 000000000..6406cc850
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstRigidbody.cs
@@ -0,0 +1,23 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using System;
+using UnityEngine;
+using Unity.Collections;
+using Unity.Mathematics;
+
+namespace Obi
+{
+
+    public struct BurstRigidbody
+    {
+        public float4x4 inverseInertiaTensor;
+        public float4 velocity;
+        public float4 angularVelocity;
+        public float4 com;
+        public float inverseMass;
+
+        private int pad0;
+        private int pad1;
+        private int pad2;
+    }
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstRigidbody.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstRigidbody.cs.meta
new file mode 100644
index 000000000..9487b1865
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/BurstRigidbody.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: f72992ee9e3174e89b3c0e5b6da57a17
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+  serializedVersion: 2
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+  executionOrder: 0
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+  assetBundleName: 
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher.meta b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher.meta
new file mode 100644
index 000000000..528067dd2
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher.meta
@@ -0,0 +1,8 @@
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+guid: 20b822fd4fe494009afa17025c273ec8
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/BatchLUT.cs b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/BatchLUT.cs
new file mode 100644
index 000000000..509d7fe8a
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/BatchLUT.cs
@@ -0,0 +1,49 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using System;
+using UnityEngine;
+using Unity.Collections;
+
+namespace Obi
+{
+    public struct BatchLUT : IDisposable
+    {
+        public readonly int numBatches;
+        public readonly NativeArray<ushort> batchIndex;
+
+        public BatchLUT(int numBatches)
+        {
+            this.numBatches = numBatches;
+
+            batchIndex = new NativeArray<ushort>(UInt16.MaxValue + 1, Allocator.Persistent, NativeArrayOptions.ClearMemory);
+            const ushort end = UInt16.MaxValue;
+            ushort numBits = (ushort)(numBatches - 1);
+
+            // For each entry in the table, compute the position of the first '0' bit in the index, starting from the less significant bit.
+            // This is the index of the first batch where we can add the constraint to.
+
+            for (ushort value = 0; value < end; value++)
+            {
+                ushort valueCopy = value;
+                for (ushort i = 0; i < numBits; i++)
+                {
+                    if ((valueCopy & 1) == 0)
+                    {
+                        batchIndex[value] = i;
+                        break;
+                    }
+                    valueCopy >>= 1;
+                }
+
+            }
+
+            batchIndex[end] = numBits;
+        }
+
+        public void Dispose()
+        {
+            batchIndex.Dispose();
+        }
+    }
+    
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/BatchLUT.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/BatchLUT.cs.meta
new file mode 100644
index 000000000..60a9f235c
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/BatchLUT.cs.meta
@@ -0,0 +1,11 @@
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+guid: 0ba613bda78be4a71be94b90f92fbde5
+MonoImporter:
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/ConstraintBatcher.cs b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/ConstraintBatcher.cs
new file mode 100644
index 000000000..f1fcfb1f9
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/ConstraintBatcher.cs
@@ -0,0 +1,216 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using System;
+using Unity.Collections;
+using Unity.Mathematics;
+using Unity.Burst;
+using Unity.Jobs;
+
+namespace Obi
+{
+
+    public struct BatchData
+    {
+        public ushort batchID;             // Batch identifier. All bits will be '0', except for the one at the position of the batch.
+
+        public int startIndex;             // first constraint in the batch
+        public int constraintCount;        // amount of constraints in the batch.
+        public int activeConstraintCount;  // auxiliar counter used to sort the constraints in linear time.
+
+        public int workItemSize;           // size of each work item.
+        public int workItemCount;          // number of work items.
+        public bool isLast;
+
+        public BatchData(int index, int maxBatches)
+        {
+            batchID = (ushort)(1 << index);
+            isLast = index == (maxBatches - 1);
+            constraintCount = 0;
+            activeConstraintCount = 0;
+
+            startIndex = 0;
+            workItemSize = 0;
+            workItemCount = 0;
+        }
+
+        public void GetConstraintRange(int workItemIndex, out int start, out int end)
+        {
+            start = startIndex + workItemSize * workItemIndex;
+            end = startIndex + math.min(constraintCount, workItemSize * (workItemIndex + 1));
+        }
+
+    }
+
+    public unsafe struct WorkItem
+    {
+        public const int minWorkItemSize = 64;
+        public fixed int constraints[minWorkItemSize];
+        public int constraintCount;
+
+        public bool Add(int constraintIndex)
+        {
+            // add the constraint to this work item.
+            fixed (int* constraintIndices = constraints)
+            {
+                constraintIndices[constraintCount] = constraintIndex;
+            }
+
+            // if we've completed the work item, close it and reuse for the next one.
+            return (++constraintCount == minWorkItemSize);
+        }
+    }
+
+    public struct ConstraintBatcher<T> : IDisposable where T : struct, IConstraintProvider
+    {
+        public int maxBatches;
+        private BatchLUT batchLUT; // look up table for batch indices.
+
+        public ConstraintBatcher(int maxBatches)
+        {
+            this.maxBatches = math.min(17, maxBatches);
+            batchLUT = new BatchLUT(this.maxBatches);
+        }
+
+        public void Dispose()
+        {
+            batchLUT.Dispose();
+        }
+
+        /**
+         * Linear-time graph coloring using bitmasks and a look-up table. Used to organize contacts into batches for parallel processing.
+         * input: array of unsorted constraints.
+         * output:
+         * - sorted constraint indices array.
+         * - array of batchData, one per batch: startIndex, batchSize, workItemSize (at most == batchSize), numWorkItems
+         * - number of active batches.
+         */
+
+        public JobHandle BatchConstraints(ref T constraintDesc,
+                                             int particleCount,
+                                             ref NativeArray<BatchData> batchData,
+                                             ref NativeArray<int> activeBatchCount,
+                                             JobHandle inputDeps)
+        {
+            if (activeBatchCount.Length != 1)
+                return inputDeps;
+
+            var batchJob = new BatchContactsJob
+            {
+                batchMasks = new NativeArray<ushort>(particleCount, Allocator.TempJob, NativeArrayOptions.ClearMemory),
+                batchIndices = new NativeArray<int>(constraintDesc.GetConstraintCount(), Allocator.TempJob, NativeArrayOptions.ClearMemory),
+                lut = batchLUT,
+                constraintDesc = constraintDesc,
+                batchData = batchData,
+                activeBatchCount = activeBatchCount,
+                maxBatches = maxBatches
+            };
+
+            return batchJob.Schedule(inputDeps);
+        }
+
+        [BurstCompile]
+        private struct BatchContactsJob : IJob
+        {
+            [DeallocateOnJobCompletion]
+            public NativeArray<ushort> batchMasks;
+
+            [DeallocateOnJobCompletion]
+            public NativeArray<int> batchIndices;
+
+            [ReadOnly] public BatchLUT lut;
+            public T constraintDesc;
+            public NativeArray<BatchData> batchData;
+            public NativeArray<int> activeBatchCount;
+
+            public int maxBatches;
+
+            public unsafe void Execute()
+            {
+                // Initialize batch data array
+                for (int i = 0; i < batchData.Length; ++i)
+                    batchData[i] = new BatchData(i, maxBatches);
+
+                // temporary array containing an open work item for each batch.
+                WorkItem* workItems = stackalloc WorkItem[maxBatches];
+                for (int i = 0; i < maxBatches; i++)
+                    workItems[i] = new WorkItem();
+
+                int constraintCount = constraintDesc.GetConstraintCount();
+
+                // find a batch for each constraint:
+                for (int i = 0; i < constraintCount; ++i)
+                {
+                    // OR together the batch masks of all entities involved in the constraint:
+                    int batchMask = 0;
+                    for (int k = 0; k < constraintDesc.GetParticleCount(i); ++k)
+                        batchMask |= batchMasks[constraintDesc.GetParticle(i, k)];
+
+                    // look up the first free batch index for this constraint:
+                    int batchIndex = batchIndices[i] = lut.batchIndex[batchMask];
+
+                    // update the amount of constraints in the batch:
+                    var batch = batchData[batchIndex];
+                    batch.constraintCount++;
+                    batchData[batchIndex] = batch;
+
+                    // add the constraint to the last work item of the batch:
+                    if (workItems[batchIndex].Add(i))
+                    {
+                        // if this work item does not belong to the last batch:
+                        if (batchIndex != maxBatches - 1)
+                        {
+                            // tag all entities in the work item with the batch mask to close it.
+                            // this way we know constraints referencing any of these entities can no longer be added to this batch.
+                            for (int j = 0; j < workItems[batchIndex].constraintCount; j++)
+                            {
+                                int constraint = workItems[batchIndex].constraints[j];
+
+                                for (int k = 0; k < constraintDesc.GetParticleCount(constraint); ++k)
+                                    batchMasks[constraintDesc.GetParticle(constraint, k)] |= batch.batchID;
+                            }
+                        }
+
+                        // reuse the work item.
+                        workItems[batchIndex].constraintCount = 0;
+                    }
+
+                }
+
+                // fill batch data:
+                activeBatchCount[0] = 0;
+                int numConstraints = 0;
+                for (int i = 0; i < batchData.Length; ++i)
+                {
+                    var batch = batchData[i];
+
+                    // bail out when we find the first empty batch:
+                    if (batch.constraintCount == 0)
+                        break;
+
+                    // calculate work item size, count, and index of the first constraint
+                    batch.workItemSize = math.min(WorkItem.minWorkItemSize, batch.constraintCount);
+                    batch.workItemCount = (batch.constraintCount + batch.workItemSize - 1) / batch.workItemSize;
+                    batch.startIndex = numConstraints;
+
+                    numConstraints += batch.constraintCount;
+                    activeBatchCount[0]++;
+
+                    batchData[i] = batch;
+                }
+
+                // write out sorted constraint indices:
+                for (int i = 0; i < constraintCount; ++i)
+                {
+                    var batch = batchData[batchIndices[i]];
+                    int sortedIndex = batch.startIndex + (batch.activeConstraintCount++);
+                    constraintDesc.WriteSortedConstraint(i, sortedIndex);
+                    batchData[batchIndices[i]] = batch;
+                }
+
+            }
+
+
+        }
+
+    }
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/ConstraintBatcher.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/ConstraintBatcher.cs.meta
new file mode 100644
index 000000000..7b2143c67
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/ConstraintBatcher.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/ConstraintSorter.cs b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/ConstraintSorter.cs
new file mode 100644
index 000000000..f15939bf9
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/ConstraintSorter.cs
@@ -0,0 +1,160 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using System;
+using System.Collections.Generic;
+using Unity.Collections;
+using Unity.Collections.LowLevel.Unsafe;
+using Unity.Mathematics;
+using Unity.Burst;
+using Unity.Jobs;
+
+namespace Obi
+{
+    public class ConstraintSorter<T> where T : unmanaged, IConstraint
+    {
+
+        public struct ConstraintComparer<K> : IComparer<K> where K : IConstraint
+        {
+            // Compares by Height, Length, and Width.
+            public int Compare(K x, K y)
+            {
+                return x.GetParticle(1).CompareTo(y.GetParticle(1));
+            }
+        }
+
+        /**
+         * Performs a single-threaded count sort on the constraints array using the first particle index,
+         * then multiple parallel sorts over slices of the original array sorting by the second particle index.
+         */
+        public JobHandle SortConstraints(int particleCount,
+                                         NativeArray<T> constraints,
+                                         ref NativeArray<T> sortedConstraints,
+                                         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);
+            int numDigits = 0;
+            int maxBodyIndex = particleCount - 1;
+            {
+                int val = maxBodyIndex;
+                while (val > 0)
+                {
+                    val >>= 1;
+                    numDigits++;
+                }
+            }
+
+            handle = new CountSortPerFirstParticleJob
+            {
+                input = constraints,
+                output = sortedConstraints,
+                maxDigits = numDigits,
+                maxIndex = maxBodyIndex,
+                digitCount = totalCountUpToDigit
+            }.Schedule(handle);
+
+            // Sort sub arrays with default sort.
+            int numPerBatch = math.max(1, maxBodyIndex / 32);
+
+            handle = new SortSubArraysJob
+            {
+                InOutArray = sortedConstraints,
+                NextElementIndex = totalCountUpToDigit,
+                comparer = new ConstraintComparer<T>()
+            }.Schedule(totalCountUpToDigit.Length, numPerBatch, handle);
+
+            return handle;
+        }
+
+        [BurstCompile]
+        public struct CountSortPerFirstParticleJob : IJob
+        {
+            [ReadOnly] [NativeDisableContainerSafetyRestriction] public NativeArray<T> input;
+            public NativeArray<T> output;
+
+            [NativeDisableContainerSafetyRestriction] public NativeArray<int> digitCount;
+
+            public int maxDigits;
+            public int maxIndex;
+
+            public void Execute()
+            {
+                // no real need for a mask, just in case bad particle indices were passed that have more digits than maxDigits.
+                int mask = (1 << maxDigits) - 1;
+
+                // Count digits
+                for (int i = 0; i < input.Length; i++)
+                {
+                    digitCount[input[i].GetParticle(0) & mask]++;
+                }
+
+                // Calculate start index for each digit
+                int prev = digitCount[0];
+                digitCount[0] = 0;
+                for (int i = 1; i <= maxIndex; i++)
+                {
+                    int current = digitCount[i];
+                    digitCount[i] = digitCount[i - 1] + prev;
+                    prev = current;
+                }
+
+                // Copy elements into buckets based on particle index
+                for (int i = 0; i < input.Length; i++)
+                {
+                    int index = digitCount[input[i].GetParticle(0) & mask]++;
+                    if (index == 1 && input.Length == 1)
+                    {
+                        output[0] = input[0];
+                    }
+                    output[index] = input[i];
+                }
+            }
+        }
+
+        // Sorts slices of an array in parallel
+        [BurstCompile]
+        public struct SortSubArraysJob : IJobParallelFor
+        {
+            [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;
+
+            [ReadOnly] public ConstraintComparer<T> comparer;
+
+            public void Execute(int workItemIndex)
+            {
+                int startIndex = 0;
+                if (workItemIndex > 0)
+                {
+                    startIndex = NextElementIndex[workItemIndex - 1];
+                }
+
+                if (startIndex < InOutArray.Length)
+                {
+                    int length = NextElementIndex[workItemIndex] - startIndex;
+                    DefaultSortOfSubArrays(InOutArray, startIndex, length, comparer);
+                }
+            }
+
+            public static void DefaultSortOfSubArrays(NativeArray<T> inOutArray, int startIndex, int length, ConstraintComparer<T> comparer)
+            {
+                if (length > 2)
+                {
+                    var slice = inOutArray.Slice(startIndex, length);
+                    slice.Sort(comparer);
+                }
+                else if (length == 2) // just swap:
+                {
+                    if (inOutArray[startIndex].GetParticle(1) > inOutArray[startIndex + 1].GetParticle(1))
+                    {
+                        var temp = inOutArray[startIndex + 1];
+                        inOutArray[startIndex + 1] = inOutArray[startIndex];
+                        inOutArray[startIndex] = temp;
+                    }
+                }
+            }
+        }
+
+    }
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/ConstraintSorter.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/ConstraintSorter.cs.meta
new file mode 100644
index 000000000..f96538a00
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/ConstraintSorter.cs.meta
@@ -0,0 +1,11 @@
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+guid: 4cb7051d5b32442d79da18c47c1fbcc2
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/ContactProvider.cs b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/ContactProvider.cs
new file mode 100644
index 000000000..011fecd08
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/ContactProvider.cs
@@ -0,0 +1,41 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using Unity.Collections;
+
+namespace Obi
+{
+    public struct ContactProvider : IConstraintProvider
+    {
+        public NativeArray<BurstContact> contacts;
+        public NativeArray<BurstContact> sortedContacts;
+        public NativeArray<int> simplices;
+        public SimplexCounts simplexCounts;
+
+        public int GetConstraintCount()
+        {
+            return contacts.Length;
+        }
+
+        public int GetParticleCount(int constraintIndex)
+        {
+            simplexCounts.GetSimplexStartAndSize(contacts[constraintIndex].bodyA, out int simplexSizeA);
+            simplexCounts.GetSimplexStartAndSize(contacts[constraintIndex].bodyB, out int simplexSizeB);
+            return simplexSizeA + simplexSizeB;
+        }
+        public int GetParticle(int constraintIndex, int index)
+        {
+            int simplexStartA = simplexCounts.GetSimplexStartAndSize(contacts[constraintIndex].bodyA, out int simplexSizeA);
+            int simplexStartB = simplexCounts.GetSimplexStartAndSize(contacts[constraintIndex].bodyB, out int simplexSizeB);
+            if (index < simplexSizeA)
+                return simplices[simplexStartA + index];
+            else
+                return simplices[simplexStartB + index - simplexSizeA];
+        }
+
+        public void WriteSortedConstraint(int constraintIndex, int sortedIndex)
+        {
+            sortedContacts[sortedIndex] = contacts[constraintIndex];
+        }
+    }
+
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/ContactProvider.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/ContactProvider.cs.meta
new file mode 100644
index 000000000..307657ae4
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/ContactProvider.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/FluidInteractionProvider.cs b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/FluidInteractionProvider.cs
new file mode 100644
index 000000000..f6bf87f5f
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/FluidInteractionProvider.cs
@@ -0,0 +1,32 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using Unity.Collections;
+
+namespace Obi
+{
+    public struct FluidInteractionProvider : IConstraintProvider
+    {
+        public NativeArray<FluidInteraction> interactions;
+        public NativeArray<FluidInteraction> sortedInteractions;
+
+        public int GetConstraintCount()
+        {
+            return interactions.Length;
+        }
+
+        public int GetParticleCount(int constraintIndex)
+        {
+            return 2;
+        }
+        public int GetParticle(int constraintIndex, int index)
+        {
+            return interactions[constraintIndex].GetParticle(index);
+        }
+
+        public void WriteSortedConstraint(int constraintIndex, int sortedIndex)
+        {
+            sortedInteractions[sortedIndex] = interactions[constraintIndex];
+        }
+    }
+
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/FluidInteractionProvider.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/FluidInteractionProvider.cs.meta
new file mode 100644
index 000000000..1567c7444
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/FluidInteractionProvider.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/IConstraint.cs b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/IConstraint.cs
new file mode 100644
index 000000000..5c1470577
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/IConstraint.cs
@@ -0,0 +1,9 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using System;
+
+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/ConstraintBatcher/IConstraint.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/IConstraint.cs.meta
new file mode 100644
index 000000000..7c631bab9
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/IConstraint.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/IConstraintProvider.cs b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/IConstraintProvider.cs
new file mode 100644
index 000000000..44cf18600
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/IConstraintProvider.cs
@@ -0,0 +1,12 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+namespace Obi
+{
+    public interface IConstraintProvider
+    {
+        int GetConstraintCount();
+        int GetParticleCount(int constraintIndex);
+        int GetParticle(int constraintIndex, int index);
+        void WriteSortedConstraint(int constraintIndex, int sortedIndex);
+    }
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/IConstraintProvider.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/IConstraintProvider.cs.meta
new file mode 100644
index 000000000..26f478400
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ConstraintBatcher/IConstraintProvider.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/FluidInteraction.cs b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/FluidInteraction.cs
new file mode 100644
index 000000000..f79ea05b3
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/FluidInteraction.cs
@@ -0,0 +1,19 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using System;
+using Unity.Mathematics;
+
+namespace Obi
+{
+    public struct FluidInteraction : IConstraint
+    {
+        public float4 gradient;
+        public float avgKernel;
+        public float avgGradient;
+        public int particleA;
+        public int particleB;
+
+        public int GetParticleCount() { return 2; }
+        public int GetParticle(int index) { return index == 0 ? particleA : particleB; }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/FluidInteraction.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/FluidInteraction.cs.meta
new file mode 100644
index 000000000..12b840183
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/FluidInteraction.cs.meta
@@ -0,0 +1,11 @@
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+guid: 98e6b7036ee4a4806b75d155a753b769
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+  serializedVersion: 2
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/GridHash.cs b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/GridHash.cs
new file mode 100644
index 000000000..c572cea82
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/GridHash.cs
@@ -0,0 +1,118 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using Unity.Mathematics;
+
+public struct GridHash
+{
+    public readonly static int3[] cellOffsets3D =
+    {
+        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
+        {
+            // 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;
+        }
+    }
+
+    public static int Hash(int2 grid)
+    {
+        unchecked
+        {
+            // 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;
+        }
+    }
+
+    public static ulong Hash(ulong hash, ulong key)
+    {
+        const ulong m = 0xc6a4a7935bd1e995UL;
+        const int r = 47;
+
+        ulong h = hash;
+        ulong k = key;
+
+        k *= m;
+        k ^= k >> r;
+        k *= m;
+
+        h ^= k;
+        h *= m;
+
+        h ^= h >> r;
+        h *= m;
+        h ^= h >> r;
+
+        return h;
+    }
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/GridHash.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/GridHash.cs.meta
new file mode 100644
index 000000000..8a077a2ed
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/GridHash.cs.meta
@@ -0,0 +1,11 @@
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+guid: 87666fac08214420abefb36a9166df43
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+  serializedVersion: 2
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/NativeMultilevelGrid.cs b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/NativeMultilevelGrid.cs
new file mode 100644
index 000000000..c70f198fb
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/NativeMultilevelGrid.cs
@@ -0,0 +1,282 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using System;
+using Unity.Collections;
+using Unity.Collections.LowLevel.Unsafe;
+using Unity.Mathematics;
+using System.Runtime.CompilerServices;
+
+namespace Obi
+{
+
+    /**
+     *  MultilevelGrid is the most used spatial partitioning structure in Obi. It is:
+     *
+     * - Unbounded: defines no limits on the size of location of space partitioned.
+     * - Sparse: only allocates memory where space has interesting features to track.
+     * - Multilevel: can store several levels of spatial subdivision, from very fine to very large.
+     * - Implicit: the hierarchical relationship between cells is not stored in memory,
+     *   but implicitly derived from the structure itself.
+     *
+     *  These characteristics make it extremely flexible, memory efficient, and fast. 
+     *  Its implementation is also fairly simple and concise. 
+     */
+    public unsafe struct NativeMultilevelGrid<T> : IDisposable where T : unmanaged, IEquatable<T>
+    {
+
+        public const float minSize = 0.01f; 
+
+        /**
+         * A cell in the multilevel grid. Coords are 4-dimensional, the 4th component is the grid level.
+         */
+        public struct Cell<K> where K : unmanaged, IEquatable<K>
+        {
+            int4 coords;
+            UnsafeList<K> contents;
+
+            public Cell(int4 coords)
+            {
+                this.coords = coords;
+                contents = new UnsafeList<K>(4,Allocator.Persistent);
+            }
+
+            public int4 Coords
+            {
+                get { return coords; }
+            }
+
+            public int Length
+            {
+                get { return contents.Length; }
+            }
+
+            public void* ContentsPointer
+            {
+                get { return contents.Ptr; }
+            }
+
+            public K this[int index]
+            {
+                get
+                {
+                    return UnsafeUtility.ReadArrayElement<K>(contents.Ptr, index);
+                }
+            }
+
+            public void Add(K entity)
+            {
+                contents.Add(entity);
+            }
+
+            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; }
+
+                if (index >= 0)
+                {
+                    contents.RemoveAtSwapBack(index);
+                    return true;
+                }
+                return false;
+            }
+
+            public void Dispose()
+            {
+                contents.Dispose();
+            }
+        }
+
+        public NativeHashMap<int4, int> grid;
+        public NativeList<Cell<T>> usedCells;
+        public NativeHashMap<int, int> populatedLevels;
+
+        public NativeMultilevelGrid(int capacity, Allocator label)
+        {
+            grid = new NativeHashMap<int4, int>(capacity, label);
+            usedCells = new NativeList<Cell<T>>(label);
+            populatedLevels = new NativeHashMap<int, int>(10, label);
+        }
+
+        public int CellCount
+        {
+            get { return usedCells.Length; }
+        }
+
+        public void Clear()
+        {
+            for (int i = 0; i < usedCells.Length; ++i)
+                usedCells[i].Dispose();
+
+            grid.Clear();
+            usedCells.Clear();
+            populatedLevels.Clear();
+        }
+
+        public void Dispose()
+        {
+            for (int i = 0; i < usedCells.Length; ++i)
+                usedCells[i].Dispose();
+
+            grid.Dispose();
+            usedCells.Dispose();
+            populatedLevels.Dispose();
+        }
+
+        public int GetOrCreateCell(int4 cellCoords)
+        {
+            int cellIndex;
+            if (grid.TryGetValue(cellCoords, out cellIndex))
+            {
+                return cellIndex;
+            }
+            else
+            {
+                grid.TryAdd(cellCoords, usedCells.Length);
+                usedCells.Add(new Cell<T>(cellCoords));
+
+                IncreaseLevelPopulation(cellCoords.w);
+
+                return usedCells.Length - 1;
+            }
+        }
+
+        public bool TryGetCellIndex(int4 cellCoords, out int cellIndex)
+        {
+            return grid.TryGetValue(cellCoords, out cellIndex);
+        }
+
+        public void RemoveEmpty()
+        {
+            // remove empty cells from the used cells list and the grid:
+            for (int i = usedCells.Length - 1; i >= 0 ; --i)
+            {
+                if (usedCells[i].Length == 0)
+                {
+                    DecreaseLevelPopulation(usedCells[i].Coords.w);
+                    grid.Remove(usedCells[i].Coords);
+                    usedCells[i].Dispose();
+                    usedCells.RemoveAtSwapBack(i);
+                }
+            }
+
+            // update grid indices:
+            for (int i = 0; i < usedCells.Length; ++i)
+            {
+                grid.Remove(usedCells[i].Coords);
+                grid.TryAdd(usedCells[i].Coords, i);
+            }
+        }
+
+        [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);
+        }
+
+        [MethodImpl(MethodImplOptions.AggressiveInlining)]
+        public static float CellSizeOfLevel(int level)
+        {
+            return math.exp2(level);
+        }
+
+        /**
+         * Given a cell coordinate, returns the coordinates of the cell containing it in a superior level.
+         */
+        public static int4 GetParentCellCoords(int4 cellCoords, int level)
+        {
+            float decimation = CellSizeOfLevel(level - cellCoords[3]);
+            int4 cell = (int4)math.floor((float4)cellCoords / decimation);
+            cell[3] = level;
+            return cell;
+        }
+
+        public void RemoveFromCells(BurstCellSpan span, T content)
+        {
+            for (int x = span.min[0]; x <= span.max[0]; ++x)
+                for (int y = span.min[1]; y <= span.max[1]; ++y)
+                    for (int z = span.min[2]; z <= span.max[2]; ++z)
+                    {
+                        int cellIndex;
+                        if (TryGetCellIndex(new int4(x, y, z, span.level), out cellIndex))
+                        {
+                            var oldCell = usedCells[cellIndex];
+                            oldCell.Remove(content);
+                            usedCells[cellIndex] = oldCell;
+                        }
+                    }
+        }
+
+        public void AddToCells(BurstCellSpan span, T content)
+        {
+            for (int x = span.min[0]; x <= span.max[0]; ++x)
+                for (int y = span.min[1]; y <= span.max[1]; ++y)
+                    for (int z = span.min[2]; z <= span.max[2]; ++z)
+                    {
+                        int cellIndex = GetOrCreateCell(new int4(x, y, z, span.level));
+
+                        var newCell = usedCells[cellIndex];
+                        newCell.Add(content);
+                        usedCells[cellIndex] = newCell;
+                    }
+        }
+
+        public static void GetCellCoordsForBoundsAtLevel(NativeList<int4> coords, BurstAabb bounds, int level, int maxSize = 10)
+        {
+            coords.Clear();
+            float cellSize = CellSizeOfLevel(level);
+
+            int3 minCell = GridHash.Quantize(bounds.min.xyz, cellSize);
+            int3 maxCell = GridHash.Quantize(bounds.max.xyz, cellSize);
+            maxCell = minCell + math.min(maxCell - minCell, new int3(maxSize));
+
+            int3 size = maxCell - minCell + new int3(1);
+
+            coords.Capacity = size.x * size.y * size.z;
+
+            // TODO: return some sort of iterator trough the cells, not a native array.
+            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)
+                    {
+                        coords.Add(new int4(x, y, z, level));
+                    }
+                }
+            }
+        }
+
+        private void IncreaseLevelPopulation(int level)
+        {
+
+            int population = 0;
+            if (populatedLevels.TryGetValue(level, out population))
+            {
+                populatedLevels.Remove(level);
+            }
+
+            populatedLevels.TryAdd(level, population + 1);
+        }
+
+        private void DecreaseLevelPopulation(int level)
+        {
+
+            int population = 0;
+            if (populatedLevels.TryGetValue(level, out population))
+            {
+                population--;
+                populatedLevels.Remove(level);
+
+                if (population > 0)
+                {
+                    populatedLevels.TryAdd(level, population);
+                }
+            }
+
+        }
+    }
+}
+#endif
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/NativeMultilevelGrid.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/NativeMultilevelGrid.cs.meta
new file mode 100644
index 000000000..c1d785721
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/NativeMultilevelGrid.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 2745cdd0ade4f4ac0a7ca952c1ad5dd8
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ParticleGrid.cs b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ParticleGrid.cs
new file mode 100644
index 000000000..5fab570fc
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ParticleGrid.cs
@@ -0,0 +1,589 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using System;
+using Unity.Collections;
+using Unity.Jobs;
+using Unity.Mathematics;
+using Unity.Burst;
+
+namespace Obi
+{
+    public struct MovingEntity
+    {
+        public int4 oldCellCoord;
+        public int4 newCellCoord;
+        public int entity;
+    }
+
+    public class ParticleGrid : IDisposable
+    {
+        public NativeMultilevelGrid<int> grid;
+        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 int simplexCount;
+
+            public void Execute()
+            {
+                grid.Clear();
+
+                for (int i = 0; i < simplexCount; ++i)
+                {
+                    // add to new cell:
+                    int cellIndex = grid.GetOrCreateCell(cellCoords[i]);
+                    var newCell = grid.usedCells[cellIndex];
+                    newCell.Add(i);
+                    grid.usedCells[cellIndex] = newCell;
+                }
+            }
+        }
+
+        [BurstCompile]
+        public struct GenerateParticleParticleContactsJob : IJobParallelFor
+        {
+            [ReadOnly] public NativeMultilevelGrid<int> grid;
+            [DeallocateOnJobCompletion]
+            [ReadOnly] public NativeArray<int> gridLevels;
+
+            [ReadOnly] public NativeArray<float4> positions;
+            [ReadOnly] public NativeArray<quaternion> orientations;
+            [ReadOnly] public NativeArray<float4> restPositions;
+            [ReadOnly] public NativeArray<quaternion> restOrientations;
+            [ReadOnly] public NativeArray<float4> velocities;
+            [ReadOnly] public NativeArray<float> invMasses;
+            [ReadOnly] public NativeArray<float4> radii;
+            [ReadOnly] public NativeArray<float4> normals;
+            [ReadOnly] public NativeArray<float> fluidRadii;
+            [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;
+
+            [WriteOnly]
+            [NativeDisableParallelForRestriction]
+            public NativeQueue<BurstContact>.ParallelWriter contactsQueue;
+
+            [WriteOnly]
+            [NativeDisableParallelForRestriction]
+            public NativeQueue<FluidInteraction>.ParallelWriter fluidInteractionsQueue;
+
+            [ReadOnly] public float dt;
+            [ReadOnly] public float collisionMargin;
+            [ReadOnly] public int optimizationIterations;
+            [ReadOnly] public float optimizationTolerance;
+
+            public void Execute(int i)
+            {
+                BurstSimplex simplexShape = new BurstSimplex()
+                {
+                    positions = restPositions,
+                    radii = radii,
+                    simplices = simplices,
+                };
+
+                // Looks for close particles in the same cell:
+                IntraCellSearch(i, ref simplexShape);
+
+                // Looks for close particles in neighboring cells, in the same level or higher levels.
+                IntraLevelSearch(i, ref simplexShape);
+            }
+
+            private void IntraCellSearch(int cellIndex, ref BurstSimplex simplexShape)
+            {
+                int cellLength = grid.usedCells[cellIndex].Length;
+
+                for (int p = 0; p < cellLength; ++p)
+                {
+                    for (int n = p + 1; n < cellLength; ++n)
+                    {
+                        InteractionTest(grid.usedCells[cellIndex][p], grid.usedCells[cellIndex][n], ref simplexShape);
+                    }
+                }
+            }
+
+            private void InterCellSearch(int cellIndex, int neighborCellIndex, ref BurstSimplex simplexShape)
+            {
+                int cellLength = grid.usedCells[cellIndex].Length;
+                int neighborCellLength = grid.usedCells[neighborCellIndex].Length;
+
+                for (int p = 0; p < cellLength; ++p)
+                {
+                    for (int n = 0; n < neighborCellLength; ++n)
+                    {
+                        InteractionTest(grid.usedCells[cellIndex][p], grid.usedCells[neighborCellIndex][n], ref simplexShape);
+                    }
+                }
+            }
+
+            private void IntraLevelSearch(int cellIndex, ref BurstSimplex simplexShape)
+            {
+                int4 cellCoords = grid.usedCells[cellIndex].Coords;
+
+                // neighboring cells in the current level:
+                for (int i = 0; i < 13; ++i)
+                {
+                    int4 neighborCellCoords = new int4(cellCoords.xyz + GridHash.cellOffsets3D[i], cellCoords.w);
+
+                    int neighborCellIndex;
+                    if (grid.TryGetCellIndex(neighborCellCoords, out neighborCellIndex))
+                    {
+                        InterCellSearch(cellIndex, neighborCellIndex, ref simplexShape);
+                    }
+                }
+
+                // neighboring cells in levels above the current one:
+                int levelIndex = gridLevels.IndexOf<int,int>(cellCoords.w);
+                if (levelIndex >= 0)
+                {
+                    levelIndex++;
+                    for (; levelIndex < gridLevels.Length; ++levelIndex)
+                    {
+                        int level = gridLevels[levelIndex];
+
+                        // calculate index of parent cell in parent level:
+                        int4 parentCellCoords = NativeMultilevelGrid<int>.GetParentCellCoords(cellCoords, level);
+
+                        // search in all neighbouring cells:
+                        for (int x = -1; x <= 1; ++x)
+                            for (int y = -1; y <= 1; ++y)
+                                for (int z = -1; z <= 1; ++z)
+                                {
+                                    int4 neighborCellCoords = parentCellCoords + new int4(x, y, z, 0);
+
+                                    int neighborCellIndex;
+                                    if (grid.TryGetCellIndex(neighborCellCoords, out neighborCellIndex))
+                                    {
+                                        InterCellSearch(cellIndex, neighborCellIndex, ref simplexShape);
+                                    }
+                                }
+                    }
+                }
+            }
+
+            private int GetSimplexGroup(int simplexStart, int simplexSize, out ObiUtils.ParticleFlags flags, out int category, out int mask, ref bool restPositionsEnabled)
+            {
+                flags = 0;
+                int group = 0;
+                category = 0;
+                mask = 0;
+                for (int j = 0; j < simplexSize; ++j)
+                {
+                    int particleIndex = simplices[simplexStart + j];
+                    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;
+                }
+
+                return group;
+            }
+
+            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);
+
+                // immediately reject simplex pairs that share particles:
+                for (int a = 0; a < simplexSizeA; ++a)
+                    for (int b = 0; b < simplexSizeB; ++b)
+                        if (simplices[simplexStartA + a] == simplices[simplexStartB + b])
+                            return;
+
+                // get group for each simplex:
+                bool restPositionsEnabled = false;
+                int groupA = GetSimplexGroup(simplexStartA, simplexSizeA, out ObiUtils.ParticleFlags flagsA, out int categoryA, out int maskA, ref restPositionsEnabled);
+                int groupB = GetSimplexGroup(simplexStartB, simplexSizeB, out ObiUtils.ParticleFlags flagsB, out int categoryB, out int maskB, ref restPositionsEnabled);
+
+                // if all particles are in the same group:
+                if (groupA == groupB)
+                {
+                    // if none are self-colliding, reject the pair.
+                    if ((flagsA & flagsB & ObiUtils.ParticleFlags.SelfCollide) == 0)
+                        return;
+                }
+                // category-based filtering:
+                else if ((maskA & categoryB) == 0 || (maskB & categoryA) == 0)
+                    return;
+
+                // if all simplices are fluid, check their smoothing radii:
+                if ((flagsA & ObiUtils.ParticleFlags.Fluid) != 0 && (flagsB & ObiUtils.ParticleFlags.Fluid) != 0)
+                {
+                    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 fluidDistance = math.max(fluidRadii[particleA], fluidRadii[particleB]);
+                    if (d2 <= fluidDistance * fluidDistance)
+                    {
+                        fluidInteractionsQueue.Enqueue(new FluidInteraction { particleA = particleA, particleB = particleB });
+                    }
+                }
+                else // at least one solid particle is present:
+                {
+                    // swap simplices so that B is always the one-sided one.
+                    if ((flagsA & ObiUtils.ParticleFlags.OneSided) != 0 && categoryA < categoryB)
+                    {
+                        ObiUtils.Swap(ref A, ref B);
+                        ObiUtils.Swap(ref simplexStartA, ref simplexStartB);
+                        ObiUtils.Swap(ref simplexSizeA, ref simplexSizeB);
+                        ObiUtils.Swap(ref flagsA, ref flagsB);
+                        ObiUtils.Swap(ref groupA, ref groupB);
+                    }
+
+                    float4 simplexBary = BurstMath.BarycenterForSimplexOfSize(simplexSizeA);
+                    float4 simplexPoint;
+
+                    simplexShape.simplexStart = simplexStartB;
+                    simplexShape.simplexSize = simplexSizeB;
+                    simplexShape.positions = restPositions;
+                    simplexShape.CacheData();
+
+                    float simplexRadiusA = 0, simplexRadiusB = 0;
+
+                    // skip the contact if there's self-intersection at rest:
+                    if (groupA == groupB && restPositionsEnabled)
+                    {
+                        var restPoint = BurstLocalOptimization.Optimize<BurstSimplex>(ref simplexShape, restPositions, restOrientations, radii,
+                                                    simplices, simplexStartA, simplexSizeA, ref simplexBary, out simplexPoint, 4, 0);
+
+                        for (int j = 0; j < simplexSizeA; ++j)
+                            simplexRadiusA += radii[simplices[simplexStartA + j]].x * simplexBary[j];
+
+                        for (int j = 0; j < simplexSizeB; ++j)
+                            simplexRadiusB += radii[simplices[simplexStartB + j]].x * restPoint.bary[j];
+
+                        // compare distance along contact normal with radius.
+                        if (math.dot(simplexPoint - restPoint.point, restPoint.normal) < simplexRadiusA + simplexRadiusB)
+                            return; 
+                    }
+
+                    simplexBary = BurstMath.BarycenterForSimplexOfSize(simplexSizeA);
+                    simplexShape.positions = positions;
+                    simplexShape.CacheData();
+
+                    var surfacePoint = BurstLocalOptimization.Optimize<BurstSimplex>(ref simplexShape, positions, orientations, radii,
+                                        simplices, simplexStartA, simplexSizeA, ref simplexBary, out simplexPoint, optimizationIterations, optimizationTolerance);
+
+                    simplexRadiusA = 0; simplexRadiusB = 0;
+                    float4 velocityA = float4.zero, velocityB = float4.zero, normalB = float4.zero;
+
+                    for (int j = 0; j < simplexSizeA; ++j)
+                    {
+                        int particleIndex = simplices[simplexStartA + j];
+                        simplexRadiusA += radii[particleIndex].x * simplexBary[j];
+                        velocityA += velocities[particleIndex] * simplexBary[j];
+                    }
+
+                    for (int j = 0; j < simplexSizeB; ++j)
+                    {
+                        int particleIndex = simplices[simplexStartB + j];
+                        simplexRadiusB += radii[particleIndex].x * surfacePoint.bary[j];
+                        velocityB += velocities[particleIndex] * surfacePoint.bary[j];
+                        normalB += normals[particleIndex] * surfacePoint.bary[j];
+                    }
+
+                    float dAB = math.dot(simplexPoint - surfacePoint.point, 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);
+
+                        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);
+            this.particleContactQueue = new NativeQueue<BurstContact>(Allocator.Persistent);
+            this.fluidInteractionQueue = new NativeQueue<FluidInteraction>(Allocator.Persistent);
+        }
+
+        public void Update(BurstSolverImpl solver, float deltaTime, 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,
+                cellCoords = solver.cellCoords,
+                simplexCount = solver.simplexCounts.simplexCount
+            };
+            updateGrid.Schedule(inputDeps).Complete();
+        }
+
+        public JobHandle GenerateContacts(BurstSolverImpl solver, float deltaTime)
+        {
+
+            var generateParticleContactsJob = new GenerateParticleParticleContactsJob
+            {
+                grid = grid,
+                gridLevels = grid.populatedLevels.GetKeyArray(Allocator.TempJob),
+
+                positions = solver.positions,
+                orientations = solver.orientations,
+                restPositions = solver.restPositions,
+                restOrientations = solver.restOrientations,
+                velocities = solver.velocities,
+                invMasses = solver.invMasses,
+                radii = solver.principalRadii,
+                normals = solver.normals,
+                fluidRadii = solver.smoothingRadii,
+                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>(),
+
+                contactsQueue = particleContactQueue.AsParallelWriter(),
+                fluidInteractionsQueue = fluidInteractionQueue.AsParallelWriter(),
+                dt = deltaTime,
+                collisionMargin = solver.abstraction.parameters.collisionMargin,
+                optimizationIterations = solver.abstraction.parameters.surfaceCollisionIterations,
+                optimizationTolerance = solver.abstraction.parameters.surfaceCollisionTolerance,
+            };
+
+            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,
+
+                positions = solver.abstraction.prevPositions.AsNativeArray<float4>(),
+                orientations = solver.abstraction.prevOrientations.AsNativeArray<quaternion>(),
+                radii = solver.abstraction.principalRadii.AsNativeArray<float4>(),
+                filters = solver.abstraction.filters.AsNativeArray<int>(),
+
+                simplices = solver.simplices,
+                simplexCounts = solver.simplexCounts,
+
+                shapes = shapes,
+                transforms = transforms,
+
+                results = results.AsParallelWriter(),
+                worldToSolver = solver.worldToSolver,
+                parameters = solver.abstraction.parameters
+            };
+
+            return job.Schedule(shapes.Length, 4);
+        }
+
+        public void GetCells(ObiNativeAabbList cells)
+        {
+            if (cells.count == grid.usedCells.Length)
+            {
+                for (int i = 0; i < grid.usedCells.Length; ++i)
+                {
+                    var cell = grid.usedCells[i];
+                    float size = NativeMultilevelGrid<int>.CellSizeOfLevel(cell.Coords.w);
+
+                    float4 min = (float4)cell.Coords * size;
+                    min[3] = 0;
+
+                    cells[i] = new Aabb(min, min + new float4(size, size, size, 0));
+                }
+            }
+        }
+
+        public void Dispose()
+        {
+            grid.Dispose();
+            particleContactQueue.Dispose();
+            fluidInteractionQueue.Dispose();
+        }
+
+    }
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ParticleGrid.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ParticleGrid.cs.meta
new file mode 100644
index 000000000..9b1ea3104
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/ParticleGrid.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/Queries.meta b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/Queries.meta
new file mode 100644
index 000000000..e9f48027f
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/Queries.meta
@@ -0,0 +1,8 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/Queries/BurstContact.cs b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/Queries/BurstContact.cs
new file mode 100644
index 000000000..aee21d6f2
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/Queries/BurstContact.cs
@@ -0,0 +1,244 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using Unity.Mathematics;
+using Unity.Collections;
+
+namespace Obi
+{
+    public struct BurstContact : IConstraint, System.IComparable<BurstContact>
+    {
+        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 float distance;
+
+        float normalLambda;
+        float tangentLambda;
+        float bitangentLambda;
+        float stickLambda;
+        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 override string ToString()
+        {
+            return bodyA + "," + bodyB;
+        }
+
+        public int CompareTo(BurstContact other)
+        {
+            int first = bodyA.CompareTo(other.bodyA);
+            if (first == 0)
+                return bodyB.CompareTo(other.bodyB);
+            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)
+        {
+            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)
+        {
+
+            if (TotalNormalInvMass <= 0 || stickDistance <= 0 || stickiness <= 0 || dt <= 0)
+                return 0;
+
+            distance = math.dot(posA - posB, normal);
+
+            // calculate stickiness position correction:
+            float constraint = stickiness * (1 - math.max(distance / stickDistance, 0)) * dt;
+
+            // calculate lambda multiplier:
+            float dlambda = -constraint / TotalNormalInvMass;
+
+            // accumulate lambda:
+            float newStickinessLambda = math.min(stickLambda + dlambda, 0);
+
+            // calculate lambda change and update accumulated lambda:
+            float lambdaChange = newStickinessLambda - stickLambda;
+            stickLambda = newStickinessLambda;
+
+            return lambdaChange;
+        }
+
+        public float SolvePenetration(float4 posA, float4 posB, float maxDepenetrationDelta)
+        {
+
+            if (TotalNormalInvMass <= 0)
+                return 0;
+
+            //project position delta to normal vector:
+            distance = math.dot(posA - posB, normal);
+
+            // calculate max projection distance based on depenetration velocity:
+            float maxProjection = math.max(-distance - maxDepenetrationDelta, 0);
+
+            // calculate lambda multiplier:
+            float dlambda = -(distance + maxProjection) / TotalNormalInvMass;
+
+            // accumulate lambda:
+            float newLambda = math.max(normalLambda + dlambda, 0);
+
+            // calculate lambda change and update accumulated lambda:
+            float lambdaChange = newLambda - normalLambda;
+            normalLambda = newLambda;
+
+            return lambdaChange;
+        }
+
+        public float2 SolveFriction(float4 relativeVelocity, float staticFriction, float dynamicFriction, float dt)
+        {
+            float2 lambdaChange = float2.zero;
+
+            if (TotalTangentInvMass <= 0 || TotalBitangentInvMass <= 0 ||
+                (dynamicFriction <= 0 && staticFriction <= 0) || (normalLambda <= 0 && stickLambda <= 0))
+                return lambdaChange;
+
+            // calculate delta projection on both friction axis:
+            float tangentPosDelta = math.dot(relativeVelocity, tangent);
+            float bitangentPosDelta = math.dot(relativeVelocity, bitangent);
+
+            // calculate friction pyramid limit:
+            float dynamicFrictionCone = normalLambda / dt * dynamicFriction;
+            float staticFrictionCone  = normalLambda / dt * staticFriction;
+
+            // tangent impulse:
+            float tangentLambdaDelta = -tangentPosDelta / TotalTangentInvMass; 
+            float newTangentLambda = tangentLambda + tangentLambdaDelta;
+
+            if (math.abs(newTangentLambda) > staticFrictionCone)
+                newTangentLambda = math.clamp(newTangentLambda, -dynamicFrictionCone, dynamicFrictionCone);
+
+            lambdaChange[0] = newTangentLambda - tangentLambda;
+            tangentLambda = newTangentLambda;
+
+            // bitangent impulse:
+            float bitangentLambdaDelta = -bitangentPosDelta / TotalBitangentInvMass;
+            float newBitangentLambda = bitangentLambda + bitangentLambdaDelta;
+
+            if (math.abs(newBitangentLambda) > staticFrictionCone)
+                newBitangentLambda = math.clamp(newBitangentLambda, -dynamicFrictionCone, dynamicFrictionCone);
+
+            lambdaChange[1] = newBitangentLambda - bitangentLambda;
+            bitangentLambda = newBitangentLambda;
+
+            return lambdaChange;
+        }
+
+
+        public float SolveRollingFriction(float4 angularVelocityA,
+                                          float4 angularVelocityB,
+                                          float rollingFriction,
+                                          float invMassA,
+                                          float invMassB,
+                                          ref float4 rolling_axis)
+        {
+            float totalInvMass = invMassA + invMassB;
+            if (totalInvMass <= 0)
+                return 0;
+        
+            rolling_axis = math.normalizesafe(angularVelocityA - angularVelocityB);
+
+            float vel1 = math.dot(angularVelocityA,rolling_axis);
+            float vel2 = math.dot(angularVelocityB,rolling_axis);
+
+            float relativeVelocity = vel1 - vel2;
+
+            float maxImpulse = normalLambda * rollingFriction;
+            float newRollingImpulse = math.clamp(rollingFrictionImpulse - relativeVelocity / totalInvMass, -maxImpulse, maxImpulse);
+            float rolling_impulse_change = newRollingImpulse - rollingFrictionImpulse;
+            rollingFrictionImpulse = newRollingImpulse;
+        
+            return rolling_impulse_change;
+        }
+}
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/Queries/BurstContact.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/Queries/BurstContact.cs.meta
new file mode 100644
index 000000000..78667f132
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/Queries/BurstContact.cs.meta
@@ -0,0 +1,11 @@
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+guid: 70486b82a23044fccaf324d309757b8f
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+  externalObjects: {}
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/Queries/BurstQueryResult.cs b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/Queries/BurstQueryResult.cs
new file mode 100644
index 000000000..7d676052c
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/Queries/BurstQueryResult.cs
@@ -0,0 +1,18 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using Unity.Mathematics;
+using Unity.Collections;
+
+namespace Obi
+{
+    public struct BurstQueryResult
+    {
+        public float4 simplexBary; // point A, expressed as simplex barycentric coords for simplices, as a solver-space position for colliders.
+        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 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/DataStructures/Queries/BurstQueryResult.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/Queries/BurstQueryResult.cs.meta
new file mode 100644
index 000000000..11928dd14
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/DataStructures/Queries/BurstQueryResult.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Queries.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Queries.meta
new file mode 100644
index 000000000..ce25ade9d
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@@ -0,0 +1,8 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Queries/BurstBoxQuery.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Queries/BurstBoxQuery.cs
new file mode 100644
index 000000000..4be8d5f1b
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Queries/BurstBoxQuery.cs
@@ -0,0 +1,86 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using Unity.Collections;
+using Unity.Mathematics;
+
+namespace Obi
+{
+    public struct BurstBoxQuery : BurstLocalOptimization.IDistanceFunction
+    {
+        public BurstQueryShape shape;
+        public BurstAffineTransform colliderToSolver;
+
+        public void Evaluate(float4 point, float4 radii, quaternion orientation, ref BurstLocalOptimization.SurfacePoint projectedPoint)
+        {
+            float4 center = shape.center * colliderToSolver.scale;
+            float4 size = shape.size * colliderToSolver.scale * 0.5f;
+
+            // clamp the point to the surface of the box:
+            point = colliderToSolver.InverseTransformPointUnscaled(point) - center;
+
+           /*if (shape.is2D != 0)
+                point[2] = 0;*/
+
+            // get minimum distance for each axis:
+            float4 distances = size - math.abs(point);
+
+            if (distances.x >= 0 && distances.y >= 0 && distances.z >= 0)
+            {
+                // find minimum distance in all three axes and the axis index:
+                float min = float.MaxValue;
+                int axis = 0;
+
+                for (int i = 0; i < 3; ++i)
+                {
+                    if (distances[i] < min)
+                    {
+                        min = distances[i];
+                        axis = i;
+                    }
+                }
+
+                projectedPoint.normal = float4.zero;
+                projectedPoint.point = point;
+
+                projectedPoint.normal[axis] = point[axis] > 0 ? 1 : -1;
+                projectedPoint.point[axis] = size[axis] * projectedPoint.normal[axis];
+            }
+            else
+            {
+                projectedPoint.point = math.clamp(point, -size, size);
+                projectedPoint.normal = math.normalizesafe(point - projectedPoint.point);
+            }
+
+            projectedPoint.point = colliderToSolver.TransformPointUnscaled(projectedPoint.point + center + projectedPoint.normal * shape.contactOffset);
+            projectedPoint.normal = colliderToSolver.TransformDirection(projectedPoint.normal);
+        }
+
+        public void Query(int shapeIndex,
+                             NativeArray<float4> positions,
+                             NativeArray<quaternion> orientations,
+                             NativeArray<float4> radii,
+                             NativeArray<int> simplices,
+                             int simplexIndex,
+                             int simplexStart,
+                             int simplexSize,
+
+                             NativeQueue<BurstQueryResult>.ParallelWriter results,
+                             int optimizationIterations,
+                             float optimizationTolerance)
+        {
+            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);
+
+            co.queryPoint = colliderPoint.point;
+            co.normal = colliderPoint.normal;
+            co.simplexBary = simplexBary;
+
+            results.Enqueue(co);
+        }
+
+    }
+
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Queries/BurstBoxQuery.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Queries/BurstBoxQuery.cs.meta
new file mode 100644
index 000000000..0e33279c3
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Queries/BurstBoxQuery.cs.meta
@@ -0,0 +1,11 @@
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+  executionOrder: 0
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Queries/BurstRay.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Queries/BurstRay.cs
new file mode 100644
index 000000000..ce2533383
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Queries/BurstRay.cs
@@ -0,0 +1,75 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using Unity.Collections;
+using Unity.Mathematics;
+
+namespace Obi
+{
+    public struct BurstRay : BurstLocalOptimization.IDistanceFunction
+    {
+        public BurstQueryShape shape;
+        public BurstAffineTransform colliderToSolver;
+
+        public void Evaluate(float4 point, float4 radii, quaternion orientation, ref BurstLocalOptimization.SurfacePoint projectedPoint)
+        {
+            float4x4 simplexToSolver = float4x4.TRS(point.xyz, orientation, radii.xyz);
+            float4x4 solverToSimplex = math.inverse(simplexToSolver);
+            float4x4 colliderToSimplex = math.mul(solverToSimplex, float4x4.TRS(colliderToSolver.translation.xyz, colliderToSolver.rotation, colliderToSolver.scale.xyz));
+
+            // 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)));
+
+            float rayDistance = ObiUtils.RaySphereIntersection(rayOrigin.xyz, rayDirection.xyz, float3.zero, 1);
+
+            if (rayDistance < 0)
+            {
+                point = colliderToSolver.InverseTransformPointUnscaled(point);
+
+                float4 centerLine = BurstMath.NearestPointOnEdge(shape.center * colliderToSolver.scale, shape.size * colliderToSolver.scale, point, out float mu);
+                float4 centerToPoint = point - centerLine;
+                float distanceToCenter = math.length(centerToPoint);
+
+                float4 normal = centerToPoint / (distanceToCenter + BurstMath.epsilon);
+
+                projectedPoint.point = colliderToSolver.TransformPointUnscaled(centerLine + normal * shape.contactOffset);
+                projectedPoint.normal = colliderToSolver.TransformDirection(normal);
+            }
+            else
+            {
+                float4 rayPoint = math.mul(simplexToSolver, new float4((rayOrigin + rayDirection * rayDistance).xyz,1));
+                float4 normal = math.normalizesafe(new float4((point - rayPoint).xyz,0));
+
+                projectedPoint.point = rayPoint + normal * shape.contactOffset;
+                projectedPoint.normal = normal;
+            }
+        }
+
+        public void Query(int shapeIndex,
+                             NativeArray<float4> positions,
+                             NativeArray<quaternion> orientations,
+                             NativeArray<float4> radii,
+                             NativeArray<int> simplices,
+                             int simplexIndex,
+                             int simplexStart,
+                             int simplexSize,
+
+                             NativeQueue<BurstQueryResult>.ParallelWriter results,
+                             int optimizationIterations,
+                             float optimizationTolerance)
+        {
+            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);
+
+            co.queryPoint = colliderPoint.point;
+            co.normal = colliderPoint.normal;
+            co.simplexBary = simplexBary;
+
+            results.Enqueue(co);
+        }
+    }
+
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Queries/BurstRay.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Queries/BurstRay.cs.meta
new file mode 100644
index 000000000..8d62f282a
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Queries/BurstRay.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 57b77d0143f8a4af18df103368d328f6
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
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+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Queries/BurstSphereQuery.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Queries/BurstSphereQuery.cs
new file mode 100644
index 000000000..e36412357
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Queries/BurstSphereQuery.cs
@@ -0,0 +1,57 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using Unity.Collections;
+using Unity.Mathematics;
+
+namespace Obi
+{
+    public struct BurstSphereQuery : BurstLocalOptimization.IDistanceFunction
+    {
+        public BurstQueryShape shape;
+        public BurstAffineTransform colliderToSolver;
+
+        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)
+                point[2] = 0;*/
+
+            float radius = shape.size.x * math.cmax(colliderToSolver.scale.xyz);
+            float distanceToCenter = math.length(point);
+
+            float4 normal = point / (distanceToCenter + BurstMath.epsilon);
+
+            projectedPoint.point = colliderToSolver.TransformPointUnscaled(center + normal * (radius + shape.contactOffset));
+            projectedPoint.normal = colliderToSolver.TransformDirection(normal);
+        }
+
+        public void Query(int shapeIndex,
+                             NativeArray<float4> positions,
+                             NativeArray<quaternion> orientations,
+                             NativeArray<float4> radii,
+                             NativeArray<int> simplices,
+                             int simplexIndex,
+                             int simplexStart,
+                             int simplexSize,
+
+                             NativeQueue<BurstQueryResult>.ParallelWriter results,
+                             int optimizationIterations,
+                             float optimizationTolerance)
+        {
+            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);
+
+            co.queryPoint = colliderPoint.point;
+            co.normal = colliderPoint.normal;
+            co.simplexBary = simplexBary;
+
+            results.Enqueue(co);
+        }
+    }
+
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Queries/BurstSphereQuery.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Queries/BurstSphereQuery.cs.meta
new file mode 100644
index 000000000..50b176c88
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Queries/BurstSphereQuery.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Queries/SpatialQueryJob.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Queries/SpatialQueryJob.cs
new file mode 100644
index 000000000..6ea4f5875
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Queries/SpatialQueryJob.cs
@@ -0,0 +1,164 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using Unity.Jobs;
+using Unity.Collections;
+using Unity.Mathematics;
+using Unity.Burst;
+
+namespace Obi
+{
+
+    [BurstCompile]
+    unsafe struct SpatialQueryJob : IJobParallelFor
+    {
+        //collider grid:
+        [ReadOnly] public NativeMultilevelGrid<int> grid;
+
+        // particle arrays:
+        [ReadOnly] public NativeArray<float4> positions;
+        [ReadOnly] public NativeArray<quaternion> orientations;
+        [ReadOnly] public NativeArray<float4> radii;
+        [ReadOnly] public NativeArray<int> filters;
+
+        // simplex arrays:
+        [ReadOnly] public NativeArray<int> simplices;
+        [ReadOnly] public SimplexCounts simplexCounts;
+
+        // query arrays:
+        [ReadOnly] public NativeArray<BurstQueryShape> shapes;
+        [ReadOnly] public NativeArray<BurstAffineTransform> transforms;
+
+        // output contacts queue:
+        [WriteOnly]
+        [NativeDisableParallelForRestriction]
+        public NativeQueue<BurstQueryResult>.ParallelWriter results;
+
+        // auxiliar data:
+        [ReadOnly] public BurstAffineTransform worldToSolver;
+        [ReadOnly] public Oni.SolverParameters parameters;
+
+        // execute for each query shape:
+        public void Execute(int i)
+        {
+            var shapeToSolver = worldToSolver * transforms[i];
+
+            // calculate solver-space aabb of query shape:
+            BurstAabb queryBoundsSS = CalculateShapeAABB(shapes[i]).Transformed(shapeToSolver);
+
+            var shapeCategory = shapes[i].filter & ObiUtils.FilterCategoryBitmask;
+            var shapeMask = (shapes[i].filter & ObiUtils.FilterMaskBitmask) >> 16;
+
+            bool is2D = parameters.mode == Oni.SolverParameters.Mode.Mode2D;
+
+            // iterate over all occupied cells:
+            for (int c = 0; c < grid.usedCells.Length; ++c)
+            {
+                var cell = grid.usedCells[c];
+
+                // calculate thickedned 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));
+
+                // if cell and query bounds intersect:
+                if (cellBounds.IntersectsAabb(in queryBoundsSS, is2D))
+                {
+                    // iterate over cell contents:
+                    for (int k = 0; k < cell.Length; ++k)
+                    {
+                        int simplexStart = simplexCounts.GetSimplexStartAndSize(cell[k], out int simplexSize);
+
+                        // check if any simplex particle and the query shape should collide:
+                        bool shouldCollide = false;
+                        for (int j = 0; j < simplexSize; ++j)
+                        {
+                            var simplexCategory = filters[simplices[simplexStart + j]] & ObiUtils.FilterCategoryBitmask;
+                            var simplexMask = (filters[simplices[simplexStart + j]] & ObiUtils.FilterMaskBitmask) >> 16;
+                            shouldCollide |= (simplexCategory & shapeMask) != 0 && (simplexMask & shapeCategory) != 0;
+                        }
+
+                        if (shouldCollide)
+                            Query(shapes[i], shapeToSolver, i, cell[k], simplexStart, simplexSize);
+                    }
+                }
+            }
+        }
+
+        private BurstAabb CalculateShapeAABB(in BurstQueryShape shape)
+        {
+            float offset = shape.contactOffset + shape.distance;
+            switch (shape.type)
+            {
+                case QueryShape.QueryType.Sphere:
+                    return new BurstAabb(shape.center, shape.center, shape.size.x + offset);
+                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();
+        }
+
+        private void Query(in BurstQueryShape shape,
+                           in BurstAffineTransform shapeToSolver,
+                           int shapeIndex,
+                           int simplexIndex,
+                           int simplexStart,
+                           int simplexSize)
+        {
+            switch (shape.type)
+            {
+                case QueryShape.QueryType.Sphere:
+                    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};
+                    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 };
+                    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/Queries/SpatialQueryJob.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Queries/SpatialQueryJob.cs.meta
new file mode 100644
index 000000000..e44e250e7
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Queries/SpatialQueryJob.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Solver.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Solver.meta
new file mode 100644
index 000000000..98abee022
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+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Solver.meta
@@ -0,0 +1,8 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Solver/ApplyInertialForcesJob.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Solver/ApplyInertialForcesJob.cs
new file mode 100644
index 000000000..fa1cc8e1a
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Solver/ApplyInertialForcesJob.cs
@@ -0,0 +1,46 @@
+#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 ApplyInertialForcesJob : IJobParallelFor
+    {
+		[ReadOnly] public NativeArray<int> activeParticles;
+        [ReadOnly] public NativeArray<float4> positions;
+		[ReadOnly] public NativeArray<float> invMasses;
+
+		[ReadOnly] public float4 angularVel;
+		[ReadOnly] public float4 inertialAccel;
+		[ReadOnly] public float4 eulerAccel;
+
+		[ReadOnly] public float worldLinearInertiaScale;
+		[ReadOnly] public float worldAngularInertiaScale;
+
+        [NativeDisableParallelForRestriction] public NativeArray<float4> velocities;
+
+        [ReadOnly] public float deltaTime;
+
+        public void Execute(int index)
+        {
+            int i = activeParticles[index];
+
+            if (invMasses[i] > 0)
+			{
+				float4 euler = new float4(math.cross(eulerAccel.xyz, positions[i].xyz), 0);
+				float4 centrifugal = new float4(math.cross(angularVel.xyz, math.cross(angularVel.xyz, positions[i].xyz)), 0);
+				float4 coriolis = 2 * new float4(math.cross(angularVel.xyz, velocities[i].xyz), 0);
+				float4 angularAccel = euler + coriolis + centrifugal;
+
+				velocities[i] -= (inertialAccel * worldLinearInertiaScale + angularAccel * worldAngularInertiaScale) * deltaTime;
+			}
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Solver/ApplyInertialForcesJob.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Solver/ApplyInertialForcesJob.cs.meta
new file mode 100644
index 000000000..ffb53be3c
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Solver/ApplyInertialForcesJob.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Solver/BoundsReductionJob.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Solver/BoundsReductionJob.cs
new file mode 100644
index 000000000..89da4b413
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Solver/BoundsReductionJob.cs
@@ -0,0 +1,53 @@
+#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 ParticleToBoundsJob : IJobParallelFor
+    {
+        [ReadOnly] public NativeArray<int> activeParticles;
+        [ReadOnly] public NativeArray<float4> positions;
+        [ReadOnly] public NativeArray<float4> radii;
+
+        public NativeArray<BurstAabb> bounds;
+
+        public void Execute(int i)
+        {
+            int p = activeParticles[i];
+            bounds[i] = new BurstAabb(positions[p] - radii[p].x, positions[p] + radii[p].x);
+        }
+    }
+
+    [BurstCompile]
+    struct BoundsReductionJob : IJobParallelFor
+    {
+        [NativeDisableParallelForRestriction] public NativeArray<BurstAabb> bounds; // the length of bounds must be a multiple of size.
+        [ReadOnly] public int stride;
+        [ReadOnly] public int size;
+
+        public void Execute(int first)
+        {
+            int baseIndex = first * size;
+            for (int i = 1; i < size; ++i)
+            {
+                int dest = baseIndex * stride;
+                int source = (baseIndex + i) * stride;
+
+                if (source < bounds.Length)
+                {
+                    var v = bounds[dest];
+                    v.EncapsulateBounds(bounds[source]);
+                    bounds[dest] = v;
+                }
+            }
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Solver/BoundsReductionJob.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Solver/BoundsReductionJob.cs.meta
new file mode 100644
index 000000000..e630da171
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Solver/BoundsReductionJob.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Solver/BuildSimplexAabbs.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Solver/BuildSimplexAabbs.cs
new file mode 100644
index 000000000..d8931f228
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Solver/BuildSimplexAabbs.cs
@@ -0,0 +1,55 @@
+#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/BuildSimplexAabbs.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Solver/BuildSimplexAabbs.cs.meta
new file mode 100644
index 000000000..d0ff571de
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Solver/BuildSimplexAabbs.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Solver/BurstSolverImpl.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Solver/BurstSolverImpl.cs
new file mode 100644
index 000000000..309143c7e
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Solver/BurstSolverImpl.cs
@@ -0,0 +1,970 @@
+#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;
+
+        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;
+
+        // 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<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);
+
+            // Initialize contact generation acceleration structure:
+            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);
+
+            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 (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)
+            {
+                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,
+                positions = positions,
+                velocities = velocities,
+                invMasses = invMasses,
+                angularVel = angularVel,
+                inertialAccel = inertialAccel,
+                eulerAccel = eulerAccel,
+                worldLinearInertiaScale = worldLinearInertiaScale,
+                worldAngularInertiaScale = worldAngularInertiaScale,
+                deltaTime = deltaTime,
+            };
+
+            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);
+
+            // parallel reduction:
+            int chunks = bounds.Length;
+            int stride = 1;
+
+            while (chunks > 1)
+            {
+                var reductionJob = new BoundsReductionJob()
+                {
+                    bounds = bounds,
+                    stride = stride,
+                    size = chunkSize,
+                };
+                reduction = reductionJob.Schedule(chunks, 1, reduction);
+
+                chunks = (int)math.ceil(chunks / (float)chunkSize);
+                stride *= chunkSize;
+            }
+
+            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.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();
+        }
+
+        public int GetConstraintCount(Oni.ConstraintType type)
+        {
+            if ((int)type > 0 && (int)type < constraints.Length)
+                return constraints[(int)type].GetConstraintCount();
+            return 0;
+        }
+
+        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();
+
+            // 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);
+
+
+                // generate particle-particle and particle-collider interactions in parallel:
+                JobHandle generateParticleInteractionsHandle = inputDeps, generateContactsHandle = inputDeps;
+
+                // particle-particle interactions (contacts, fluids)
+                if (particleCollisionParameters.enabled || densityParameters.enabled)
+                {
+                    particleGrid.Update(this, deltaTime, inputDeps);
+                    generateParticleInteractionsHandle = particleGrid.GenerateContacts(this, deltaTime);
+                }
+
+                // 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);
+
+                // 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);
+
+                DequeueIntoArrayJob<BurstContact> dequeueParticleContacts = new DequeueIntoArrayJob<BurstContact>()
+                {
+                    InputQueue = particleGrid.particleContactQueue,
+                    OutputArray = rawParticleContacts
+                };
+
+                DequeueIntoArrayJob<FluidInteraction> dequeueFluidInteractions = new DequeueIntoArrayJob<FluidInteraction>()
+                {
+                    InputQueue = particleGrid.fluidInteractionQueue,
+                    OutputArray = rawFluidInteractions
+                };
+
+                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);
+
+            // 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);
+
+            // Project position constraints:
+            JobHandle projectionHandle = ApplyConstraints(predictPositionsHandle, stepTime, substepTime, substeps);
+
+            // 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
+            };
+
+            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)
+        {
+            var densityParameters = m_Solver.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 substeps)
+        {
+
+            // 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 = math.max(maxIterations, parameters.iterations);
+                    inputDeps = constraints[i].Initialize(inputDeps, substepTime);
+                }
+            }
+
+            // 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)
+                    {
+                        var parameters = m_Solver.GetConstraintParameters((Oni.ConstraintType)j);
+                        if (parameters.enabled && i % padding[j] == 0)
+                            inputDeps = constraints[j].Project(inputDeps, stepTime, substepTime, substeps);
+                    }
+                }
+            }
+
+            // 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)
+                        inputDeps = constraints[i].Project(inputDeps, stepTime, substepTime, substeps);
+                }
+            }
+
+            // 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 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/BurstSolverImpl.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Solver/BurstSolverImpl.cs.meta
new file mode 100644
index 000000000..597b2b50b
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Solver/BurstSolverImpl.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: d37e8b7fe851346debbbd28e17c1e593
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Solver/DequeueIntoArrayJob.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Solver/DequeueIntoArrayJob.cs
new file mode 100644
index 000000000..43a5066eb
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Solver/DequeueIntoArrayJob.cs
@@ -0,0 +1,26 @@
+#if (OBI_BURST && OBI_MATHEMATICS && OBI_COLLECTIONS)
+using Unity.Burst;
+using Unity.Jobs;
+using Unity.Collections;
+
+namespace Obi
+{
+    [BurstCompile]
+    public struct DequeueIntoArrayJob<T> : IJob where T : unmanaged
+    {
+        public int StartIndex;
+        public NativeQueue<T> InputQueue;
+        [WriteOnly] public NativeArray<T> OutputArray;
+
+        public void Execute()
+        {
+            int queueCount = InputQueue.Count;
+
+            for (int i = StartIndex; i < StartIndex + queueCount; i++)
+            {
+                OutputArray[i] = InputQueue.Dequeue();
+            }
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Solver/DequeueIntoArrayJob.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Solver/DequeueIntoArrayJob.cs.meta
new file mode 100644
index 000000000..a62baf189
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Solver/DequeueIntoArrayJob.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 8e9889084567047d389e79cf39fc3391
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Solver/FindFluidParticlesJob.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Solver/FindFluidParticlesJob.cs
new file mode 100644
index 000000000..f7bb2dac4
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Solver/FindFluidParticlesJob.cs
@@ -0,0 +1,33 @@
+#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 FindFluidParticlesJob : IJob
+    {
+        [ReadOnly] public NativeArray<int> activeParticles;
+        [ReadOnly] public NativeArray<int> phases;
+
+        public NativeList<int> fluidParticles;
+
+        public void Execute()
+        {
+            fluidParticles.Clear();
+
+            for (int i = 0; i < activeParticles.Length; ++i)
+            {
+                int p = activeParticles[i];
+                if ((phases[p] & (int)ObiUtils.ParticleFlags.Fluid) != 0)
+                    fluidParticles.Add(p);
+            }
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Solver/FindFluidParticlesJob.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Solver/FindFluidParticlesJob.cs.meta
new file mode 100644
index 000000000..b146b7347
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Solver/FindFluidParticlesJob.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 58485b95b70f24a809a8f9509faabdad
+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
new file mode 100644
index 000000000..02625fce0
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Solver/InterpolationJob.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 InterpolationJob : IJobParallelFor
+    {
+        [ReadOnly] public NativeArray<float4> startPositions;
+        [ReadOnly] public NativeArray<float4> positions;
+        [WriteOnly] public NativeArray<float4> renderablePositions;
+
+        [ReadOnly] public NativeArray<quaternion> startOrientations;
+        [ReadOnly] public NativeArray<quaternion> orientations;
+        [WriteOnly] public NativeArray<quaternion> renderableOrientations;
+
+        [ReadOnly] public float deltaTime;
+        [ReadOnly] public float unsimulatedTime;
+        [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)
+            {
+                float alpha = unsimulatedTime / deltaTime;
+
+                renderablePositions[i] = math.lerp(startPositions[i], positions[i], alpha);
+                renderableOrientations[i] = math.normalize(math.slerp(startOrientations[i], orientations[i], alpha));
+            }
+            else
+            {
+                renderablePositions[i] = positions[i];
+                renderableOrientations[i] = math.normalize(orientations[i]);
+            }
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Solver/InterpolationJob.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Solver/InterpolationJob.cs.meta
new file mode 100644
index 000000000..6516fdb71
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Solver/InterpolationJob.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 8928e13e186424d31a319347de871c16
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Solver/PredictPositionsJob.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Solver/PredictPositionsJob.cs
new file mode 100644
index 000000000..4c204d7b0
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Solver/PredictPositionsJob.cs
@@ -0,0 +1,82 @@
+#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 PredictPositionsJob : IJobParallelFor
+    {
+        [ReadOnly] public NativeArray<int> activeParticles;
+        [ReadOnly] public NativeArray<int> phases;
+        [ReadOnly] public NativeArray<float> buoyancies;
+
+        // linear/position properties:
+        [ReadOnly] public NativeArray<float4> externalForces;
+        [ReadOnly] public NativeArray<float> inverseMasses;
+        [NativeDisableParallelForRestriction] public NativeArray<float4> previousPositions;
+        [NativeDisableParallelForRestriction] public NativeArray<float4> positions;
+        [NativeDisableParallelForRestriction] public NativeArray<float4> velocities;
+
+        // angular/orientation properties:
+        [ReadOnly] public NativeArray<float4> externalTorques;
+        [ReadOnly] public NativeArray<float> inverseRotationalMasses;
+        [NativeDisableParallelForRestriction] public NativeArray<quaternion> previousOrientations;
+        [NativeDisableParallelForRestriction] public NativeArray<quaternion> orientations;
+        [NativeDisableParallelForRestriction] public NativeArray<float4> angularVelocities;
+
+        [ReadOnly] public float4 gravity;
+        [ReadOnly] public float deltaTime;
+        [ReadOnly] public bool is2D;
+
+        public void Execute(int index)
+        {
+            int i = activeParticles[index];
+
+            // the previous position/orientation is the current position/orientation at the start of the step.
+            previousPositions[i] = positions[i];
+            previousOrientations[i] = orientations[i];
+
+            if (inverseMasses[i] > 0)
+            {
+                float4 effectiveGravity = gravity;
+
+                // Adjust gravity for buoyant fluid particles:
+                if ((phases[i] & (int)ObiUtils.ParticleFlags.Fluid) != 0)
+                    effectiveGravity *= -buoyancies[i];
+
+                // apply external forces and gravity:
+                float4 vel = velocities[i] + (inverseMasses[i] * externalForces[i] + effectiveGravity) * deltaTime; 
+
+                // project velocity to 2D plane if needed:
+                if (is2D)
+                    vel[3] = 0;
+
+                velocities[i] = vel;
+            }
+
+            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;
+
+                // project angular velocity to 2D plane normal if needed:
+                if (is2D)
+                    angularVel = angularVel.project(new float4(0, 0, 1, 0));
+
+                angularVelocities[i] = angularVel;
+            }
+
+            // integrate velocities:
+            positions[i]    = BurstIntegration.IntegrateLinear(positions[i], velocities[i], deltaTime);
+            orientations[i] = BurstIntegration.IntegrateAngular(orientations[i], angularVelocities[i], deltaTime);
+
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Solver/PredictPositionsJob.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Solver/PredictPositionsJob.cs.meta
new file mode 100644
index 000000000..ea542bbe6
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Solver/PredictPositionsJob.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: fcd4a6f15c3844229a95fa41f283d408
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Solver/UpdateInertiaTensorsJob.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Solver/UpdateInertiaTensorsJob.cs
new file mode 100644
index 000000000..90cfe23db
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Solver/UpdateInertiaTensorsJob.cs
@@ -0,0 +1,38 @@
+#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/UpdateInertiaTensorsJob.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Solver/UpdateInertiaTensorsJob.cs.meta
new file mode 100644
index 000000000..87288db8c
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Solver/UpdateInertiaTensorsJob.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: fac27eeae85e84131bebdf89ad1d6802
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Solver/UpdateNormalsJob.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Solver/UpdateNormalsJob.cs
new file mode 100644
index 000000000..a9594ef29
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Solver/UpdateNormalsJob.cs
@@ -0,0 +1,43 @@
+#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 UpdateNormalsJob : IJob
+    {
+        [ReadOnly] public NativeList<int> deformableTriangles;
+        [ReadOnly] public NativeArray<float4> renderPositions;
+        public NativeArray<float4> normals;
+
+        public void Execute()
+        {
+            for (int i = 0; i < normals.Length; ++i)
+                normals[i] = float4.zero;
+
+            // Accumulate normals:
+            for (int i = 0; i < deformableTriangles.Length; i += 3)
+            {
+                float4 v1 = renderPositions[deformableTriangles[i]];
+                float4 v2 = renderPositions[deformableTriangles[i + 1]];
+                float4 v3 = renderPositions[deformableTriangles[i + 2]];
+
+                float4 n = new float4(math.cross((v2 - v1).xyz, (v3 - v1).xyz), 0);
+
+                normals[deformableTriangles[i]] += n;
+                normals[deformableTriangles[i + 1]] += n;
+                normals[deformableTriangles[i + 2]] += n;
+            }
+
+            for (int i = 0; i < normals.Length; ++i)
+                normals[i] = math.normalizesafe(normals[i]);
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Solver/UpdateNormalsJob.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Solver/UpdateNormalsJob.cs.meta
new file mode 100644
index 000000000..89f9e14c3
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Solver/UpdateNormalsJob.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: c46e86e164afb414fbc171972a53eb91
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
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+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Solver/UpdatePositionsJob.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Solver/UpdatePositionsJob.cs
new file mode 100644
index 000000000..ff7d6590a
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Solver/UpdatePositionsJob.cs
@@ -0,0 +1,51 @@
+#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 UpdatePositionsJob : IJobParallelFor
+    {
+        [ReadOnly] public NativeArray<int> activeParticles;
+
+        // linear/position properties:
+        [NativeDisableParallelForRestriction] public NativeArray<float4> positions;
+        [ReadOnly] public NativeArray<float4> previousPositions;
+        [NativeDisableParallelForRestriction] public NativeArray<float4> velocities;
+
+        // angular/orientation properties:
+        [NativeDisableParallelForRestriction] public NativeArray<quaternion> orientations;
+        [ReadOnly] public NativeArray<quaternion> previousOrientations;
+        [NativeDisableParallelForRestriction] public NativeArray<float4> angularVelocities;
+
+        [ReadOnly] public float velocityScale;
+        [ReadOnly] public float sleepThreshold;
+
+        // The code actually running on the job
+        public void Execute(int index)
+        {
+            int i = activeParticles[index];
+
+            // damp velocities:
+            velocities[i] *= velocityScale;
+            angularVelocities[i] *= velocityScale;
+
+            // 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)
+            {
+                positions[i] = previousPositions[i];
+                orientations[i] = previousOrientations[i];
+                velocities[i] = float4.zero;
+                angularVelocities[i] = float4.zero;
+            }
+
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Solver/UpdatePositionsJob.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Solver/UpdatePositionsJob.cs.meta
new file mode 100644
index 000000000..1bb7363ed
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Solver/UpdatePositionsJob.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Solver/UpdatePrincipalAxisJob.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Solver/UpdatePrincipalAxisJob.cs
new file mode 100644
index 000000000..09a537194
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Solver/UpdatePrincipalAxisJob.cs
@@ -0,0 +1,50 @@
+#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
new file mode 100644
index 000000000..711a4fc8c
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Solver/UpdatePrincipalAxisJob.cs.meta
@@ -0,0 +1,11 @@
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+guid: 22028834877974573b3b29b8a2b8f6cc
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diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Solver/UpdateVelocitiesJob.cs b/Assets/Obi/Scripts/Common/Backends/Burst/Solver/UpdateVelocitiesJob.cs
new file mode 100644
index 000000000..1d6159fca
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Solver/UpdateVelocitiesJob.cs
@@ -0,0 +1,58 @@
+#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 UpdateVelocitiesJob : IJobParallelFor
+    {
+        [ReadOnly] public NativeArray<int> activeParticles;
+
+        // linear/position properties:
+        [ReadOnly] public NativeArray<float> inverseMasses;
+        [ReadOnly] public NativeArray<float4> previousPositions;
+        [NativeDisableParallelForRestriction] public NativeArray<float4> positions;
+        [NativeDisableParallelForRestriction] [WriteOnly] public NativeArray<float4> velocities;
+
+        // angular/orientation properties:
+        [ReadOnly] public NativeArray<float> inverseRotationalMasses;
+        [ReadOnly] public NativeArray<quaternion> previousOrientations;
+        [NativeDisableParallelForRestriction] public NativeArray<quaternion> orientations;
+        [NativeDisableParallelForRestriction] [WriteOnly] public NativeArray<float4> angularVelocities;
+
+        [ReadOnly] public float deltaTime;
+        [ReadOnly] public bool is2D;
+
+        // The code actually running on the job
+        public void Execute(int index)
+        {
+            int i = activeParticles[index];
+
+            // Project particles on the XY plane if we are in 2D mode:
+            if (is2D)
+            {
+                // restrict position to the 2D plane
+                float4 pos = positions[i];
+                pos[2] = previousPositions[i][2];
+                positions[i] = pos;
+            }
+
+            if (inverseMasses[i] > 0)
+                velocities[i] = BurstIntegration.DifferentiateLinear(positions[i], previousPositions[i], deltaTime);
+            else
+                velocities[i] = float4.zero;
+
+            if (inverseRotationalMasses[i] > 0)
+                angularVelocities[i] = BurstIntegration.DifferentiateAngular(orientations[i], previousOrientations[i], deltaTime);
+            else
+                angularVelocities[i] = float4.zero;
+        }
+    }
+}
+#endif
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Burst/Solver/UpdateVelocitiesJob.cs.meta b/Assets/Obi/Scripts/Common/Backends/Burst/Solver/UpdateVelocitiesJob.cs.meta
new file mode 100644
index 000000000..f437dcecc
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Burst/Solver/UpdateVelocitiesJob.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Interface.meta b/Assets/Obi/Scripts/Common/Backends/Interface.meta
new file mode 100644
index 000000000..21a345be7
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Interface.meta
@@ -0,0 +1,8 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Interface/Collisions.meta b/Assets/Obi/Scripts/Common/Backends/Interface/Collisions.meta
new file mode 100644
index 000000000..3d5633851
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Interface/Collisions.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
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+  externalObjects: {}
+  userData: 
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diff --git a/Assets/Obi/Scripts/Common/Backends/Interface/Collisions/IColliderWorldImpl.cs b/Assets/Obi/Scripts/Common/Backends/Interface/Collisions/IColliderWorldImpl.cs
new file mode 100644
index 000000000..cce5b3afd
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Interface/Collisions/IColliderWorldImpl.cs
@@ -0,0 +1,23 @@
+using UnityEngine;
+using System.Collections;
+using Unity.Jobs;
+
+namespace Obi
+{
+    public interface IColliderWorldImpl
+    {
+        int referenceCount { get; }
+
+        void UpdateWorld(float deltaTime);
+
+        void SetColliders(ObiNativeColliderShapeList shapes, ObiNativeAabbList bounds, ObiNativeAffineTransformList transforms, int count);
+        void SetRigidbodies(ObiNativeRigidbodyList rigidbody);
+
+        void SetCollisionMaterials(ObiNativeCollisionMaterialList materials);
+
+        void SetTriangleMeshData(ObiNativeTriangleMeshHeaderList headers, ObiNativeBIHNodeList nodes, ObiNativeTriangleList triangles, ObiNativeVector3List vertices);
+        void SetEdgeMeshData(ObiNativeEdgeMeshHeaderList headers, ObiNativeBIHNodeList nodes, ObiNativeEdgeList triangles, ObiNativeVector2List vertices);
+        void SetDistanceFieldData(ObiNativeDistanceFieldHeaderList headers, ObiNativeDFNodeList nodes);
+        void SetHeightFieldData(ObiNativeHeightFieldHeaderList headers, ObiNativeFloatList samples);
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Backends/Interface/Collisions/IColliderWorldImpl.cs.meta b/Assets/Obi/Scripts/Common/Backends/Interface/Collisions/IColliderWorldImpl.cs.meta
new file mode 100644
index 000000000..074d487dd
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Interface/Collisions/IColliderWorldImpl.cs.meta
@@ -0,0 +1,11 @@
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+guid: 89f411e99368641bda6ba6dd0864c8c6
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diff --git a/Assets/Obi/Scripts/Common/Backends/Interface/Collisions/IColliderWorldImpl.cs.orig b/Assets/Obi/Scripts/Common/Backends/Interface/Collisions/IColliderWorldImpl.cs.orig
new file mode 100644
index 000000000..640762fba
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Interface/Collisions/IColliderWorldImpl.cs.orig
@@ -0,0 +1,27 @@
+using UnityEngine;
+using System.Collections;
+using Unity.Jobs;
+
+namespace Obi
+{
+    public interface IColliderWorldImpl
+    {
+<<<<<<< HEAD
+        void UpdateWorld(float deltaTime);
+=======
+        int referenceCount { get; }
+
+        void UpdateWorld();
+>>>>>>> 56Hotfix
+
+        void SetColliders(ObiNativeColliderShapeList shapes, ObiNativeAabbList bounds, ObiNativeAffineTransformList transforms, int count);
+        void SetRigidbodies(ObiNativeRigidbodyList rigidbody);
+
+        void SetCollisionMaterials(ObiNativeCollisionMaterialList materials);
+
+        void SetTriangleMeshData(ObiNativeTriangleMeshHeaderList headers, ObiNativeBIHNodeList nodes, ObiNativeTriangleList triangles, ObiNativeVector3List vertices);
+        void SetEdgeMeshData(ObiNativeEdgeMeshHeaderList headers, ObiNativeBIHNodeList nodes, ObiNativeEdgeList triangles, ObiNativeVector2List vertices);
+        void SetDistanceFieldData(ObiNativeDistanceFieldHeaderList headers, ObiNativeDFNodeList nodes);
+        void SetHeightFieldData(ObiNativeHeightFieldHeaderList headers, ObiNativeFloatList samples);
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Backends/Interface/Collisions/IColliderWorldImpl.cs.orig.meta b/Assets/Obi/Scripts/Common/Backends/Interface/Collisions/IColliderWorldImpl.cs.orig.meta
new file mode 100644
index 000000000..3eac5a6a4
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Interface/Collisions/IColliderWorldImpl.cs.orig.meta
@@ -0,0 +1,7 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Interface/Constraints.meta b/Assets/Obi/Scripts/Common/Backends/Interface/Constraints.meta
new file mode 100644
index 000000000..f569b9ec1
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Interface/Constraints.meta
@@ -0,0 +1,8 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IAerodynamicConstraintsBatchImpl.cs b/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IAerodynamicConstraintsBatchImpl.cs
new file mode 100644
index 000000000..d895a7351
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IAerodynamicConstraintsBatchImpl.cs
@@ -0,0 +1,10 @@
+using UnityEngine;
+using System.Collections;
+
+namespace Obi
+{
+    public interface IAerodynamicConstraintsBatchImpl : IConstraintsBatchImpl
+    {
+        void SetAerodynamicConstraints(ObiNativeIntList particleIndices, ObiNativeFloatList aerodynamicCoeffs, int count);
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IAerodynamicConstraintsBatchImpl.cs.meta b/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IAerodynamicConstraintsBatchImpl.cs.meta
new file mode 100644
index 000000000..ec621fcb7
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IAerodynamicConstraintsBatchImpl.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IBendConstraintsBatchImpl.cs b/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IBendConstraintsBatchImpl.cs
new file mode 100644
index 000000000..b193e7f5a
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IBendConstraintsBatchImpl.cs
@@ -0,0 +1,10 @@
+using UnityEngine;
+using System.Collections;
+
+namespace Obi
+{
+    public interface IBendConstraintsBatchImpl : IConstraintsBatchImpl
+    {
+        void SetBendConstraints(ObiNativeIntList particleIndices, ObiNativeFloatList restBends, ObiNativeVector2List bendingStiffnesses, ObiNativeVector2List plasticity, ObiNativeFloatList lambdas, int count);
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IBendConstraintsBatchImpl.cs.meta b/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IBendConstraintsBatchImpl.cs.meta
new file mode 100644
index 000000000..7cf161a99
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IBendConstraintsBatchImpl.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IBendTwistConstraintsBatchImpl.cs b/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IBendTwistConstraintsBatchImpl.cs
new file mode 100644
index 000000000..497717078
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IBendTwistConstraintsBatchImpl.cs
@@ -0,0 +1,10 @@
+using UnityEngine;
+using System.Collections;
+
+namespace Obi
+{
+    public interface IBendTwistConstraintsBatchImpl : IConstraintsBatchImpl
+    {
+        void SetBendTwistConstraints(ObiNativeIntList orientationIndices, ObiNativeQuaternionList restDarboux, ObiNativeVector3List stiffnesses, ObiNativeVector2List plasticity, ObiNativeFloatList lambdas, int count);
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IBendTwistConstraintsBatchImpl.cs.meta b/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IBendTwistConstraintsBatchImpl.cs.meta
new file mode 100644
index 000000000..dbf23c82e
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IBendTwistConstraintsBatchImpl.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IChainConstraintsBatchImpl.cs b/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IChainConstraintsBatchImpl.cs
new file mode 100644
index 000000000..5cb62079f
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IChainConstraintsBatchImpl.cs
@@ -0,0 +1,10 @@
+using UnityEngine;
+using System.Collections;
+
+namespace Obi
+{
+    public interface IChainConstraintsBatchImpl : IConstraintsBatchImpl
+    {
+        void SetChainConstraints(ObiNativeIntList particleIndices, ObiNativeVector2List restLengths, ObiNativeIntList firstIndex, ObiNativeIntList numIndex, int count);
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IChainConstraintsBatchImpl.cs.meta b/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IChainConstraintsBatchImpl.cs.meta
new file mode 100644
index 000000000..c606a1e25
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IChainConstraintsBatchImpl.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IColliderCollisionConstraintsBatchImpl.cs b/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IColliderCollisionConstraintsBatchImpl.cs
new file mode 100644
index 000000000..89eeba090
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IColliderCollisionConstraintsBatchImpl.cs
@@ -0,0 +1,10 @@
+using UnityEngine;
+using System.Collections;
+
+namespace Obi
+{
+    public interface IColliderCollisionConstraintsBatchImpl : IConstraintsBatchImpl
+    {
+        
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IColliderCollisionConstraintsBatchImpl.cs.meta b/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IColliderCollisionConstraintsBatchImpl.cs.meta
new file mode 100644
index 000000000..c1bf39c6c
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diff --git a/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IColliderFrictionConstraintsBatchImpl.cs b/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IColliderFrictionConstraintsBatchImpl.cs
new file mode 100644
index 000000000..8e5d68be1
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IColliderFrictionConstraintsBatchImpl.cs
@@ -0,0 +1,10 @@
+using UnityEngine;
+using System.Collections;
+
+namespace Obi
+{
+    public interface IColliderFrictionConstraintsBatchImpl : IConstraintsBatchImpl
+    {
+
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IColliderFrictionConstraintsBatchImpl.cs.meta b/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IColliderFrictionConstraintsBatchImpl.cs.meta
new file mode 100644
index 000000000..b5cb7ccdc
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IColliderFrictionConstraintsBatchImpl.cs.meta
@@ -0,0 +1,11 @@
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+guid: ce5da28cc60854096a6af5377bc0b9ba
+MonoImporter:
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diff --git a/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IConstraintsBatchImpl.cs b/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IConstraintsBatchImpl.cs
new file mode 100644
index 000000000..88141ec34
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IConstraintsBatchImpl.cs
@@ -0,0 +1,29 @@
+
+using UnityEngine;
+using System.Collections;
+
+namespace Obi
+{
+    public interface IConstraintsBatchImpl
+    {
+        Oni.ConstraintType constraintType
+        {
+            get;
+        }
+
+        IConstraints constraints
+        {
+            get;
+        }
+
+        bool enabled
+        {
+            set;
+            get;
+        }
+
+        void Destroy();
+        void SetConstraintCount(int constraintCount);
+        int GetConstraintCount();
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IConstraintsBatchImpl.cs.meta b/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IConstraintsBatchImpl.cs.meta
new file mode 100644
index 000000000..c35570b34
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IConstraintsBatchImpl.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IConstraintsImpl.cs b/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IConstraintsImpl.cs
new file mode 100644
index 000000000..27f4159b9
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IConstraintsImpl.cs
@@ -0,0 +1,22 @@
+
+using UnityEngine;
+using System.Collections;
+
+namespace Obi
+{
+    public interface IConstraints
+    {
+        Oni.ConstraintType constraintType
+        {
+            get;
+        }
+
+        ISolverImpl solver
+        {
+            get;
+        }
+
+        int GetConstraintCount();
+    }
+
+}
diff --git a/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IConstraintsImpl.cs.meta b/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IConstraintsImpl.cs.meta
new file mode 100644
index 000000000..f594dc1a0
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IConstraintsImpl.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IDensityConstraintsBatchImpl.cs b/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IDensityConstraintsBatchImpl.cs
new file mode 100644
index 000000000..d07840372
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IDensityConstraintsBatchImpl.cs
@@ -0,0 +1,10 @@
+using UnityEngine;
+using System.Collections;
+
+namespace Obi
+{
+    public interface IDensityConstraintsBatchImpl : IConstraintsBatchImpl
+    {
+
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IDensityConstraintsBatchImpl.cs.meta b/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IDensityConstraintsBatchImpl.cs.meta
new file mode 100644
index 000000000..5cb2c6e0a
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IDensityConstraintsBatchImpl.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IDistanceConstraintsBatchImpl.cs b/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IDistanceConstraintsBatchImpl.cs
new file mode 100644
index 000000000..0219bfdcd
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IDistanceConstraintsBatchImpl.cs
@@ -0,0 +1,10 @@
+using UnityEngine;
+using System.Collections;
+
+namespace Obi
+{
+    public interface IDistanceConstraintsBatchImpl : IConstraintsBatchImpl
+    {
+        void SetDistanceConstraints(ObiNativeIntList particleIndices, ObiNativeFloatList restLengths, ObiNativeVector2List stiffnesses, ObiNativeFloatList lambdas, int count);
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IDistanceConstraintsBatchImpl.cs.meta b/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IDistanceConstraintsBatchImpl.cs.meta
new file mode 100644
index 000000000..547a2780d
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IDistanceConstraintsBatchImpl.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IParticleCollisionConstraintsBatchImpl.cs b/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IParticleCollisionConstraintsBatchImpl.cs
new file mode 100644
index 000000000..1228835fc
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IParticleCollisionConstraintsBatchImpl.cs
@@ -0,0 +1,10 @@
+using UnityEngine;
+using System.Collections;
+
+namespace Obi
+{
+    public interface IParticleCollisionConstraintsBatchImpl : IConstraintsBatchImpl
+    {
+
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IParticleCollisionConstraintsBatchImpl.cs.meta b/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IParticleCollisionConstraintsBatchImpl.cs.meta
new file mode 100644
index 000000000..206847c60
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IParticleCollisionConstraintsBatchImpl.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IParticleFrictionConstraintsBatchImpl.cs b/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IParticleFrictionConstraintsBatchImpl.cs
new file mode 100644
index 000000000..5bf2fb87e
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IParticleFrictionConstraintsBatchImpl.cs
@@ -0,0 +1,10 @@
+using UnityEngine;
+using System.Collections;
+
+namespace Obi
+{
+    public interface IParticleFrictionConstraintsBatchImpl : IConstraintsBatchImpl
+    {
+
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IParticleFrictionConstraintsBatchImpl.cs.meta b/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IParticleFrictionConstraintsBatchImpl.cs.meta
new file mode 100644
index 000000000..93764bbf0
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IParticleFrictionConstraintsBatchImpl.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IPinConstraintsBatchImpl.cs b/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IPinConstraintsBatchImpl.cs
new file mode 100644
index 000000000..3f934c7a3
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IPinConstraintsBatchImpl.cs
@@ -0,0 +1,10 @@
+
+using System.Collections.Generic;
+
+namespace Obi
+{
+    public interface IPinConstraintsBatchImpl : IConstraintsBatchImpl
+    {
+        void SetPinConstraints(ObiNativeIntList particleIndices, ObiNativeIntList colliderIndices, ObiNativeVector4List offsets, ObiNativeQuaternionList restDarbouxVectors, ObiNativeFloatList stiffnesses, ObiNativeFloatList lambdas, int count);
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IPinConstraintsBatchImpl.cs.meta b/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IPinConstraintsBatchImpl.cs.meta
new file mode 100644
index 000000000..49bf0532b
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IPinConstraintsBatchImpl.cs.meta
@@ -0,0 +1,11 @@
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+guid: 339a70e0be9984072a153f58552747e7
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diff --git a/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IShapeMatchingConstraintsBatchImpl.cs b/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IShapeMatchingConstraintsBatchImpl.cs
new file mode 100644
index 000000000..10ed30448
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IShapeMatchingConstraintsBatchImpl.cs
@@ -0,0 +1,20 @@
+namespace Obi
+{
+    public interface IShapeMatchingConstraintsBatchImpl : IConstraintsBatchImpl
+    {
+        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);
+
+        void CalculateRestShapeMatching();
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IShapeMatchingConstraintsBatchImpl.cs.meta b/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IShapeMatchingConstraintsBatchImpl.cs.meta
new file mode 100644
index 000000000..85a812c33
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IShapeMatchingConstraintsBatchImpl.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/ISkinConstraintsBatchImpl.cs b/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/ISkinConstraintsBatchImpl.cs
new file mode 100644
index 000000000..8d9601377
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/ISkinConstraintsBatchImpl.cs
@@ -0,0 +1,10 @@
+using UnityEngine;
+using System.Collections;
+
+namespace Obi
+{
+    public interface ISkinConstraintsBatchImpl : IConstraintsBatchImpl
+    {
+        void SetSkinConstraints(ObiNativeIntList particleIndices, ObiNativeVector4List skinPoints, ObiNativeVector4List skinNormals, ObiNativeFloatList skinRadiiBackstop, ObiNativeFloatList skinCompliance, ObiNativeFloatList lambdas, int count);
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/ISkinConstraintsBatchImpl.cs.meta b/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/ISkinConstraintsBatchImpl.cs.meta
new file mode 100644
index 000000000..ada65b308
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/ISkinConstraintsBatchImpl.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IStitchConstraintsBatchImpl.cs b/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IStitchConstraintsBatchImpl.cs
new file mode 100644
index 000000000..72b9bf6c4
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IStitchConstraintsBatchImpl.cs
@@ -0,0 +1,10 @@
+using UnityEngine;
+using System.Collections;
+
+namespace Obi
+{
+    public interface IStitchConstraintsBatchImpl : IConstraintsBatchImpl
+    {
+        void SetStitchConstraints(ObiNativeIntList particleIndices, ObiNativeFloatList stiffnesses, ObiNativeFloatList lambdas, int count);
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IStitchConstraintsBatchImpl.cs.meta b/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IStitchConstraintsBatchImpl.cs.meta
new file mode 100644
index 000000000..94e463971
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IStitchConstraintsBatchImpl.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IStretchShearConstraintsBatchImpl.cs b/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IStretchShearConstraintsBatchImpl.cs
new file mode 100644
index 000000000..92ad6e7a3
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IStretchShearConstraintsBatchImpl.cs
@@ -0,0 +1,10 @@
+using UnityEngine;
+using System.Collections;
+
+namespace Obi
+{
+    public interface IStretchShearConstraintsBatchImpl : IConstraintsBatchImpl
+    {
+        void SetStretchShearConstraints(ObiNativeIntList particleIndices, ObiNativeIntList orientationIndices, ObiNativeFloatList restLengths, ObiNativeQuaternionList restOrientations, ObiNativeVector3List stiffnesses, ObiNativeFloatList lambdas, int count);
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IStretchShearConstraintsBatchImpl.cs.meta b/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IStretchShearConstraintsBatchImpl.cs.meta
new file mode 100644
index 000000000..6287a9b84
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IStretchShearConstraintsBatchImpl.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/ITetherConstraintsBatchImpl.cs b/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/ITetherConstraintsBatchImpl.cs
new file mode 100644
index 000000000..f4fb07ee0
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/ITetherConstraintsBatchImpl.cs
@@ -0,0 +1,10 @@
+using UnityEngine;
+using System.Collections;
+
+namespace Obi
+{
+    public interface ITetherConstraintsBatchImpl : IConstraintsBatchImpl
+    {
+        void SetTetherConstraints(ObiNativeIntList particleIndices, ObiNativeVector2List maxLengthScale, ObiNativeFloatList stiffnesses, ObiNativeFloatList lambdas, int count);
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/ITetherConstraintsBatchImpl.cs.meta b/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/ITetherConstraintsBatchImpl.cs.meta
new file mode 100644
index 000000000..77342bd8c
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/ITetherConstraintsBatchImpl.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IVolumeConstraintsBatchImpl.cs b/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IVolumeConstraintsBatchImpl.cs
new file mode 100644
index 000000000..ee1468b98
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IVolumeConstraintsBatchImpl.cs
@@ -0,0 +1,16 @@
+using UnityEngine;
+using System.Collections;
+
+namespace Obi
+{
+    public interface IVolumeConstraintsBatchImpl : IConstraintsBatchImpl
+    {
+        void SetVolumeConstraints(ObiNativeIntList triangles,
+                                  ObiNativeIntList firstTriangle,
+                                  ObiNativeIntList numTriangles,
+                                  ObiNativeFloatList restVolumes,
+                                  ObiNativeVector2List pressureStiffness,
+                                  ObiNativeFloatList lambdas,
+                                  int count);
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IVolumeConstraintsBatchImpl.cs.meta b/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IVolumeConstraintsBatchImpl.cs.meta
new file mode 100644
index 000000000..3ec9a34ef
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Interface/Constraints/IVolumeConstraintsBatchImpl.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Interface/IObiBackend.cs b/Assets/Obi/Scripts/Common/Backends/Interface/IObiBackend.cs
new file mode 100644
index 000000000..47e101f85
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Interface/IObiBackend.cs
@@ -0,0 +1,18 @@
+using UnityEngine;
+using System;
+using System.Collections;
+
+namespace Obi
+{
+    /**
+     * Base class for backend implementations. 
+     */
+    public interface IObiBackend
+    {
+        #region Solver
+        ISolverImpl CreateSolver(ObiSolver solver, int capacity);
+        void DestroySolver(ISolverImpl solver);
+        #endregion
+    }
+
+}
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Backends/Interface/IObiBackend.cs.meta b/Assets/Obi/Scripts/Common/Backends/Interface/IObiBackend.cs.meta
new file mode 100644
index 000000000..7101122fc
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Interface/IObiBackend.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Interface/IObiJobHandle.cs b/Assets/Obi/Scripts/Common/Backends/Interface/IObiJobHandle.cs
new file mode 100644
index 000000000..137e033ab
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Interface/IObiJobHandle.cs
@@ -0,0 +1,8 @@
+namespace Obi
+{
+    public interface IObiJobHandle
+    {
+        void Complete();
+        void Release();
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Backends/Interface/IObiJobHandle.cs.meta b/Assets/Obi/Scripts/Common/Backends/Interface/IObiJobHandle.cs.meta
new file mode 100644
index 000000000..364b7d5f0
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Interface/IObiJobHandle.cs.meta
@@ -0,0 +1,11 @@
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+guid: 2f2948e6b45fe44c09866380b7ebb2ff
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diff --git a/Assets/Obi/Scripts/Common/Backends/Interface/JobHandlePool.cs b/Assets/Obi/Scripts/Common/Backends/Interface/JobHandlePool.cs
new file mode 100644
index 000000000..c27e279b8
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Interface/JobHandlePool.cs
@@ -0,0 +1,40 @@
+using System.Collections.Generic;
+
+namespace Obi
+{
+
+    /**
+     * Simple pool to avoid allocating job handles at runtime. Only a small number of handles
+     * are expected, so once a handle is borrowed from the pool it cannot be individually returned: all
+     * borrowed handles are returned to the pool at the end of each step. 
+     */
+    public class JobHandlePool<T> where T : IObiJobHandle , new()
+    {
+        private List<T> pool;
+        private int borrowedHandles;
+
+        public JobHandlePool(int initialSize)
+        {
+            borrowedHandles = 0;
+            pool = new List<T>(initialSize);
+            for (int i = 0; i < initialSize; ++i)
+                pool.Add(new T());
+        }
+
+        public T Borrow()
+        {
+            // expand pool if needed (no pool doubling, simply add one extra handle).
+            if (borrowedHandles == pool.Count)
+                pool.Add(new T());
+
+            return pool[borrowedHandles++];
+        }
+
+        public void ReleaseAll()
+        {
+            borrowedHandles = 0;
+            for (int i = 0; i < pool.Count; ++i)
+                pool[i].Release();
+        }
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Backends/Interface/JobHandlePool.cs.meta b/Assets/Obi/Scripts/Common/Backends/Interface/JobHandlePool.cs.meta
new file mode 100644
index 000000000..f9be91f08
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+++ b/Assets/Obi/Scripts/Common/Backends/Interface/JobHandlePool.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Interface/Solver.meta b/Assets/Obi/Scripts/Common/Backends/Interface/Solver.meta
new file mode 100644
index 000000000..f46f37198
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Interface/Solver.meta
@@ -0,0 +1,8 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Interface/Solver/ISolverImpl.cs b/Assets/Obi/Scripts/Common/Backends/Interface/Solver/ISolverImpl.cs
new file mode 100644
index 000000000..d99359509
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Interface/Solver/ISolverImpl.cs
@@ -0,0 +1,60 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public interface ISolverImpl
+    {
+        #region Lifecycle
+        void Destroy();
+        #endregion
+
+        #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);
+        #endregion
+
+        #region Particles
+        void ParticleCountChanged(ObiSolver solver);
+        void SetActiveParticles(ObiNativeIntList indices);
+        void InterpolateDiffuseProperties(ObiNativeVector4List properties, ObiNativeVector4List diffusePositions, ObiNativeVector4List diffuseProperties, ObiNativeIntList neighbourCount, int diffuseCount);
+        #endregion
+
+        #region Rigidbodies
+        void SetRigidbodyArrays(ObiSolver solver);
+        #endregion
+
+        #region Constraints
+        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);
+        #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/Interface/Solver/ISolverImpl.cs.meta b/Assets/Obi/Scripts/Common/Backends/Interface/Solver/ISolverImpl.cs.meta
new file mode 100644
index 000000000..7f921dc22
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Interface/Solver/ISolverImpl.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Null.meta b/Assets/Obi/Scripts/Common/Backends/Null.meta
new file mode 100644
index 000000000..423fa904e
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Null.meta
@@ -0,0 +1,8 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Null/NullBackend.cs b/Assets/Obi/Scripts/Common/Backends/Null/NullBackend.cs
new file mode 100644
index 000000000..0badd2fee
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Null/NullBackend.cs
@@ -0,0 +1,16 @@
+namespace Obi
+{
+    public class NullBackend : IObiBackend
+    {
+        #region Solver
+        public ISolverImpl CreateSolver(ObiSolver solver, int capacity)
+        {
+            return new NullSolverImpl();
+        }
+        public void DestroySolver(ISolverImpl solver)
+        {
+        }
+        #endregion
+
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Backends/Null/NullBackend.cs.meta b/Assets/Obi/Scripts/Common/Backends/Null/NullBackend.cs.meta
new file mode 100644
index 000000000..c1937b73a
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Null/NullBackend.cs.meta
@@ -0,0 +1,11 @@
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+guid: 821d5c08bf0f9459698d65c3aaabaf54
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diff --git a/Assets/Obi/Scripts/Common/Backends/Null/NullSolverImpl.cs b/Assets/Obi/Scripts/Common/Backends/Null/NullSolverImpl.cs
new file mode 100644
index 000000000..37dfe52e1
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Null/NullSolverImpl.cs
@@ -0,0 +1,128 @@
+using UnityEngine;
+using System;
+
+namespace Obi
+{
+    public class NullSolverImpl : ISolverImpl
+    {
+
+        public void Destroy()
+        {
+        }
+
+        public void InitializeFrame(Vector4 translation, Vector4 scale, Quaternion rotation)
+        {
+        }
+
+        public void UpdateFrame(Vector4 translation, Vector4 scale, Quaternion rotation, float deltaTime)
+        {
+        }
+
+        public void ApplyFrame(float worldLinearInertiaScale, float worldAngularInertiaScale, float deltaTime)
+        {
+        }
+
+        public int GetDeformableTriangleCount()
+        {
+            return 0;
+        }
+        public void SetDeformableTriangles(int[] indices, int num, int destOffset)
+        {
+           
+        }
+        public int RemoveDeformableTriangles(int num, int sourceOffset)
+        {
+            return 0;
+        }
+
+        public void SetSimplices(ObiNativeIntList simplices, SimplexCounts counts)
+        {
+        }
+
+        public void ParticleCountChanged(ObiSolver solver)
+        {
+        }
+
+        public void SetRigidbodyArrays(ObiSolver solver)
+        {
+        }
+
+        public void SetActiveParticles(ObiNativeIntList indices)
+        {
+        }
+
+        public void ResetForces()
+        {
+        }
+
+        public void GetBounds(ref Vector3 min, ref Vector3 max)
+        {
+        }
+
+        public void SetParameters(Oni.SolverParameters parameters)
+        {
+        }
+
+        public int GetConstraintCount(Oni.ConstraintType type)
+        {
+            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)
+        {
+        }
+
+        public IConstraintsBatchImpl CreateConstraintsBatch(Oni.ConstraintType constraintType)
+        {
+            return null;
+        }
+
+        public void DestroyConstraintsBatch(IConstraintsBatchImpl group)
+        {
+        }
+
+        public IObiJobHandle CollisionDetection(float stepTime)
+        {
+            return null;
+        }
+
+        public IObiJobHandle Substep(float stepTime, float substepTime, int index)
+        {
+            return null;
+        }
+
+        public void ApplyInterpolation(ObiNativeVector4List startPositions, ObiNativeQuaternionList startOrientations, float stepTime, float unsimulatedTime)
+        {
+        }
+
+        public void InterpolateDiffuseProperties(ObiNativeVector4List properties, ObiNativeVector4List diffusePositions, ObiNativeVector4List diffuseProperties, ObiNativeIntList neighbourCount, int diffuseCount)
+        {
+        }
+
+        public int GetParticleGridSize()
+        {
+            return 0;
+        }
+
+        public void GetParticleGrid(ObiNativeAabbList cells)
+        {
+        }
+
+        public void SpatialQuery(ObiNativeQueryShapeList shapes, ObiNativeAffineTransformList transforms, ObiNativeQueryResultList results)
+        {
+        }
+
+        public void ReleaseJobHandles()
+        {
+
+        }
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Backends/Null/NullSolverImpl.cs.meta b/Assets/Obi/Scripts/Common/Backends/Null/NullSolverImpl.cs.meta
new file mode 100644
index 000000000..4352d9f84
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@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Oni.meta b/Assets/Obi/Scripts/Common/Backends/Oni.meta
new file mode 100644
index 000000000..bcd65f30c
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Oni.meta
@@ -0,0 +1,8 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints.meta b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints.meta
new file mode 100644
index 000000000..6443434bf
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+++ b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints.meta
@@ -0,0 +1,8 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Aerodynamics.meta b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Aerodynamics.meta
new file mode 100644
index 000000000..f3e2fd42e
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Aerodynamics.meta
@@ -0,0 +1,8 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Aerodynamics/OniAerodynamicConstraintsBatchImpl.cs b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Aerodynamics/OniAerodynamicConstraintsBatchImpl.cs
new file mode 100644
index 000000000..068dafad6
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Aerodynamics/OniAerodynamicConstraintsBatchImpl.cs
@@ -0,0 +1,20 @@
+#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
new file mode 100644
index 000000000..093d4d364
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Aerodynamics/OniAerodynamicConstraintsBatchImpl.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Aerodynamics/OniAerodynamicConstraintsImpl.cs b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Aerodynamics/OniAerodynamicConstraintsImpl.cs
new file mode 100644
index 000000000..f50bf5650
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Aerodynamics/OniAerodynamicConstraintsImpl.cs
@@ -0,0 +1,28 @@
+#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
new file mode 100644
index 000000000..a5a5b519f
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Aerodynamics/OniAerodynamicConstraintsImpl.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Bend.meta b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Bend.meta
new file mode 100644
index 000000000..be125343c
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Bend.meta
@@ -0,0 +1,8 @@
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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
new file mode 100644
index 000000000..05fd5d83c
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Bend/OniBendConstraintsBatchImpl.cs
@@ -0,0 +1,20 @@
+#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
new file mode 100644
index 000000000..a3260da5b
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Bend/OniBendConstraintsBatchImpl.cs.meta
@@ -0,0 +1,11 @@
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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
new file mode 100644
index 000000000..6c33c9fe3
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Bend/OniBendConstraintsImpl.cs
@@ -0,0 +1,28 @@
+#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
new file mode 100644
index 000000000..7175df868
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Bend/OniBendConstraintsImpl.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/BendTwist.meta b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/BendTwist.meta
new file mode 100644
index 000000000..761171833
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/BendTwist.meta
@@ -0,0 +1,8 @@
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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
new file mode 100644
index 000000000..11ff42861
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/BendTwist/OniBendTwistConstraintsBatchImpl.cs
@@ -0,0 +1,20 @@
+#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
new file mode 100644
index 000000000..5e06b79bd
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/BendTwist/OniBendTwistConstraintsBatchImpl.cs.meta
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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
new file mode 100644
index 000000000..d84eb3989
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/BendTwist/OniBendTwistConstraintsImpl.cs
@@ -0,0 +1,28 @@
+#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
new file mode 100644
index 000000000..0bd43da19
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/BendTwist/OniBendTwistConstraintsImpl.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Chain.meta b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Chain.meta
new file mode 100644
index 000000000..976f69717
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Chain.meta
@@ -0,0 +1,8 @@
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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
new file mode 100644
index 000000000..df76bc01d
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Chain/OniChainConstraintsBatchImpl.cs
@@ -0,0 +1,20 @@
+#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
new file mode 100644
index 000000000..26a1a272a
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Chain/OniChainConstraintsBatchImpl.cs.meta
@@ -0,0 +1,11 @@
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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
new file mode 100644
index 000000000..0ce503c32
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Chain/OniChainConstraintsImpl.cs
@@ -0,0 +1,28 @@
+#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
new file mode 100644
index 000000000..78596a21d
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Chain/OniChainConstraintsImpl.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Distance.meta b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Distance.meta
new file mode 100644
index 000000000..9cf2006c0
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Distance.meta
@@ -0,0 +1,8 @@
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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
new file mode 100644
index 000000000..3c12fdc83
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Distance/OniDistanceConstraintsBatchImpl.cs
@@ -0,0 +1,20 @@
+#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
new file mode 100644
index 000000000..01b5bdd79
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Distance/OniDistanceConstraintsBatchImpl.cs.meta
@@ -0,0 +1,11 @@
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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
new file mode 100644
index 000000000..1ceae3345
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Distance/OniDistanceConstraintsImpl.cs
@@ -0,0 +1,28 @@
+#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
new file mode 100644
index 000000000..e622b8d43
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Distance/OniDistanceConstraintsImpl.cs.meta
@@ -0,0 +1,11 @@
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+guid: 1317284f320be48c7be4a294d253fc95
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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
new file mode 100644
index 000000000..39e0a53b6
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/OniConstraintsBatchImpl.cs
@@ -0,0 +1,73 @@
+#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
new file mode 100644
index 000000000..bc3d8d946
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/OniConstraintsBatchImpl.cs.meta
@@ -0,0 +1,11 @@
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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
new file mode 100644
index 000000000..61a86b1e5
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/OniConstraintsImpl.cs
@@ -0,0 +1,45 @@
+#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
new file mode 100644
index 000000000..7d45f51b0
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/OniConstraintsImpl.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Pin.meta b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Pin.meta
new file mode 100644
index 000000000..0f363d04e
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Pin.meta
@@ -0,0 +1,8 @@
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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
new file mode 100644
index 000000000..c6db3b8d7
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Pin/OniPinConstraintsBatchImpl.cs
@@ -0,0 +1,21 @@
+#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
new file mode 100644
index 000000000..01264c16e
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Pin/OniPinConstraintsBatchImpl.cs.meta
@@ -0,0 +1,11 @@
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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
new file mode 100644
index 000000000..95ee95bf5
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Pin/OniPinConstraintsImpl.cs
@@ -0,0 +1,28 @@
+#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
new file mode 100644
index 000000000..a71ebc301
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Pin/OniPinConstraintsImpl.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/ShapeMatching.meta b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/ShapeMatching.meta
new file mode 100644
index 000000000..0e27557d0
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/ShapeMatching.meta
@@ -0,0 +1,8 @@
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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
new file mode 100644
index 000000000..b20dd1ff3
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/ShapeMatching/OniShapeMatchingConstraintsBatchImpl.cs
@@ -0,0 +1,39 @@
+#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
new file mode 100644
index 000000000..3fb2c1bf0
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/ShapeMatching/OniShapeMatchingConstraintsBatchImpl.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 2d8b27a2b5372453881109f4d30710aa
+MonoImporter:
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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
new file mode 100644
index 000000000..846ab6899
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/ShapeMatching/OniShapeMatchingConstraintsImpl.cs
@@ -0,0 +1,28 @@
+#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
new file mode 100644
index 000000000..46b7bd743
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/ShapeMatching/OniShapeMatchingConstraintsImpl.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Skin.meta b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Skin.meta
new file mode 100644
index 000000000..a65025811
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Skin.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: e9fde13a2a0dc426892c122badd434c7
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
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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
new file mode 100644
index 000000000..622e6cdb7
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Skin/OniSkinConstraintsBatchImpl.cs
@@ -0,0 +1,20 @@
+#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
new file mode 100644
index 000000000..93af2c035
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Skin/OniSkinConstraintsBatchImpl.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
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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
new file mode 100644
index 000000000..fbf0e5b93
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Skin/OniSkinConstraintsImpl.cs
@@ -0,0 +1,28 @@
+#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
new file mode 100644
index 000000000..6db8a1710
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Skin/OniSkinConstraintsImpl.cs.meta
@@ -0,0 +1,11 @@
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+guid: 4125254438ad247e39a54527a1efb809
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diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Stitch.meta b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Stitch.meta
new file mode 100644
index 000000000..3d17e2188
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Stitch.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 091666a5c10624749b5604db5c75a83d
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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
new file mode 100644
index 000000000..ae0f953bd
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Stitch/OniStitchConstraintsBatchImpl.cs
@@ -0,0 +1,20 @@
+#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
new file mode 100644
index 000000000..799abfaef
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Stitch/OniStitchConstraintsBatchImpl.cs.meta
@@ -0,0 +1,11 @@
+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
new file mode 100644
index 000000000..0209eda55
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Stitch/OniStitchConstraintsImpl.cs
@@ -0,0 +1,28 @@
+#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
new file mode 100644
index 000000000..dc799f6c6
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Stitch/OniStitchConstraintsImpl.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/StretchShear.meta b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/StretchShear.meta
new file mode 100644
index 000000000..00ef8484f
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/StretchShear.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 10bea9144cdb54c7ca268e71727ba816
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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
new file mode 100644
index 000000000..995732e6e
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/StretchShear/OniStretchShearConstraintsBatchImpl.cs
@@ -0,0 +1,20 @@
+#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
new file mode 100644
index 000000000..e5f998b85
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/StretchShear/OniStretchShearConstraintsBatchImpl.cs.meta
@@ -0,0 +1,11 @@
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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
new file mode 100644
index 000000000..23f870904
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/StretchShear/OniStretchShearConstraintsImpl.cs
@@ -0,0 +1,28 @@
+#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
new file mode 100644
index 000000000..ed0457b87
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/StretchShear/OniStretchShearConstraintsImpl.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Tether.meta b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Tether.meta
new file mode 100644
index 000000000..57c58c094
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Tether.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: f170479298b9f47a39047b37d4d124f0
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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
new file mode 100644
index 000000000..47e6500a4
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Tether/OniTetherConstraintsBatchImpl.cs
@@ -0,0 +1,20 @@
+#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
new file mode 100644
index 000000000..f723e8829
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Tether/OniTetherConstraintsBatchImpl.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
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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
new file mode 100644
index 000000000..5299af2e6
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Tether/OniTetherConstraintsImpl.cs
@@ -0,0 +1,28 @@
+#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
new file mode 100644
index 000000000..3fb2ce97a
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Tether/OniTetherConstraintsImpl.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Volume.meta b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Volume.meta
new file mode 100644
index 000000000..2775f8143
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Volume.meta
@@ -0,0 +1,8 @@
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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
new file mode 100644
index 000000000..8b808fbc7
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Volume/OniVolumeConstraintsBatchImpl.cs
@@ -0,0 +1,26 @@
+#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
new file mode 100644
index 000000000..002cbeb9f
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Volume/OniVolumeConstraintsBatchImpl.cs.meta
@@ -0,0 +1,11 @@
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+  assetBundleName: 
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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
new file mode 100644
index 000000000..7693a3df9
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Volume/OniVolumeConstraintsImpl.cs
@@ -0,0 +1,28 @@
+#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
new file mode 100644
index 000000000..739d47b6a
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Oni/Constraints/Volume/OniVolumeConstraintsImpl.cs.meta
@@ -0,0 +1,11 @@
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+guid: db1478edc2f6b48928e2ba97aafd9bad
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diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/OniBackend.cs b/Assets/Obi/Scripts/Common/Backends/Oni/OniBackend.cs
new file mode 100644
index 000000000..1c9a0ec27
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Oni/OniBackend.cs
@@ -0,0 +1,43 @@
+#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
new file mode 100644
index 000000000..11d4d33b8
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Oni/OniBackend.cs.meta
@@ -0,0 +1,11 @@
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+guid: b205c5ca9755442b186b1d93df7d7dc6
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diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/OniColliderWorld.cs b/Assets/Obi/Scripts/Common/Backends/Oni/OniColliderWorld.cs
new file mode 100644
index 000000000..e1af2010b
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Oni/OniColliderWorld.cs
@@ -0,0 +1,75 @@
+#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
new file mode 100644
index 000000000..2961feff3
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Oni/OniColliderWorld.cs.meta
@@ -0,0 +1,11 @@
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+guid: d02d25c24c8574316883c920912e4fdb
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+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
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diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/OniJobHandle.cs b/Assets/Obi/Scripts/Common/Backends/Oni/OniJobHandle.cs
new file mode 100644
index 000000000..5acf0bb62
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Oni/OniJobHandle.cs
@@ -0,0 +1,27 @@
+#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
new file mode 100644
index 000000000..3030ce29b
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Oni/OniJobHandle.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Solver.meta b/Assets/Obi/Scripts/Common/Backends/Oni/Solver.meta
new file mode 100644
index 000000000..aa7f2cd0d
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Oni/Solver.meta
@@ -0,0 +1,8 @@
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+guid: e2f8381840ff54c2f9122f2329cf9366
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diff --git a/Assets/Obi/Scripts/Common/Backends/Oni/Solver/OniSolverImpl.cs b/Assets/Obi/Scripts/Common/Backends/Oni/Solver/OniSolverImpl.cs
new file mode 100644
index 000000000..e6b7f8948
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Backends/Oni/Solver/OniSolverImpl.cs
@@ -0,0 +1,226 @@
+#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
new file mode 100644
index 000000000..c71ef9fd9
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@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Blueprints.meta b/Assets/Obi/Scripts/Common/Blueprints.meta
new file mode 100644
index 000000000..415cf4b20
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+++ b/Assets/Obi/Scripts/Common/Blueprints.meta
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diff --git a/Assets/Obi/Scripts/Common/Blueprints/Constraints.meta b/Assets/Obi/Scripts/Common/Blueprints/Constraints.meta
new file mode 100644
index 000000000..60b71b4d5
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diff --git a/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches.meta b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches.meta
new file mode 100644
index 000000000..984456295
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches.meta
@@ -0,0 +1,8 @@
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diff --git a/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/IStructuralConstraintBatch.cs b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/IStructuralConstraintBatch.cs
new file mode 100644
index 000000000..66deaf902
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/IStructuralConstraintBatch.cs
@@ -0,0 +1,13 @@
+using UnityEngine;
+using System.Collections;
+
+namespace Obi
+{
+
+    public interface IStructuralConstraintBatch
+    {
+        float GetRestLength(int index);
+        void SetRestLength(int index, float restLength);
+        ParticlePair GetParticleIndices(int index);
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/IStructuralConstraintBatch.cs.meta b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/IStructuralConstraintBatch.cs.meta
new file mode 100644
index 000000000..ab69460e0
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/IStructuralConstraintBatch.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: f23dea5b75e2c432282b0f62513267ed
+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
new file mode 100644
index 000000000..e2a4df6c4
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiAerodynamicConstraintsBatch.cs
@@ -0,0 +1,103 @@
+using UnityEngine;
+using System.Collections;
+using System.Collections.Generic;
+using System;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiAerodynamicConstraintsBatch : ObiConstraintsBatch
+    {
+        protected IAerodynamicConstraintsBatchImpl m_BatchImpl;
+
+        /// <summary>
+        /// 3 floats per constraint: surface area, drag and lift.
+        /// </summary>
+        [HideInInspector] public ObiNativeFloatList aerodynamicCoeffs = new ObiNativeFloatList();  
+
+        public override Oni.ConstraintType constraintType 
+        {
+            get { return Oni.ConstraintType.Aerodynamics; }
+        }
+
+        public override IConstraintsBatchImpl implementation
+        {
+            get { return m_BatchImpl; }
+        }
+
+        public ObiAerodynamicConstraintsBatch(ObiAerodynamicConstraintsData constraints = null) : base()
+        {
+        }
+
+        public void AddConstraint(int index, float area, float drag, float lift)
+        {
+            RegisterConstraint();
+
+            particleIndices.Add(index);
+            aerodynamicCoeffs.Add(area);
+            aerodynamicCoeffs.Add(drag);
+            aerodynamicCoeffs.Add(lift);
+        }
+
+        public override void GetParticlesInvolved(int index, List<int> particles)
+        {
+            particles.Add(particleIndices[index]);
+        }
+
+        public override void Clear()
+        {
+            base.Clear();
+            particleIndices.Clear();
+            aerodynamicCoeffs.Clear();
+        }
+
+        protected override void SwapConstraints(int sourceIndex, int destIndex)
+        {
+            particleIndices.Swap(sourceIndex, destIndex);
+            aerodynamicCoeffs.Swap(sourceIndex * 3, destIndex * 3);
+            aerodynamicCoeffs.Swap(sourceIndex * 3 + 1, destIndex * 3 + 1);
+            aerodynamicCoeffs.Swap(sourceIndex * 3 + 2, destIndex * 3 + 2);
+        }
+
+        public override void Merge(ObiActor actor, IObiConstraintsBatch other)
+        {
+            var batch = other as ObiAerodynamicConstraintsBatch;
+            var user = actor as IAerodynamicConstraintsUser;
+
+            if (batch != null && user != null)
+            {
+                if (!user.aerodynamicsEnabled)
+                    return;
+
+                particleIndices.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+                aerodynamicCoeffs.ResizeUninitialized((m_ActiveConstraintCount + batch.activeConstraintCount) * 3);
+
+                for (int i = 0; i < batch.activeConstraintCount; ++i)
+                {
+                    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;
+                }
+
+                base.Merge(actor, other);
+            }
+        }
+
+        public override void AddToSolver(ObiSolver solver)
+        {
+            // Create distance constraints batch directly.
+            m_BatchImpl = solver.implementation.CreateConstraintsBatch(constraintType) as IAerodynamicConstraintsBatchImpl;
+
+            if (m_BatchImpl != null)
+                m_BatchImpl.SetAerodynamicConstraints(particleIndices, aerodynamicCoeffs, m_ActiveConstraintCount);
+           
+        }
+
+        public override void RemoveFromSolver(ObiSolver solver)
+        {
+            //Remove batch:
+            solver.implementation.DestroyConstraintsBatch(m_BatchImpl as IConstraintsBatchImpl);
+        }
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiAerodynamicConstraintsBatch.cs.meta b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiAerodynamicConstraintsBatch.cs.meta
new file mode 100644
index 000000000..3fabfe160
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiAerodynamicConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 679cceabc60a345df8d9c3e0ac00eca3
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {fileID: 2800000, guid: 8626b43f419d1466a9dc1c1509308b13, type: 3}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiBendConstraintsBatch.cs b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiBendConstraintsBatch.cs
new file mode 100644
index 000000000..8e46dadd8
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiBendConstraintsBatch.cs
@@ -0,0 +1,122 @@
+using UnityEngine;
+using System.Collections;
+using System.Collections.Generic;
+using System;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiBendConstraintsBatch : ObiConstraintsBatch
+    {
+        protected IBendConstraintsBatchImpl m_BatchImpl;   
+
+        /// <summary>
+        /// one float per constraint: the rest bend distance.
+        /// </summary>
+        [HideInInspector] public ObiNativeFloatList restBends = new ObiNativeFloatList();                
+
+        /// <summary>
+        /// two floats per constraint: max bending and compliance.
+        /// </summary>
+        [HideInInspector] public ObiNativeVector2List bendingStiffnesses = new ObiNativeVector2List();
+
+        /// <summary>
+        /// two floats per constraint: plastic yield and creep.
+        /// </summary>
+        [HideInInspector] public ObiNativeVector2List plasticity = new ObiNativeVector2List();
+
+        public override Oni.ConstraintType constraintType
+        {
+            get { return Oni.ConstraintType.Bending; }
+        }
+
+        public override IConstraintsBatchImpl implementation
+        {
+            get { return m_BatchImpl; }
+        }
+
+        public ObiBendConstraintsBatch(ObiBendConstraintsData constraints = null) : base()
+        {
+        }
+
+        public override void Merge(ObiActor actor, IObiConstraintsBatch other)
+        {
+            var batch = other as ObiBendConstraintsBatch;
+            var user = actor as IBendConstraintsUser;
+
+            if (batch != null && user != null)
+            {
+                if (!user.bendConstraintsEnabled)
+                    return;
+
+                particleIndices.ResizeUninitialized((m_ActiveConstraintCount + batch.activeConstraintCount) * 3);
+                restBends.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+                bendingStiffnesses.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+                plasticity.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+                lambdas.ResizeInitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+
+                restBends.CopyFrom(batch.restBends, 0, m_ActiveConstraintCount, batch.activeConstraintCount);
+                bendingStiffnesses.CopyReplicate(new Vector2(user.maxBending, user.bendCompliance), m_ActiveConstraintCount, batch.activeConstraintCount);
+                plasticity.CopyReplicate(new Vector2(user.plasticYield, user.plasticCreep), m_ActiveConstraintCount, batch.activeConstraintCount);
+
+                for (int i = 0; i < batch.activeConstraintCount * 3; ++i)
+                    particleIndices[m_ActiveConstraintCount * 3 + i] = actor.solverIndices[batch.particleIndices[i]];
+
+                base.Merge(actor, other);
+            }
+        }
+
+        public void AddConstraint(Vector3Int indices, float restBend)
+        {
+            RegisterConstraint();
+
+            particleIndices.Add(indices[0]);
+            particleIndices.Add(indices[1]);
+            particleIndices.Add(indices[2]);
+            restBends.Add(restBend);
+            bendingStiffnesses.Add(Vector2.zero);
+            plasticity.Add(Vector2.zero);
+        }
+
+        public override void Clear()
+        {
+            base.Clear();
+            restBends.Clear();
+            bendingStiffnesses.Clear();
+            plasticity.Clear();
+        }
+
+        public override void GetParticlesInvolved(int index, List<int> particles)
+        {
+            particles.Add(particleIndices[index * 3]);
+            particles.Add(particleIndices[index * 3 + 1]);
+            particles.Add(particleIndices[index * 3 + 2]);
+        }
+
+        protected override void SwapConstraints(int sourceIndex, int destIndex)
+        {
+            particleIndices.Swap(sourceIndex * 3, destIndex * 3);
+            particleIndices.Swap(sourceIndex * 3 + 1 , destIndex * 3 + 1);
+            particleIndices.Swap(sourceIndex * 3 + 2, destIndex * 3 + 2);
+            restBends.Swap(sourceIndex, destIndex);
+            bendingStiffnesses.Swap(sourceIndex, destIndex);
+            plasticity.Swap(sourceIndex, destIndex);
+        }
+
+        public override void AddToSolver(ObiSolver solver)
+        {
+            // Create distance constraints batch directly.
+            m_BatchImpl = solver.implementation.CreateConstraintsBatch(constraintType) as IBendConstraintsBatchImpl;
+
+            if (m_BatchImpl != null)
+                m_BatchImpl.SetBendConstraints(particleIndices, restBends, bendingStiffnesses, plasticity, lambdas, m_ActiveConstraintCount);
+            
+        }
+
+        public override void RemoveFromSolver(ObiSolver solver)
+        {
+            //Remove batch:
+            solver.implementation.DestroyConstraintsBatch(m_BatchImpl as IConstraintsBatchImpl);
+        }
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiBendConstraintsBatch.cs.meta b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiBendConstraintsBatch.cs.meta
new file mode 100644
index 000000000..19f55f8d4
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiBendConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 2d25c1516f81f44b190e2ef893151ea0
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {fileID: 2800000, guid: f9aac3aba3ca7456d807e7fab120eb8a, type: 3}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiBendTwistConstraintsBatch.cs b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiBendTwistConstraintsBatch.cs
new file mode 100644
index 000000000..e8c6b2fb3
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiBendTwistConstraintsBatch.cs
@@ -0,0 +1,123 @@
+using UnityEngine;
+using System.Collections.Generic;
+using System;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiBendTwistConstraintsBatch : ObiConstraintsBatch
+    {
+        protected IBendTwistConstraintsBatchImpl m_BatchImpl;
+
+        /// <summary>
+        /// Rest darboux vector for each constraint.
+        /// </summary>
+        [HideInInspector] public ObiNativeQuaternionList restDarbouxVectors = new ObiNativeQuaternionList();            
+
+        /// <summary>
+        /// 3 compliance values for each constraint, one for each local axis (x,y,z)
+        /// </summary>
+        [HideInInspector] public ObiNativeVector3List stiffnesses = new ObiNativeVector3List();                             
+
+        /// <summary>
+        /// two floats per constraint: plastic yield and creep.
+        /// </summary>
+        [HideInInspector] public ObiNativeVector2List plasticity = new ObiNativeVector2List();                            
+
+        public override Oni.ConstraintType constraintType
+        {
+            get { return Oni.ConstraintType.BendTwist; }
+        }
+
+        public override IConstraintsBatchImpl implementation
+        {
+            get { return m_BatchImpl; }
+        }
+
+        public ObiBendTwistConstraintsBatch(ObiBendTwistConstraintsData constraints = null) : base()
+        {
+        }
+
+        public void AddConstraint(Vector2Int indices, Quaternion restDarboux)
+        {
+            RegisterConstraint();
+
+            this.particleIndices.Add(indices[0]);
+            this.particleIndices.Add(indices[1]);
+            this.restDarbouxVectors.Add(restDarboux);
+            this.stiffnesses.Add(Vector3.zero);
+            this.plasticity.Add(Vector2.zero);
+        }
+
+        public override void Clear()
+        {
+            base.Clear();
+            particleIndices.Clear();
+            restDarbouxVectors.Clear();
+            stiffnesses.Clear();
+            plasticity.Clear();
+        }
+
+        public override void GetParticlesInvolved(int index, List<int> particles)
+        {
+            particles.Add(particleIndices[index * 2]);
+            particles.Add(particleIndices[index * 2 + 1]);
+        }
+
+        protected override void SwapConstraints(int sourceIndex, int destIndex)
+        {
+            particleIndices.Swap(sourceIndex * 2, destIndex * 2);
+            particleIndices.Swap(sourceIndex * 2 + 1, destIndex * 2 + 1);
+            restDarbouxVectors.Swap(sourceIndex, destIndex);
+            stiffnesses.Swap(sourceIndex, destIndex);
+            plasticity.Swap(sourceIndex, destIndex);
+        }
+
+        public override void Merge(ObiActor actor, IObiConstraintsBatch other)
+        {
+            var batch = other as ObiBendTwistConstraintsBatch;
+            var user = actor as IBendTwistConstraintsUser;
+
+            if (batch != null && user != null)
+            {
+                if (!user.bendTwistConstraintsEnabled)
+                  return;
+
+                particleIndices.ResizeUninitialized((m_ActiveConstraintCount + batch.activeConstraintCount) * 2);
+                restDarbouxVectors.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+                stiffnesses.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+                plasticity.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+                lambdas.ResizeInitialized((m_ActiveConstraintCount + batch.activeConstraintCount) * 3);
+
+                restDarbouxVectors.CopyFrom(batch.restDarbouxVectors, 0, m_ActiveConstraintCount, batch.activeConstraintCount);
+
+                for (int i = 0; i < batch.activeConstraintCount; ++i)
+                {
+                    stiffnesses[m_ActiveConstraintCount + i] = user.GetBendTwistCompliance(batch, i);
+                    plasticity[m_ActiveConstraintCount + i] = user.GetBendTwistPlasticity(batch, i);
+                }
+
+                for (int i = 0; i < batch.activeConstraintCount * 2; ++i)
+                    particleIndices[m_ActiveConstraintCount * 2 + i] = actor.solverIndices[batch.particleIndices[i]];
+
+                base.Merge(actor, other);
+            }
+        }
+
+        public override void AddToSolver(ObiSolver solver)
+        {
+            // Create distance constraints batch directly.
+            m_BatchImpl = solver.implementation.CreateConstraintsBatch(constraintType) as IBendTwistConstraintsBatchImpl;
+
+            if (m_BatchImpl != null)
+                m_BatchImpl.SetBendTwistConstraints(particleIndices, restDarbouxVectors, stiffnesses, plasticity, lambdas, m_ActiveConstraintCount);
+            
+        }
+
+        public override void RemoveFromSolver(ObiSolver solver)
+        {
+            //Remove batch:
+            solver.implementation.DestroyConstraintsBatch(m_BatchImpl as IConstraintsBatchImpl);
+        }
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiBendTwistConstraintsBatch.cs.meta b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiBendTwistConstraintsBatch.cs.meta
new file mode 100644
index 000000000..c4ab7a404
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiBendTwistConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: fd870f7d936fb46178a58eed5f6d4f7e
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {fileID: 2800000, guid: 91de8d14a7b7a42d88d336323c428b20, type: 3}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiChainConstraintsBatch.cs b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiChainConstraintsBatch.cs
new file mode 100644
index 000000000..859c86517
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiChainConstraintsBatch.cs
@@ -0,0 +1,127 @@
+using UnityEngine;
+using System.Collections;
+using System.Collections.Generic;
+using System;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiChainConstraintsBatch : ObiConstraintsBatch
+    {
+        protected IChainConstraintsBatchImpl m_BatchImpl;  
+
+        /// <summary>
+        /// index of the first particle for each constraint.
+        /// </summary>
+        [HideInInspector] public ObiNativeIntList firstParticle = new ObiNativeIntList();       
+
+        /// <summary>
+        /// number of particles for each constraint.
+        /// </summary>
+        [HideInInspector] public ObiNativeIntList numParticles = new ObiNativeIntList();          
+
+        /// <summary>
+        /// min/max lenghts for each constraint.
+        /// </summary>
+        [HideInInspector] public ObiNativeVector2List lengths = new ObiNativeVector2List();  
+
+        public override Oni.ConstraintType constraintType
+        {
+            get { return Oni.ConstraintType.Chain; }
+        }
+
+        public override IConstraintsBatchImpl implementation
+        {
+            get { return m_BatchImpl; }
+        }
+
+        public ObiChainConstraintsBatch(ObiChainConstraintsData constraints = null) : base()
+        {
+        }
+
+        public void AddConstraint(int[] indices, float restLength, float stretchStiffness, float compressionStiffness)
+        {
+            RegisterConstraint();
+
+            firstParticle.Add((int)particleIndices.count);
+            numParticles.Add((int)indices.Length);
+            particleIndices.AddRange(indices);
+            lengths.Add(new Vector2(restLength, restLength));
+        }
+
+        public override void Clear()
+        {
+            base.Clear();
+            particleIndices.Clear();
+            firstParticle.Clear();
+            numParticles.Clear();
+            lengths.Clear();
+        }
+
+        public override void GetParticlesInvolved(int index, List<int> particles)
+        {
+            //TODO.
+        }
+
+        protected override void SwapConstraints(int sourceIndex, int destIndex)
+        {
+            firstParticle.Swap(sourceIndex, destIndex);
+            numParticles.Swap(sourceIndex, destIndex);
+            lengths.Swap(sourceIndex, destIndex);
+        }
+
+        public override void Merge(ObiActor actor, IObiConstraintsBatch other)
+        {
+            var batch = other as ObiChainConstraintsBatch;
+            var user = actor as IChainConstraintsUser;
+
+            if (batch != null && user != null)
+            {
+                if (!user.chainConstraintsEnabled)
+                    return;
+
+                int initialIndexCount = particleIndices.count;
+
+                int numActiveIndices = 0;
+                for (int i = 0; i < batch.activeConstraintCount; ++i)
+                    numActiveIndices += batch.numParticles[i];
+
+                particleIndices.ResizeUninitialized(initialIndexCount + numActiveIndices);
+                firstParticle.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+                numParticles.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+                lengths.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+                lambdas.ResizeInitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+
+                numParticles.CopyFrom(batch.numParticles, 0, m_ActiveConstraintCount, batch.activeConstraintCount);
+
+                for (int i = 0; i < numActiveIndices; ++i)
+                    particleIndices[initialIndexCount + i] = actor.solverIndices[batch.particleIndices[i]];
+
+                for (int i = 0; i < batch.activeConstraintCount; ++i)
+                {
+                    firstParticle[m_ActiveConstraintCount + i] = batch.firstParticle[i] + initialIndexCount;
+                    lengths[m_ActiveConstraintCount + i] = new Vector2(batch.lengths[i].y * user.tightness, batch.lengths[i].y);
+                }
+
+
+                base.Merge(actor, other);
+            }
+        }
+
+        public override void AddToSolver(ObiSolver solver)
+        {
+            // Create distance constraints batch directly.
+            m_BatchImpl = solver.implementation.CreateConstraintsBatch(constraintType) as IChainConstraintsBatchImpl;
+
+            if (m_BatchImpl != null)
+                m_BatchImpl.SetChainConstraints(particleIndices, lengths, firstParticle, numParticles, m_ActiveConstraintCount);
+            
+        }
+
+        public override void RemoveFromSolver(ObiSolver solver)
+        {
+            //Remove batch:
+            solver.implementation.DestroyConstraintsBatch(m_BatchImpl as IConstraintsBatchImpl);
+        }
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiChainConstraintsBatch.cs.meta b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiChainConstraintsBatch.cs.meta
new file mode 100644
index 000000000..ae544fbb1
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiChainConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 4a957d8a661ad464085e9f64cfc57406
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {fileID: 2800000, guid: 1a42905220c3544c99b3ec98f88b080b, type: 3}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiConstraintsBatch.cs b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiConstraintsBatch.cs
new file mode 100644
index 000000000..11917cef4
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiConstraintsBatch.cs
@@ -0,0 +1,202 @@
+using UnityEngine;
+using System;
+using System.Collections;
+using System.Collections.Generic;
+
+namespace Obi
+{
+    public interface IObiConstraintsBatch
+    {
+        int constraintCount
+        {
+            get;
+        }
+
+        int activeConstraintCount
+        {
+            get;
+            set;
+        }
+
+        int initialActiveConstraintCount
+        {
+            get;
+            set;
+        }
+
+        Oni.ConstraintType constraintType
+        {
+            get;
+        }
+
+        IConstraintsBatchImpl implementation
+        {
+            get;
+        }
+
+        void AddToSolver(ObiSolver solver);
+        void RemoveFromSolver(ObiSolver solver);
+
+        void Merge(ObiActor actor, IObiConstraintsBatch other);
+
+        bool DeactivateConstraint(int constraintIndex);
+        bool ActivateConstraint(int constraintIndex);
+        void DeactivateAllConstraints();
+
+        void Clear();
+
+        void GetParticlesInvolved(int index, List<int> particles);
+        void ParticlesSwapped(int index, int newIndex);
+    }
+
+    public abstract class ObiConstraintsBatch : IObiConstraintsBatch
+    {
+        [HideInInspector] [SerializeField] protected List<int> m_IDs = new List<int>();
+        [HideInInspector] [SerializeField] protected List<int> m_IDToIndex = new List<int>();         /**< maps from constraint ID to constraint index. When activating/deactivating constraints, their order changes. That makes this
+                                                         map necessary. All active constraints are at the beginning of the constraint arrays, in the 0, activeConstraintCount index range.*/
+
+        [HideInInspector] [SerializeField] protected int m_ConstraintCount = 0;
+        [HideInInspector] [SerializeField] protected int m_ActiveConstraintCount = 0;
+        [HideInInspector] [SerializeField] protected int m_InitialActiveConstraintCount = 0;
+
+        [HideInInspector] public ObiNativeIntList particleIndices = new ObiNativeIntList();  /**< particle indices, amount of them per constraint can be variable. */
+        [HideInInspector] public ObiNativeFloatList lambdas = new ObiNativeFloatList();      /**< constraint lambdas */
+
+        public int constraintCount
+        {
+            get { return m_ConstraintCount; }
+        }
+
+        public int activeConstraintCount
+        {
+            get { return m_ActiveConstraintCount; }
+            set { m_ActiveConstraintCount = value; }
+        }
+
+        public virtual int initialActiveConstraintCount
+        {
+            get { return m_InitialActiveConstraintCount; }
+            set { m_InitialActiveConstraintCount = value; }
+        }
+
+        public abstract Oni.ConstraintType constraintType
+        {
+            get;
+        }
+
+        public abstract IConstraintsBatchImpl implementation
+        {
+            get;
+        }
+
+        // Merges a batch from a given actor with this one.
+        public virtual void Merge(ObiActor actor, IObiConstraintsBatch other)
+        {
+            m_ConstraintCount += other.constraintCount;
+            m_ActiveConstraintCount += other.activeConstraintCount;
+            m_InitialActiveConstraintCount += other.initialActiveConstraintCount;
+        }
+
+
+        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);
+
+        protected virtual void CopyConstraint(ObiConstraintsBatch batch, int constraintIndex) { }
+
+        private void InnerSwapConstraints(int sourceIndex, int destIndex)
+        {
+            m_IDToIndex[m_IDs[sourceIndex]] = destIndex;
+            m_IDToIndex[m_IDs[destIndex]] = sourceIndex;
+            m_IDs.Swap(sourceIndex, destIndex);
+            SwapConstraints(sourceIndex, destIndex);
+        }
+
+        /**
+         * Registers a new constraint. Call this before adding a new contraint to the batch, so that the constraint is given an ID 
+         * and the amount of constraints increased.
+         */
+        protected void RegisterConstraint()
+        {
+            m_IDs.Add(m_ConstraintCount);
+            m_IDToIndex.Add(m_ConstraintCount);
+            m_ConstraintCount++;
+        }
+
+        public virtual void Clear()
+        {
+            m_ConstraintCount = 0;
+            m_ActiveConstraintCount = 0;
+            m_IDs.Clear();
+            m_IDToIndex.Clear();
+            particleIndices.Clear();
+            lambdas.Clear();
+        }
+
+        /**
+         * Given the id of a constraint, return its index in the constraint data arrays. Will return -1 if the constraint does not exist.
+         */
+        public int GetConstraintIndex(int constraintId)
+        {
+            if (constraintId < 0 || constraintId >= constraintCount)
+                return -1;
+            return m_IDToIndex[constraintId];
+        }
+
+        public bool IsConstraintActive(int index)
+        {
+            return index < m_ActiveConstraintCount;
+        }
+
+        public bool ActivateConstraint(int constraintIndex)
+        {
+            if (constraintIndex < m_ActiveConstraintCount)
+                return false;
+
+            InnerSwapConstraints(constraintIndex, m_ActiveConstraintCount);
+            m_ActiveConstraintCount++;
+
+            return true;
+        }
+
+        public bool DeactivateConstraint(int constraintIndex)
+        {
+            if (constraintIndex >= m_ActiveConstraintCount)
+                return false;
+
+            m_ActiveConstraintCount--;
+            InnerSwapConstraints(constraintIndex, m_ActiveConstraintCount);
+
+            return true;
+        }
+
+        public void DeactivateAllConstraints()
+        {
+            m_ActiveConstraintCount = 0;
+        }
+
+        // Swaps the constraint with the last one and reduces the amount of constraints by one.
+        public void RemoveConstraint(int constraintIndex)
+        {
+            SwapConstraints(constraintIndex, constraintCount - 1);
+            m_IDs.RemoveAt(constraintCount - 1);
+            m_IDToIndex.RemoveAt(constraintCount - 1);
+
+            m_ConstraintCount--;
+            m_ActiveConstraintCount = Mathf.Min(m_ActiveConstraintCount, m_ConstraintCount); 
+        }
+
+        public void ParticlesSwapped(int index, int newIndex)
+        {
+            for (int i = 0; i < particleIndices.count; ++i)
+            {
+                if (particleIndices[i] == newIndex)
+                    particleIndices[i] = index;
+                else if (particleIndices[i] == index)
+                    particleIndices[i] = newIndex;
+            }
+        }
+
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiConstraintsBatch.cs.meta b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiConstraintsBatch.cs.meta
new file mode 100644
index 000000000..46083e7c6
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 7aacef50ee7794d0c9d6c77ef761d142
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiDistanceConstraintsBatch.cs b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiDistanceConstraintsBatch.cs
new file mode 100644
index 000000000..d412a6e81
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiDistanceConstraintsBatch.cs
@@ -0,0 +1,143 @@
+using UnityEngine;
+using System.Collections;
+using System.Collections.Generic;
+using System;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiDistanceConstraintsBatch : ObiConstraintsBatch, IStructuralConstraintBatch
+    {
+        [NonSerialized] protected IDistanceConstraintsBatchImpl m_BatchImpl; 
+
+        /// <summary>
+        /// Rest distance for each individual constraint.
+        /// </summary>
+        [HideInInspector] public ObiNativeFloatList restLengths = new ObiNativeFloatList();
+
+        /// <summary>
+        /// 2 values for each constraint: compliance and slack.
+        /// </summary>
+        [HideInInspector] public ObiNativeVector2List stiffnesses = new ObiNativeVector2List();            
+
+        public override Oni.ConstraintType constraintType
+        {
+            get { return Oni.ConstraintType.Distance; }
+        }
+
+        public override IConstraintsBatchImpl implementation
+        {
+            get { return m_BatchImpl; }
+        }
+
+        public ObiDistanceConstraintsBatch(int a = 0) 
+        { 
+        }
+
+        public void AddConstraint(Vector2Int indices, float restLength)
+        {
+            RegisterConstraint();
+
+            particleIndices.Add(indices[0]);
+            particleIndices.Add(indices[1]);
+            restLengths.Add(restLength);
+            stiffnesses.Add(Vector2.zero);
+        }
+
+        public override void Clear()
+        {
+            base.Clear();
+            restLengths.Clear();
+            stiffnesses.Clear();
+        }
+
+        public float GetRestLength(int index)
+        {
+            return restLengths[index];
+        }
+
+        public void SetRestLength(int index, float restLength)
+        {
+            restLengths[index] = restLength;
+        }
+
+        public ParticlePair GetParticleIndices(int index)
+        {
+            return new ParticlePair(particleIndices[index * 2],particleIndices[index * 2 + 1]);
+        }
+
+        public override void GetParticlesInvolved(int index, List<int> particles)
+        {
+            particles.Add(particleIndices[index * 2]);
+            particles.Add(particleIndices[index * 2 + 1]);
+        }
+
+        protected override void CopyConstraint(ObiConstraintsBatch batch, int constraintIndex)
+        {
+            if (batch is ObiDistanceConstraintsBatch)
+            {
+                var db = batch as ObiDistanceConstraintsBatch;
+                RegisterConstraint();
+                particleIndices.Add(batch.particleIndices[constraintIndex * 2]);
+                particleIndices.Add(batch.particleIndices[constraintIndex * 2 + 1]);
+                restLengths.Add(db.restLengths[constraintIndex]);
+                stiffnesses.Add(db.stiffnesses[constraintIndex]);
+                ActivateConstraint(constraintCount - 1);
+            }
+        }
+
+        protected override void SwapConstraints(int sourceIndex, int destIndex)
+        {
+            particleIndices.Swap(sourceIndex * 2, destIndex * 2);
+            particleIndices.Swap(sourceIndex * 2 + 1, destIndex * 2 + 1);
+            restLengths.Swap(sourceIndex, destIndex);
+            stiffnesses.Swap(sourceIndex, destIndex);
+        }
+
+        public override void Merge(ObiActor actor, IObiConstraintsBatch other)
+        {
+            var batch = other as ObiDistanceConstraintsBatch;
+            var user = actor as IDistanceConstraintsUser;
+
+            if (batch != null && user != null)
+            {
+                if (!user.distanceConstraintsEnabled)
+                    return;
+
+                particleIndices.ResizeUninitialized((m_ActiveConstraintCount + batch.activeConstraintCount) * 2);
+                restLengths.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+                stiffnesses.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+                lambdas.ResizeInitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+
+                for (int i = 0; i < batch.activeConstraintCount * 2; ++i)
+                    particleIndices[m_ActiveConstraintCount * 2 + i] = actor.solverIndices[batch.particleIndices[i]];
+
+                for (int i = 0; i < batch.activeConstraintCount; ++i)
+                {
+                    float restLength = batch.restLengths[i] * user.stretchingScale;
+                    restLengths[m_ActiveConstraintCount + i] = restLength; // TODO: use nativelist methods?
+                    stiffnesses[m_ActiveConstraintCount + i] = new Vector2(user.stretchCompliance, user.maxCompression * restLength);
+                }
+
+                base.Merge(actor, other);
+            }
+        }
+
+        public override void AddToSolver(ObiSolver solver)
+        {
+            // Create distance constraints batch directly.
+            m_BatchImpl = solver.implementation.CreateConstraintsBatch(constraintType) as IDistanceConstraintsBatchImpl;
+
+            if (m_BatchImpl != null)
+                m_BatchImpl.SetDistanceConstraints(particleIndices, restLengths, stiffnesses, lambdas, m_ActiveConstraintCount);
+            
+        }
+
+        public override void RemoveFromSolver(ObiSolver solver)
+        {
+            //Remove batch:
+            solver.implementation.DestroyConstraintsBatch(m_BatchImpl as IConstraintsBatchImpl);
+        }
+
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiDistanceConstraintsBatch.cs.meta b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiDistanceConstraintsBatch.cs.meta
new file mode 100644
index 000000000..69910becf
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiDistanceConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 6b0df8a8dbd9143dca2d51705e597db4
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {fileID: 2800000, guid: 8be685232a6ad41508d8bbe9d003a892, type: 3}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiPinConstraintsBatch.cs b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiPinConstraintsBatch.cs
new file mode 100644
index 000000000..b49dbe5d8
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiPinConstraintsBatch.cs
@@ -0,0 +1,147 @@
+using UnityEngine;
+using System;
+using System.Collections;
+using System.Collections.Generic;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiPinConstraintsBatch : ObiConstraintsBatch
+    {
+        protected IPinConstraintsBatchImpl m_BatchImpl;  
+
+        /// <summary>
+        /// for each constraint, handle of the pinned collider.
+        /// </summary>
+        [HideInInspector] public List<ObiColliderHandle> pinBodies = new List<ObiColliderHandle>();                        
+
+        /// <summary>
+        /// index of the pinned collider in the collider world.
+        /// </summary>
+        [HideInInspector] public ObiNativeIntList colliderIndices = new ObiNativeIntList();
+
+        /// <summary>
+        /// Pin position expressed in the attachment's local space.
+        /// </summary>
+        [HideInInspector] public ObiNativeVector4List offsets = new ObiNativeVector4List();                        
+
+        /// <summary>
+        /// Rest Darboux vector for each constraint.
+        /// </summary>
+        [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();                     
+
+        public override Oni.ConstraintType constraintType
+        {
+            get { return Oni.ConstraintType.Pin; }
+        }
+
+        public override IConstraintsBatchImpl implementation
+        {
+            get { return m_BatchImpl; }
+        }
+
+        public ObiPinConstraintsBatch(ObiPinConstraintsData constraints = null) : base()
+        {
+        }
+
+        public void AddConstraint(int solverIndex, ObiColliderBase body, Vector3 offset, Quaternion restDarboux, float linearCompliance, float rotationalCompliance, float breakThreshold)
+        {
+            RegisterConstraint();
+
+            particleIndices.Add(solverIndex);
+            pinBodies.Add(body != null ? body.Handle : new ObiColliderHandle());
+            colliderIndices.Add(body != null ? body.Handle.index : -1);
+            offsets.Add(offset);
+            restDarbouxVectors.Add(restDarboux);
+            stiffnesses.Add(linearCompliance);
+            stiffnesses.Add(rotationalCompliance);
+            breakThresholds.Add(breakThreshold);
+        }
+
+        public override void Clear()
+        {
+            base.Clear();
+            particleIndices.Clear();
+            pinBodies.Clear();
+            colliderIndices.Clear();
+            offsets.Clear();
+            restDarbouxVectors.Clear();
+            stiffnesses.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);
+            restDarbouxVectors.Swap(sourceIndex, destIndex);
+            stiffnesses.Swap(sourceIndex * 2, destIndex * 2);
+            stiffnesses.Swap(sourceIndex * 2 + 1, destIndex * 2 + 1);
+        }
+
+        public override void Merge(ObiActor actor, IObiConstraintsBatch other)
+        {
+            var batch = other as ObiPinConstraintsBatch;
+
+            if (batch != null)
+            {
+
+                particleIndices.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+
+                colliderIndices.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+                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)
+                {
+                    particleIndices[m_ActiveConstraintCount + i] = batch.particleIndices[i];
+                    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 IPinConstraintsBatchImpl;
+
+                if (m_BatchImpl != null)
+                    m_BatchImpl.SetPinConstraints(particleIndices, colliderIndices, offsets, restDarbouxVectors, stiffnesses, lambdas, m_ActiveConstraintCount);
+            }
+        }
+
+        public override void RemoveFromSolver(ObiSolver solver)
+        {
+            if (solver != null && solver.implementation != null)
+                solver.implementation.DestroyConstraintsBatch(m_BatchImpl as IConstraintsBatchImpl);
+        }
+
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiPinConstraintsBatch.cs.meta b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiPinConstraintsBatch.cs.meta
new file mode 100644
index 000000000..31c2122e6
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiPinConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: c2de2f97e7edf4bedb38202be59122ae
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {fileID: 2800000, guid: 85e4f507907784b9eb4637afe5c2e3a4, type: 3}
+  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
new file mode 100644
index 000000000..9558a10e4
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiShapeMatchingConstraintsBatch.cs
@@ -0,0 +1,222 @@
+using UnityEngine;
+using System.Collections;
+using System.Collections.Generic;
+using System;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiShapeMatchingConstraintsBatch : ObiConstraintsBatch
+    {
+        protected IShapeMatchingConstraintsBatchImpl m_BatchImpl;  
+
+        /// <summary>
+        /// index of the first particle in each constraint.
+        /// </summary>
+        public ObiNativeIntList firstIndex = new ObiNativeIntList();           
+
+        /// <summary>
+        /// amount of particles in each constraint.
+        /// </summary>
+        public ObiNativeIntList numIndices = new ObiNativeIntList();            
+
+        /// <summary>
+        /// whether the constraint is implicit (0) or explicit (>0).
+        /// </summary>
+        public ObiNativeIntList explicitGroup = new ObiNativeIntList();         
+
+        /// <summary>
+        /// 5 floats per constraint: stiffness, plastic yield, creep, recovery and max deformation.
+        /// </summary>
+        public ObiNativeFloatList materialParameters = new ObiNativeFloatList(); 
+
+
+        /// <summary>
+        /// rest center of mass for each constraint.
+        /// </summary>
+        public ObiNativeVector4List restComs = new ObiNativeVector4List();      
+
+        /// <summary>
+        /// current center of mass for each constraint.
+        /// </summary>
+        public ObiNativeVector4List coms = new ObiNativeVector4List();       
+
+        /// <summary>
+        /// current best-match orientation for each constraint.
+        /// </summary>
+        public ObiNativeQuaternionList orientations = new ObiNativeQuaternionList();
+
+        /// <summary>
+        /// current best-match linear transform for each constraint.
+        /// </summary>
+        public ObiNativeMatrix4x4List linearTransforms = new ObiNativeMatrix4x4List();
+
+        /// <summary>
+        /// current plastic deformation for each constraint.
+        /// </summary>
+        public ObiNativeMatrix4x4List plasticDeformations = new ObiNativeMatrix4x4List();
+
+
+        public override Oni.ConstraintType constraintType
+        {
+            get { return Oni.ConstraintType.ShapeMatching; }
+        }
+
+        public override IConstraintsBatchImpl implementation
+        {
+            get { return m_BatchImpl; }
+        }
+
+        public ObiShapeMatchingConstraintsBatch(ObiShapeMatchingConstraintsData constraints = null) : base()
+        {
+        }
+
+        public void AddConstraint(int[] indices, bool isExplicit)
+        {
+            RegisterConstraint();
+
+            firstIndex.Add((int)particleIndices.count);
+            numIndices.Add((int)indices.Length);
+            explicitGroup.Add(isExplicit ? 1 : 0);
+            particleIndices.AddRange(indices);
+            materialParameters.AddRange(new float[] { 1, 1, 1, 1, 1 });
+        }
+
+        public override void Clear()
+        {
+            base.Clear();
+            firstIndex.Clear();
+            numIndices.Clear();
+            explicitGroup.Clear();
+            particleIndices.Clear();
+            materialParameters.Clear();
+        }
+
+        public override void GetParticlesInvolved(int index, List<int> particles)
+        {
+            int first = firstIndex[index];
+            int num = numIndices[index];
+            for (int i = first; i < first + num; ++i) 
+                particles.Add(particleIndices[i]);
+        }
+
+        public void RemoveParticleFromConstraint(int constraintIndex, int particleIndex)
+        {
+            int first = firstIndex[constraintIndex];
+            int num = numIndices[constraintIndex];
+
+            int found = 0;
+            for (int i = first + num - 1; i >= first; --i)
+            {
+                if (particleIndices[i] == particleIndex)
+                {
+                    found++;
+                    particleIndices.RemoveAt(i);
+                }
+            }
+
+            // update num indices of the current constraint:
+            numIndices[constraintIndex] -= found;
+
+            // update firstIndex of following constraints:
+            for (int i = constraintIndex + 1; i < constraintCount; ++i)
+                firstIndex[i] -= found;
+        }
+
+        protected override void SwapConstraints(int sourceIndex, int destIndex)
+        {
+            firstIndex.Swap(sourceIndex, destIndex);
+            numIndices.Swap(sourceIndex, destIndex);
+            explicitGroup.Swap(sourceIndex, destIndex);
+
+            for (int i = 0; i < 5; ++i)
+                materialParameters.Swap(sourceIndex * 5 + i, destIndex * 5 + i);
+
+            restComs.Swap(sourceIndex, destIndex);
+            coms.Swap(sourceIndex, destIndex);
+            orientations.Swap(sourceIndex, destIndex);
+            linearTransforms.Swap(sourceIndex, destIndex);
+            plasticDeformations.Swap(sourceIndex, destIndex);
+        }
+
+        public override void Merge(ObiActor actor, IObiConstraintsBatch other)
+        {
+            var batch = other as ObiShapeMatchingConstraintsBatch;
+            var user = actor as IShapeMatchingConstraintsUser;
+
+            if (batch != null && user != null)
+            {
+                if (!user.shapeMatchingConstraintsEnabled)
+                    return;
+
+                int initialIndexCount = particleIndices.count;
+
+                // 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) 
+                    numActiveIndices += batch.numIndices[i];
+
+                particleIndices.ResizeUninitialized(initialIndexCount + numActiveIndices);
+                firstIndex.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+                numIndices.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+                explicitGroup.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+                materialParameters.ResizeUninitialized((m_ActiveConstraintCount + batch.activeConstraintCount) * 5);
+
+                restComs.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+                coms.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+                orientations.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+                linearTransforms.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+                plasticDeformations.ResizeInitialized(m_ActiveConstraintCount + batch.activeConstraintCount, Matrix4x4.identity);
+
+                lambdas.ResizeInitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+
+                numIndices.CopyFrom(batch.numIndices, 0, m_ActiveConstraintCount, batch.activeConstraintCount);
+                explicitGroup.CopyFrom(batch.explicitGroup, 0, m_ActiveConstraintCount, batch.activeConstraintCount);
+                orientations.CopyReplicate(actor.actorLocalToSolverMatrix.rotation, m_ActiveConstraintCount, batch.activeConstraintCount);
+
+                for (int i = 0; i < numActiveIndices; ++i)
+                    particleIndices[initialIndexCount + i] = actor.solverIndices[batch.particleIndices[i]];
+
+                for (int i = 0; i < batch.activeConstraintCount; ++i)
+                {
+                    firstIndex[m_ActiveConstraintCount + i] = batch.firstIndex[i] + initialIndexCount;
+                    materialParameters[(m_ActiveConstraintCount + i) * 5] = batch.materialParameters[i * 5] * user.deformationResistance;
+                    materialParameters[(m_ActiveConstraintCount + i) * 5 + 1] = batch.materialParameters[i * 5 + 1] * user.plasticYield;
+                    materialParameters[(m_ActiveConstraintCount + i) * 5 + 2] = batch.materialParameters[i * 5 + 2] * user.plasticCreep;
+                    materialParameters[(m_ActiveConstraintCount + i) * 5 + 3] = batch.materialParameters[i * 5 + 3] * user.plasticRecovery;
+                    materialParameters[(m_ActiveConstraintCount + i) * 5 + 4] = batch.materialParameters[i * 5 + 4] * user.maxDeformation;
+                }
+
+                base.Merge(actor, other);
+            }
+        }
+
+        public override void AddToSolver(ObiSolver solver)
+        {
+            // Create distance constraints batch directly.
+            m_BatchImpl = solver.implementation.CreateConstraintsBatch(constraintType) as IShapeMatchingConstraintsBatchImpl;
+
+            if (m_BatchImpl != null)
+            {
+                m_BatchImpl.SetShapeMatchingConstraints(particleIndices, firstIndex, numIndices, explicitGroup,
+                                                        materialParameters, restComs, coms, orientations, linearTransforms, plasticDeformations,
+                                                        lambdas, m_ActiveConstraintCount);
+
+                m_BatchImpl.CalculateRestShapeMatching();
+            }
+        }
+
+        public override void RemoveFromSolver(ObiSolver solver)
+        {
+            //Remove batch:
+            solver.implementation.DestroyConstraintsBatch(m_BatchImpl as IConstraintsBatchImpl);
+        }
+
+        public void RecalculateRestShapeMatching()
+        {
+            if (m_BatchImpl != null)
+                m_BatchImpl.CalculateRestShapeMatching();
+        }
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiShapeMatchingConstraintsBatch.cs.meta b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiShapeMatchingConstraintsBatch.cs.meta
new file mode 100644
index 000000000..4c7f8f602
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiShapeMatchingConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 7b626d541fade4c159a4373343c8f0bd
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
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+  icon: {fileID: 2800000, guid: a2686776a1c104bfd8868f056a5cd335, type: 3}
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+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiSkinConstraintsBatch.cs b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiSkinConstraintsBatch.cs
new file mode 100644
index 000000000..0edb2ac0f
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiSkinConstraintsBatch.cs
@@ -0,0 +1,139 @@
+using UnityEngine;
+using System.Collections;
+using System.Collections.Generic;
+using System;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiSkinConstraintsBatch : ObiConstraintsBatch
+    {
+        protected ISkinConstraintsBatchImpl m_BatchImpl;   
+
+
+        /// <summary>
+        /// skin constraint anchor points, in solver space.
+        /// </summary>
+        [HideInInspector] public ObiNativeVector4List skinPoints = new ObiNativeVector4List();             
+
+        /// <summary>
+        /// normal vector for each skin constraint, in solver space.
+        /// </summary>
+        [HideInInspector] public ObiNativeVector4List skinNormals = new ObiNativeVector4List();            
+
+        /// <summary>
+        ///  3 floats per constraint: skin radius, backstop sphere radius, and backstop sphere distance.
+        /// </summary>
+        [HideInInspector] public ObiNativeFloatList skinRadiiBackstop = new ObiNativeFloatList();          
+
+        /// <summary>
+        /// one compliance value per skin constraint.
+        /// </summary>
+        [HideInInspector] public ObiNativeFloatList skinCompliance = new ObiNativeFloatList();              
+
+        public override Oni.ConstraintType constraintType
+        {
+            get { return Oni.ConstraintType.Skin; }
+        }
+
+        public override IConstraintsBatchImpl implementation
+        {
+            get { return m_BatchImpl; }
+        }
+
+        public ObiSkinConstraintsBatch(ObiSkinConstraintsData constraints = null) : base()
+        {
+        }
+
+        public void AddConstraint(int index, Vector4 point, Vector4 normal, float radius, float collisionRadius, float backstop, float stiffness)
+        {
+            RegisterConstraint();
+
+            particleIndices.Add(index);
+            skinPoints.Add(point);
+            skinNormals.Add(normal);
+            skinRadiiBackstop.Add(radius);
+            skinRadiiBackstop.Add(collisionRadius);
+            skinRadiiBackstop.Add(backstop);
+            skinCompliance.Add(stiffness);
+        }
+
+        public override void Clear()
+        {
+            base.Clear();
+            particleIndices.Clear();
+            skinPoints.Clear();
+            skinNormals.Clear();
+            skinRadiiBackstop.Clear();
+            skinCompliance.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);
+            skinPoints.Swap(sourceIndex, destIndex);
+            skinNormals.Swap(sourceIndex, destIndex);
+            skinRadiiBackstop.Swap(sourceIndex * 3, destIndex * 3);
+            skinRadiiBackstop.Swap(sourceIndex * 3+1, destIndex * 3+1);
+            skinRadiiBackstop.Swap(sourceIndex * 3+2, destIndex * 3+2);
+            skinCompliance.Swap(sourceIndex, destIndex);
+        }
+
+        public override void Merge(ObiActor actor, IObiConstraintsBatch other)
+        {
+            var batch = other as ObiSkinConstraintsBatch;
+            var user = actor as ISkinConstraintsUser;
+
+            if (batch != null && user != null)
+            {
+                if (!user.skinConstraintsEnabled)
+                    return;
+
+                particleIndices.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+                skinPoints.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+                skinNormals.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+                skinRadiiBackstop.ResizeUninitialized((m_ActiveConstraintCount + batch.activeConstraintCount) * 3);
+                skinCompliance.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+                lambdas.ResizeInitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+
+                skinPoints.CopyFrom(batch.skinPoints, 0, m_ActiveConstraintCount, batch.activeConstraintCount);
+                skinNormals.CopyFrom(batch.skinNormals, 0, m_ActiveConstraintCount, batch.activeConstraintCount);
+
+                for (int i = 0; i < batch.activeConstraintCount; ++i)
+                {
+                    var radiiBackstop = user.GetSkinRadiiBackstop(batch, i);
+                    skinRadiiBackstop[(m_ActiveConstraintCount + i) * 3] = radiiBackstop.x;
+                    skinRadiiBackstop[(m_ActiveConstraintCount + i) * 3 + 1] = radiiBackstop.y;
+                    skinRadiiBackstop[(m_ActiveConstraintCount + i) * 3 + 2] = radiiBackstop.z;
+                    skinCompliance[m_ActiveConstraintCount + i] = user.GetSkinCompliance(batch, i);
+                }
+
+                for (int i = 0; i < batch.activeConstraintCount; ++i)
+                    particleIndices[m_ActiveConstraintCount + i] = actor.solverIndices[batch.particleIndices[i]];
+
+                base.Merge(actor, other);
+            }
+        }
+
+        public override void AddToSolver(ObiSolver solver)
+        {
+            // Create distance constraints batch directly.
+            m_BatchImpl = solver.implementation.CreateConstraintsBatch(constraintType) as ISkinConstraintsBatchImpl;
+
+            if (m_BatchImpl != null)
+                m_BatchImpl.SetSkinConstraints(particleIndices, skinPoints, skinNormals, skinRadiiBackstop, skinCompliance, lambdas, m_ActiveConstraintCount);
+        }
+
+        public override void RemoveFromSolver(ObiSolver solver)
+        {
+            //Remove batch:
+            solver.implementation.DestroyConstraintsBatch(m_BatchImpl as IConstraintsBatchImpl);
+        }
+
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiSkinConstraintsBatch.cs.meta b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiSkinConstraintsBatch.cs.meta
new file mode 100644
index 000000000..bd0be6678
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiSkinConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
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+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
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+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiStretchShearConstraintsBatch.cs b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiStretchShearConstraintsBatch.cs
new file mode 100644
index 000000000..225074fdc
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiStretchShearConstraintsBatch.cs
@@ -0,0 +1,149 @@
+using UnityEngine;
+using System.Collections;
+using System.Collections.Generic;
+using System;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiStretchShearConstraintsBatch : ObiConstraintsBatch, IStructuralConstraintBatch
+    {
+        protected IStretchShearConstraintsBatchImpl m_BatchImpl;  
+
+        /// <summary>
+        /// index of particle orientation for each constraint.
+        /// </summary>
+        [HideInInspector] public ObiNativeIntList orientationIndices = new ObiNativeIntList();                      
+
+        /// <summary>
+        /// rest distance for each constraint.
+        /// </summary>
+        [HideInInspector] public ObiNativeFloatList restLengths = new ObiNativeFloatList();                        
+
+        /// <summary>
+        /// rest orientation for each constraint.
+        /// </summary>
+        [HideInInspector] public ObiNativeQuaternionList restOrientations = new ObiNativeQuaternionList();         
+
+        /// <summary>
+        /// 3 compliance values per constraint, one for each local axis (x,y,z).
+        /// </summary>
+        [HideInInspector] public ObiNativeVector3List stiffnesses = new ObiNativeVector3List();                     
+
+        public override Oni.ConstraintType constraintType
+        {
+            get { return Oni.ConstraintType.StretchShear; }
+        }
+
+        public override IConstraintsBatchImpl implementation
+        {
+            get { return m_BatchImpl; }
+        }
+
+        public ObiStretchShearConstraintsBatch(ObiStretchShearConstraintsData constraints = null) : base()
+        {
+        }
+
+        public void AddConstraint(Vector2Int indices, int orientationIndex, float restLength, Quaternion restOrientation)
+        {
+            RegisterConstraint();
+
+            particleIndices.Add(indices[0]);
+            particleIndices.Add(indices[1]);
+            orientationIndices.Add(orientationIndex);
+            restLengths.Add(restLength);
+            restOrientations.Add(restOrientation);
+            stiffnesses.Add(Vector3.zero);
+        }
+
+        public override void Clear()
+        {
+            base.Clear();
+            particleIndices.Clear();
+            orientationIndices.Clear();
+            restLengths.Clear();
+            restOrientations.Clear();
+            stiffnesses.Clear();
+        }
+
+        public float GetRestLength(int index)
+        {
+            return restLengths[index];
+        }
+
+        public void SetRestLength(int index, float restLength)
+        {
+            restLengths[index] = restLength;
+        }
+
+        public ParticlePair GetParticleIndices(int index)
+        {
+            return new ParticlePair(particleIndices[index * 2], particleIndices[index * 2 + 1]);
+        }
+
+        public override void GetParticlesInvolved(int index, List<int> particles)
+        {
+            particles.Add(particleIndices[index * 2]);
+            particles.Add(particleIndices[index * 2 + 1]);
+        }
+
+        protected override void SwapConstraints(int sourceIndex, int destIndex)
+        {
+            particleIndices.Swap(sourceIndex * 2 , destIndex * 2);
+            particleIndices.Swap(sourceIndex * 2 + 1, destIndex * 2 + 1);
+            orientationIndices.Swap(sourceIndex, destIndex);
+            restLengths.Swap(sourceIndex, destIndex);
+            restOrientations.Swap(sourceIndex, destIndex);
+            stiffnesses.Swap(sourceIndex, destIndex);
+        }
+
+        public override void Merge(ObiActor actor, IObiConstraintsBatch other)
+        {
+            var batch = other as ObiStretchShearConstraintsBatch;
+            var user = actor as IStretchShearConstraintsUser;
+
+            if (batch != null && user != null)
+            {
+                if (!user.stretchShearConstraintsEnabled)
+                    return;
+
+                particleIndices.ResizeUninitialized((m_ActiveConstraintCount + batch.activeConstraintCount) * 2);
+                orientationIndices.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+                restLengths.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+                restOrientations.ResizeUninitialized(lambdas.count + batch.activeConstraintCount);
+                stiffnesses.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+                lambdas.ResizeInitialized((m_ActiveConstraintCount + batch.activeConstraintCount) * 3);
+
+                restLengths.CopyFrom(batch.restLengths, 0, m_ActiveConstraintCount, batch.activeConstraintCount);
+                restOrientations.CopyFrom(batch.restOrientations, 0, m_ActiveConstraintCount, batch.activeConstraintCount);
+
+                for (int i = 0; i < batch.activeConstraintCount; ++i)
+                    stiffnesses[m_ActiveConstraintCount + i] = user.GetStretchShearCompliance(batch, i);
+
+                for (int i = 0; i < batch.activeConstraintCount * 2; ++i)
+                    particleIndices[m_ActiveConstraintCount * 2 + i] = actor.solverIndices[batch.particleIndices[i]];
+
+                for (int i = 0; i < batch.activeConstraintCount; ++i)
+                    orientationIndices[m_ActiveConstraintCount + i] = actor.solverIndices[batch.orientationIndices[i]];
+
+                base.Merge(actor, other);
+            }
+        }
+
+        public override void AddToSolver(ObiSolver solver)
+        {
+            // Create distance constraints batch directly.
+            m_BatchImpl = solver.implementation.CreateConstraintsBatch(constraintType) as IStretchShearConstraintsBatchImpl;
+
+            if (m_BatchImpl != null)
+                m_BatchImpl.SetStretchShearConstraints(particleIndices, orientationIndices, restLengths, restOrientations, stiffnesses, lambdas, m_ActiveConstraintCount);
+        }
+
+        public override void RemoveFromSolver(ObiSolver solver)
+        {
+            //Remove batch:
+            solver.implementation.DestroyConstraintsBatch(m_BatchImpl as IConstraintsBatchImpl);
+        }
+
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiStretchShearConstraintsBatch.cs.meta b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiStretchShearConstraintsBatch.cs.meta
new file mode 100644
index 000000000..ea17106be
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiStretchShearConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 915edc2d24cba477e8a942210f7ea8a0
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {fileID: 2800000, guid: b3583331769a946aab1e4c59859547b2, type: 3}
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diff --git a/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiTetherConstraintsBatch.cs b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiTetherConstraintsBatch.cs
new file mode 100644
index 000000000..bfecd67a7
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiTetherConstraintsBatch.cs
@@ -0,0 +1,151 @@
+using UnityEngine;
+using System.Collections;
+using System.Collections.Generic;
+using System;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiTetherConstraintsBatch : ObiConstraintsBatch
+    {
+        protected ITetherConstraintsBatchImpl m_BatchImpl;   
+
+        /// <summary>
+        /// 2 floats per constraint: maximum length and tether scale.
+        /// </summary>
+        [HideInInspector] public ObiNativeVector2List maxLengthsScales = new ObiNativeVector2List();    
+
+        /// <summary>
+        /// compliance value for each constraint.
+        /// </summary>
+        [HideInInspector] public ObiNativeFloatList stiffnesses = new ObiNativeFloatList();    
+
+        public override Oni.ConstraintType constraintType
+        {
+            get { return Oni.ConstraintType.Tether; }
+        }
+
+        public override IConstraintsBatchImpl implementation
+        {
+            get { return m_BatchImpl; }
+        }
+
+        public ObiTetherConstraintsBatch(ObiTetherConstraintsData constraints = null) : base()
+        {
+        }
+
+        public void AddConstraint(Vector2Int indices, float maxLength, float scale)
+        {
+            RegisterConstraint();
+
+            particleIndices.Add(indices[0]);
+            particleIndices.Add(indices[1]);
+            maxLengthsScales.Add(new Vector2(maxLength, scale));
+            stiffnesses.Add(0);
+        }
+
+        public override void Clear()
+        {
+            base.Clear();
+            particleIndices.Clear();
+            maxLengthsScales.Clear();
+            stiffnesses.Clear();
+        }
+
+        public override void GetParticlesInvolved(int index, List<int> particles)
+        {
+            particles.Add(particleIndices[index * 2]);
+            particles.Add(particleIndices[index * 2 + 1]);
+        }
+
+        protected override void SwapConstraints(int sourceIndex, int destIndex)
+        {
+            particleIndices.Swap(sourceIndex * 2, destIndex * 2);
+            particleIndices.Swap(sourceIndex * 2 + 1, destIndex * 2 + 1);
+            maxLengthsScales.Swap(sourceIndex, destIndex);
+            stiffnesses.Swap(sourceIndex, destIndex);
+        }
+
+        public override void Merge(ObiActor actor, IObiConstraintsBatch other)
+        {
+            var batch = other as ObiTetherConstraintsBatch;
+            var user = actor as ITetherConstraintsUser;
+
+            if (batch != null && user != null)
+            {
+                if (!user.tetherConstraintsEnabled)
+                    return;
+
+                particleIndices.ResizeUninitialized((m_ActiveConstraintCount + batch.activeConstraintCount) * 2);
+                maxLengthsScales.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+                stiffnesses.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+                lambdas.ResizeInitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+
+                stiffnesses.CopyReplicate(user.tetherCompliance, m_ActiveConstraintCount, batch.activeConstraintCount);
+
+                for (int i = 0; i < batch.activeConstraintCount * 2; ++i)
+                    particleIndices[m_ActiveConstraintCount * 2 + i] = actor.solverIndices[batch.particleIndices[i]];
+
+                for (int i = 0; i < batch.activeConstraintCount; ++i)
+                    maxLengthsScales[m_ActiveConstraintCount + i] = new Vector2(batch.maxLengthsScales[i].x, user.tetherScale);
+
+                base.Merge(actor, other);
+            }
+        }
+
+        public override void AddToSolver(ObiSolver solver)
+        {
+            // Create distance constraints batch directly.
+            m_BatchImpl = solver.implementation.CreateConstraintsBatch(constraintType) as ITetherConstraintsBatchImpl;
+
+            if (m_BatchImpl != null)
+                m_BatchImpl.SetTetherConstraints(particleIndices, maxLengthsScales, stiffnesses, lambdas, m_ActiveConstraintCount);
+        }
+
+        public override void RemoveFromSolver(ObiSolver solver)
+        {
+            //Remove batch:
+            solver.implementation.DestroyConstraintsBatch(m_BatchImpl as IConstraintsBatchImpl);
+        }
+
+        /*public override void AddToSolver(ObiSolver solver)
+        {
+            // create and add the implementation:
+            if (m_Constraints != null && m_Constraints.implementation != null)
+            {
+                m_BatchImpl = m_Constraints.implementation.CreateConstraintsBatch();
+            }
+
+            if (m_BatchImpl != null)
+            {
+                lambdas.Clear();
+                for (int i = 0; i < stiffnesses.count; i++)
+                {
+                    //particleIndices[i * 2] = constraints.GetActor().solverIndices[m_Source.particleIndices[i * 2]];
+                    //particleIndices[i * 2 + 1] = constraints.GetActor().solverIndices[m_Source.particleIndices[i * 2 + 1]];
+                    lambdas.Add(0);
+                }
+
+                m_BatchImpl.SetTetherConstraints(particleIndices, maxLengthsScales, stiffnesses, lambdas, m_ConstraintCount);
+                m_BatchImpl.SetActiveConstraints(m_ActiveConstraintCount);
+            }
+            
+        }
+
+        public override void RemoveFromSolver(ObiSolver solver)
+        {
+            if (m_Constraints != null && m_Constraints.implementation != null)
+                m_Constraints.implementation.RemoveBatch(m_BatchImpl);
+        }*/
+
+        public void SetParameters(float compliance, float scale)
+        {
+            for (int i = 0; i < stiffnesses.count; i++)
+            {
+                stiffnesses[i] = compliance;
+                maxLengthsScales[i] = new Vector2(maxLengthsScales[i].x, scale);
+            }
+        }
+
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiTetherConstraintsBatch.cs.meta b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiTetherConstraintsBatch.cs.meta
new file mode 100644
index 000000000..ebed69f8e
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiTetherConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiVolumeConstraintsBatch.cs b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiVolumeConstraintsBatch.cs
new file mode 100644
index 000000000..a4859dc86
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiVolumeConstraintsBatch.cs
@@ -0,0 +1,140 @@
+using UnityEngine;
+using System.Collections;
+using System.Collections.Generic;
+using System;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiVolumeConstraintsBatch : ObiConstraintsBatch
+    {
+        protected IVolumeConstraintsBatchImpl m_BatchImpl; 
+
+        /// <summary>
+        /// index of the first triangle for each constraint (exclusive prefix sum).
+        /// </summary>
+        [HideInInspector] public ObiNativeIntList firstTriangle = new ObiNativeIntList();
+
+        /// <summary>
+        /// number of triangles for each constraint.
+        /// </summary>
+        [HideInInspector] public ObiNativeIntList numTriangles = new ObiNativeIntList();
+
+        /// <summary>
+        /// rest volume for each constraint.
+        /// </summary>
+        [HideInInspector] public ObiNativeFloatList restVolumes = new ObiNativeFloatList();            
+
+        /// <summary>
+        /// 2 floats per constraint: pressure and stiffness.
+        /// </summary>
+        [HideInInspector] public ObiNativeVector2List pressureStiffness = new ObiNativeVector2List();  
+
+        public override Oni.ConstraintType constraintType
+        {
+            get { return Oni.ConstraintType.Volume; }
+        }
+
+        public override IConstraintsBatchImpl implementation
+        {
+            get { return m_BatchImpl; }
+        }
+
+        public ObiVolumeConstraintsBatch(ObiVolumeConstraintsData constraints = null) : base()
+        {
+        }
+
+        public void AddConstraint(int[] triangles, float restVolume)
+        {
+            RegisterConstraint();
+
+            firstTriangle.Add((int)particleIndices.count / 3);
+            numTriangles.Add((int)triangles.Length / 3);
+            restVolumes.Add(restVolume);
+            pressureStiffness.Add(new Vector2(1,0));
+            particleIndices.AddRange(triangles);
+        }
+
+        public override void Clear()
+        {
+            base.Clear();
+            particleIndices.Clear();
+            firstTriangle.Clear();
+            numTriangles.Clear();
+            restVolumes.Clear();
+            pressureStiffness.Clear();
+        }
+
+        public override void GetParticlesInvolved(int index, List<int> particles)
+        {
+            //TODO.
+        }
+
+        protected override void SwapConstraints(int sourceIndex, int destIndex)
+        {
+            firstTriangle.Swap(sourceIndex, destIndex);
+            numTriangles.Swap(sourceIndex, destIndex);
+            restVolumes.Swap(sourceIndex, destIndex);
+            pressureStiffness.Swap(sourceIndex, destIndex);
+        }
+
+        public override void Merge(ObiActor actor, IObiConstraintsBatch other)
+        {
+            var batch = other as ObiVolumeConstraintsBatch;
+            var user = actor as IVolumeConstraintsUser;
+
+            if (batch != null && user != null)
+            {
+                if (!user.volumeConstraintsEnabled)
+                    return;
+
+                int initialIndexCount = particleIndices.count;
+
+                int numActiveTriangles = 0;
+                for (int i = 0; i < batch.constraintCount; ++i)
+                    numActiveTriangles += batch.numTriangles[i];
+
+                particleIndices.ResizeUninitialized(initialIndexCount + numActiveTriangles * 3);
+                firstTriangle.ResizeUninitialized(firstTriangle.count + batch.activeConstraintCount);
+                numTriangles.ResizeUninitialized(numTriangles.count + batch.activeConstraintCount);
+                restVolumes.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+                pressureStiffness.ResizeUninitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+                lambdas.ResizeInitialized(m_ActiveConstraintCount + batch.activeConstraintCount);
+
+                numTriangles.CopyFrom(batch.numTriangles, 0, m_ActiveConstraintCount, batch.activeConstraintCount);
+                restVolumes.CopyFrom(batch.restVolumes, 0, m_ActiveConstraintCount, batch.activeConstraintCount);
+                pressureStiffness.CopyReplicate(new Vector2(user.pressure, user.compressionCompliance), m_ActiveConstraintCount, batch.activeConstraintCount);
+
+                for (int i = 0; i < numActiveTriangles * 3; ++i)
+                    particleIndices[initialIndexCount + i] = actor.solverIndices[batch.particleIndices[i]];
+
+                for (int i = 0; i < batch.activeConstraintCount + 1; ++i)
+                    firstTriangle[m_ActiveConstraintCount + i] = initialIndexCount/3 + batch.firstTriangle[i];
+
+                base.Merge(actor, other);
+            }
+        }
+
+        public override void AddToSolver(ObiSolver solver)
+        {
+            // Create distance constraints batch directly.
+            m_BatchImpl = solver.implementation.CreateConstraintsBatch(constraintType) as IVolumeConstraintsBatchImpl;
+
+            if (m_BatchImpl != null)
+                m_BatchImpl.SetVolumeConstraints(particleIndices, firstTriangle, numTriangles, restVolumes, pressureStiffness, lambdas, m_ActiveConstraintCount);
+        }
+
+        public override void RemoveFromSolver(ObiSolver solver)
+        {
+            //Remove batch:
+            solver.implementation.DestroyConstraintsBatch(m_BatchImpl as IConstraintsBatchImpl);
+        }
+
+        public void SetParameters(float compliance, float pressure)
+        {
+            Vector2 p = new Vector2(pressure, compliance);
+            for (int i = 0; i < pressureStiffness.count; i++)
+                pressureStiffness[i] = p;
+        }
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiVolumeConstraintsBatch.cs.meta b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiVolumeConstraintsBatch.cs.meta
new file mode 100644
index 000000000..cd298e6eb
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Batches/ObiVolumeConstraintsBatch.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups.meta b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups.meta
new file mode 100644
index 000000000..9c61b7fc0
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups.meta
@@ -0,0 +1,8 @@
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diff --git a/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiAerodynamicConstraintsData.cs b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiAerodynamicConstraintsData.cs
new file mode 100644
index 000000000..d2e05fb12
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiAerodynamicConstraintsData.cs
@@ -0,0 +1,38 @@
+using UnityEngine;
+using System.Collections;
+using System;
+
+namespace Obi
+{
+
+    public interface IAerodynamicConstraintsUser
+    {
+        bool aerodynamicsEnabled
+        {
+            get;
+            set;
+        }
+
+        float drag
+        {
+            get;
+            set;
+        }
+
+        float lift
+        {
+            get;
+            set;
+        }
+
+    }
+
+    [Serializable]
+    public class ObiAerodynamicConstraintsData : ObiConstraints<ObiAerodynamicConstraintsBatch>
+    {
+        public override ObiAerodynamicConstraintsBatch CreateBatch(ObiAerodynamicConstraintsBatch source = null)
+        {
+            return new ObiAerodynamicConstraintsBatch();
+        }
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiAerodynamicConstraintsData.cs.meta b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiAerodynamicConstraintsData.cs.meta
new file mode 100644
index 000000000..98ac57b33
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiAerodynamicConstraintsData.cs.meta
@@ -0,0 +1,11 @@
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+guid: f82b39fc2deaa46d9bbec616c2e7aaf5
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diff --git a/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiBendConstraintsData.cs b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiBendConstraintsData.cs
new file mode 100644
index 000000000..dfed54a54
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiBendConstraintsData.cs
@@ -0,0 +1,49 @@
+using UnityEngine;
+using System.Collections;
+using System;
+
+namespace Obi
+{
+    public interface IBendConstraintsUser
+    {
+        bool bendConstraintsEnabled
+        {
+            get;
+            set;
+        }
+
+        float bendCompliance
+        {
+            get;
+            set;
+        }
+
+        float maxBending
+        {
+            get;
+            set;
+        }
+
+        float plasticYield
+        {
+            get;
+            set;
+        }
+
+        float plasticCreep
+        {
+            get;
+            set;
+        }
+
+    }
+
+    [Serializable]
+    public class ObiBendConstraintsData : ObiConstraints<ObiBendConstraintsBatch>
+    {
+        public override ObiBendConstraintsBatch CreateBatch(ObiBendConstraintsBatch source = null)
+        {
+            return new ObiBendConstraintsBatch();
+        }
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiBendConstraintsData.cs.meta b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiBendConstraintsData.cs.meta
new file mode 100644
index 000000000..02b7052bf
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiBendConstraintsData.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiBendTwistConstraintsData.cs b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiBendTwistConstraintsData.cs
new file mode 100644
index 000000000..36d4709c7
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiBendTwistConstraintsData.cs
@@ -0,0 +1,28 @@
+using UnityEngine;
+using System;
+
+namespace Obi
+{
+
+    public interface IBendTwistConstraintsUser
+    {
+        bool bendTwistConstraintsEnabled
+        {
+            get;
+            set;
+        }
+
+        Vector3 GetBendTwistCompliance(ObiBendTwistConstraintsBatch batch, int constraintIndex);
+        Vector2 GetBendTwistPlasticity(ObiBendTwistConstraintsBatch batch, int constraintIndex);
+    }
+
+    [Serializable]
+    public class ObiBendTwistConstraintsData : ObiConstraints<ObiBendTwistConstraintsBatch>
+    {
+
+        public override ObiBendTwistConstraintsBatch CreateBatch(ObiBendTwistConstraintsBatch source = null)
+        {
+            return new ObiBendTwistConstraintsBatch();
+        }
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiBendTwistConstraintsData.cs.meta b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiBendTwistConstraintsData.cs.meta
new file mode 100644
index 000000000..eb547ee14
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiBendTwistConstraintsData.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiChainConstraintsData.cs b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiChainConstraintsData.cs
new file mode 100644
index 000000000..7a09a7ba7
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiChainConstraintsData.cs
@@ -0,0 +1,32 @@
+using UnityEngine;
+using System.Collections;
+using System;
+
+namespace Obi
+{
+
+    public interface IChainConstraintsUser
+    {
+
+        bool chainConstraintsEnabled
+        {
+            get;
+            set;
+        }
+
+        float tightness
+        {
+            get;
+            set;
+        }
+    }
+
+    [Serializable]
+    public class ObiChainConstraintsData : ObiConstraints<ObiChainConstraintsBatch>
+    {
+        public override ObiChainConstraintsBatch CreateBatch(ObiChainConstraintsBatch source = null)
+        {
+            return new ObiChainConstraintsBatch();
+        }
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiChainConstraintsData.cs.meta b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiChainConstraintsData.cs.meta
new file mode 100644
index 000000000..75868c484
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiChainConstraintsData.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiDistanceConstraintsData.cs b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiDistanceConstraintsData.cs
new file mode 100644
index 000000000..11f175d9c
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiDistanceConstraintsData.cs
@@ -0,0 +1,43 @@
+using UnityEngine;
+using System.Collections;
+using System;
+
+namespace Obi
+{
+    public interface IDistanceConstraintsUser
+    {
+        bool distanceConstraintsEnabled
+        {
+            get;
+            set;
+        }
+
+        float stretchingScale
+        {
+            get;
+            set;
+        }
+
+        float stretchCompliance
+        {
+            get;
+            set;
+        }
+
+        float maxCompression
+        {
+            get;
+            set;
+        }
+    }
+
+    [Serializable]
+    public class ObiDistanceConstraintsData : ObiConstraints<ObiDistanceConstraintsBatch>
+    {
+
+        public override ObiDistanceConstraintsBatch CreateBatch(ObiDistanceConstraintsBatch source = null)
+        {
+            return new ObiDistanceConstraintsBatch();
+        }
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiDistanceConstraintsData.cs.meta b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiDistanceConstraintsData.cs.meta
new file mode 100644
index 000000000..a5723c0c7
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiDistanceConstraintsData.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiPinConstraintsData.cs b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiPinConstraintsData.cs
new file mode 100644
index 000000000..0b1201a64
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiPinConstraintsData.cs
@@ -0,0 +1,16 @@
+using UnityEngine;
+using System.Collections;
+using System;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiPinConstraintsData : ObiConstraints<ObiPinConstraintsBatch>
+    {
+
+        public override ObiPinConstraintsBatch CreateBatch(ObiPinConstraintsBatch source = null)
+        {
+            return new ObiPinConstraintsBatch();
+        }
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiPinConstraintsData.cs.meta b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiPinConstraintsData.cs.meta
new file mode 100644
index 000000000..593e47902
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiPinConstraintsData.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiShapeMatchingConstraintsData.cs b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiShapeMatchingConstraintsData.cs
new file mode 100644
index 000000000..69e4f3ec2
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiShapeMatchingConstraintsData.cs
@@ -0,0 +1,55 @@
+using UnityEngine;
+using System.Collections;
+using System;
+
+namespace Obi
+{
+
+    public interface IShapeMatchingConstraintsUser
+    {
+        bool shapeMatchingConstraintsEnabled
+        {
+            get;
+            set;
+        }
+
+        float deformationResistance
+        {
+            get;
+            set;
+        }
+
+        float maxDeformation
+        {
+            get;
+            set;
+        }
+
+        float plasticYield
+        {
+            get;
+            set;
+        }
+
+        float plasticCreep
+        {
+            get;
+            set;
+        }
+
+        float plasticRecovery
+        {
+            get;
+            set;
+        }
+    }
+
+    [Serializable]
+    public class ObiShapeMatchingConstraintsData : ObiConstraints<ObiShapeMatchingConstraintsBatch>
+    {
+        public override ObiShapeMatchingConstraintsBatch CreateBatch(ObiShapeMatchingConstraintsBatch source = null)
+        {
+            return new ObiShapeMatchingConstraintsBatch();
+        }
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiShapeMatchingConstraintsData.cs.meta b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiShapeMatchingConstraintsData.cs.meta
new file mode 100644
index 000000000..9476adec7
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiShapeMatchingConstraintsData.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiSkinConstraintsData.cs b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiSkinConstraintsData.cs
new file mode 100644
index 000000000..4beddc7b9
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiSkinConstraintsData.cs
@@ -0,0 +1,26 @@
+using UnityEngine;
+using System;
+
+namespace Obi
+{
+    public interface ISkinConstraintsUser
+    {
+        bool skinConstraintsEnabled
+        {
+            get;
+            set;
+        }
+
+        Vector3 GetSkinRadiiBackstop(ObiSkinConstraintsBatch batch, int constraintIndex);
+        float GetSkinCompliance(ObiSkinConstraintsBatch batch, int constraintIndex);
+    }
+
+    [Serializable]
+    public class ObiSkinConstraintsData : ObiConstraints<ObiSkinConstraintsBatch>
+    {
+        public override ObiSkinConstraintsBatch CreateBatch(ObiSkinConstraintsBatch source = null)
+        {
+            return new ObiSkinConstraintsBatch();
+        }
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiSkinConstraintsData.cs.meta b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiSkinConstraintsData.cs.meta
new file mode 100644
index 000000000..45d605e9e
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiSkinConstraintsData.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiStretchShearConstraintsData.cs b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiStretchShearConstraintsData.cs
new file mode 100644
index 000000000..54db995bf
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiStretchShearConstraintsData.cs
@@ -0,0 +1,28 @@
+using UnityEngine;
+using System.Collections;
+using System;
+
+namespace Obi
+{
+
+    public interface IStretchShearConstraintsUser
+    {
+        bool stretchShearConstraintsEnabled
+        {
+            get;
+            set;
+        }
+
+        Vector3 GetStretchShearCompliance(ObiStretchShearConstraintsBatch batch, int constraintIndex);
+    }
+
+    [Serializable]
+    public class ObiStretchShearConstraintsData : ObiConstraints<ObiStretchShearConstraintsBatch>
+    {
+
+        public override ObiStretchShearConstraintsBatch CreateBatch(ObiStretchShearConstraintsBatch source = null)
+        {
+            return new ObiStretchShearConstraintsBatch();
+        }
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiStretchShearConstraintsData.cs.meta b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiStretchShearConstraintsData.cs.meta
new file mode 100644
index 000000000..825e8e613
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiStretchShearConstraintsData.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiTetherConstraintsData.cs b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiTetherConstraintsData.cs
new file mode 100644
index 000000000..a0269d984
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiTetherConstraintsData.cs
@@ -0,0 +1,38 @@
+using UnityEngine;
+using System.Collections;
+using System;
+
+namespace Obi
+{
+
+    public interface ITetherConstraintsUser
+    {
+        bool tetherConstraintsEnabled
+        {
+            get;
+            set;
+        }
+
+        float tetherCompliance
+        {
+            get;
+            set;
+        }
+
+        float tetherScale
+        {
+            get;
+            set;
+        }
+    }
+
+
+    [Serializable]
+    public class ObiTetherConstraintsData : ObiConstraints<ObiTetherConstraintsBatch>
+    {
+        public override ObiTetherConstraintsBatch CreateBatch(ObiTetherConstraintsBatch source = null)
+        {
+            return new ObiTetherConstraintsBatch();
+        }
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiTetherConstraintsData.cs.meta b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiTetherConstraintsData.cs.meta
new file mode 100644
index 000000000..7e7cbcbed
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiTetherConstraintsData.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiVolumeConstraintsData.cs b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiVolumeConstraintsData.cs
new file mode 100644
index 000000000..3b76209bd
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiVolumeConstraintsData.cs
@@ -0,0 +1,37 @@
+using UnityEngine;
+using System.Collections;
+using System;
+
+namespace Obi
+{
+
+    public interface IVolumeConstraintsUser
+    {
+        bool volumeConstraintsEnabled
+        {
+            get;
+            set;
+        }
+
+        float compressionCompliance
+        {
+            get;
+            set;
+        }
+
+        float pressure
+        {
+            get;
+            set;
+        }
+    }
+
+    [Serializable]
+    public class ObiVolumeConstraintsData : ObiConstraints<ObiVolumeConstraintsBatch>
+    {
+        public override ObiVolumeConstraintsBatch CreateBatch(ObiVolumeConstraintsBatch source = null)
+        {
+            return new ObiVolumeConstraintsBatch();
+        }
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiVolumeConstraintsData.cs.meta b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiVolumeConstraintsData.cs.meta
new file mode 100644
index 000000000..559f0d834
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Blueprints/Constraints/Groups/ObiVolumeConstraintsData.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 55945e863f03047c18b48088708c2935
+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
new file mode 100644
index 000000000..d4ccd6990
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Blueprints/Constraints/ObiConstraints.cs
@@ -0,0 +1,172 @@
+using UnityEngine;
+using System.Collections.Generic;
+using System;
+
+namespace Obi
+{
+    public interface IObiConstraints
+    {
+        Oni.ConstraintType? GetConstraintType();
+
+        IObiConstraintsBatch GetBatch(int i); 
+        int GetBatchCount();
+        void Clear();
+
+        bool AddToSolver(ObiSolver solver);
+        bool RemoveFromSolver();
+
+        int GetConstraintCount();
+        int GetActiveConstraintCount();
+        void DeactivateAllConstraints();
+
+        void Merge(ObiActor actor, IObiConstraints other);
+    }
+
+    [Serializable]
+    public abstract class ObiConstraints<T> : IObiConstraints where T : class, IObiConstraintsBatch
+    {
+        [NonSerialized] protected ObiSolver m_Solver;
+        [HideInInspector] public List<T> batches = new List<T>();
+
+        // merges constraints from a given actor with this one.
+        public void Merge(ObiActor actor, IObiConstraints other)
+        {
+            var others = other as ObiConstraints<T>;
+
+            if (others == null || !other.GetConstraintType().HasValue)
+                return;
+
+            int constraintType = (int)other.GetConstraintType().Value;
+
+            // clear batch offsets for this constraint type:
+            actor.solverBatchOffsets[constraintType].Clear();
+
+            // create new empty batches if needed:
+            int newBatches = Mathf.Max(0, others.GetBatchCount() - GetBatchCount());
+            for (int i = 0;  i < newBatches; ++i)
+                AddBatch(CreateBatch());
+
+            for (int i = 0; i < other.GetBatchCount(); ++i)
+            {
+                // store this batch's offset:
+                actor.solverBatchOffsets[constraintType].Add(batches[i].activeConstraintCount);
+
+                // merge both batches:
+                batches[i].Merge(actor, others.batches[i]);
+            }
+
+        }
+
+        public IObiConstraintsBatch GetBatch(int i)
+        {
+            if (batches != null && i >= 0 && i < batches.Count)
+                return (IObiConstraintsBatch) batches[i];
+            return null;
+        }
+
+        public int GetBatchCount()
+        {
+            return batches == null ? 0 : batches.Count;
+        }
+
+        public int GetConstraintCount()
+        {
+            int count = 0;
+            if (batches == null) return count;
+
+            foreach (T batch in batches)
+                if (batch != null)
+                    count += batch.constraintCount;
+
+            return count;
+        }
+
+        public int GetActiveConstraintCount()
+        {
+            int count = 0;
+            if (batches == null) return count;
+
+            foreach (T batch in batches)
+                if (batch != null)
+                    count += batch.activeConstraintCount;
+
+            return count;
+        }
+
+        public void DeactivateAllConstraints()
+        {
+            if (batches != null)
+                foreach (T batch in batches)
+                    if (batch != null)
+                        batch.DeactivateAllConstraints();
+        }
+
+        public T GetFirstBatch()
+        {
+            return (batches != null && batches.Count > 0) ? batches[0] : null;
+        }
+
+        public Oni.ConstraintType? GetConstraintType()
+        {
+            if (batches != null && batches.Count > 0)
+                return batches[0].constraintType;
+            else return null;
+        }
+
+        public void Clear()
+        {
+            RemoveFromSolver();
+
+            if (batches != null)
+                batches.Clear();
+        }
+
+        public virtual T CreateBatch(T source = null)
+        {
+            return null;
+        }
+
+        public void AddBatch(T batch)
+        {
+            if (batch != null)
+                batches.Add(batch);
+        }
+
+        public bool RemoveBatch(T batch)
+        {
+            if (batches == null || batch == null)
+                return false;
+            return batches.Remove(batch);
+        }
+
+        public bool AddToSolver(ObiSolver solver)
+        {
+
+            if (this.m_Solver != null || batches == null)
+                return false;
+
+            this.m_Solver = solver;
+
+            foreach (T batch in batches)
+                batch.AddToSolver(m_Solver);
+
+            return true;
+
+        }
+
+        public bool RemoveFromSolver()
+        {
+
+            if (this.m_Solver == null || batches == null)
+                return false;
+
+            foreach (T batch in batches)
+                batch.RemoveFromSolver(m_Solver);
+
+            this.m_Solver = null;
+
+            return true;
+
+        }
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Blueprints/Constraints/ObiConstraints.cs.meta b/Assets/Obi/Scripts/Common/Blueprints/Constraints/ObiConstraints.cs.meta
new file mode 100644
index 000000000..53ddd38c4
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Blueprints/Constraints/ObiConstraints.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: ef958cf590b69495999edd2bbdd290f7
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Blueprints/Constraints/StructuralConstraint.cs b/Assets/Obi/Scripts/Common/Blueprints/Constraints/StructuralConstraint.cs
new file mode 100644
index 000000000..927e99ac0
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Blueprints/Constraints/StructuralConstraint.cs
@@ -0,0 +1,37 @@
+using UnityEngine;
+using System.Collections;
+
+namespace Obi
+{
+    public struct StructuralConstraint
+    {
+        public IStructuralConstraintBatch batchIndex;
+        public int constraintIndex;
+        public float force;
+
+        public float restLength
+        {
+            get 
+            {
+                if (batchIndex == null)
+                    return -1;
+                return batchIndex.GetRestLength(constraintIndex); 
+            }
+
+            set
+            {
+                if (batchIndex != null)
+                {
+                    batchIndex.SetRestLength(constraintIndex, value);
+                }
+            }
+        }
+
+        public StructuralConstraint(IStructuralConstraintBatch batchIndex, int constraintIndex, float force)
+        {
+            this.batchIndex = batchIndex;
+            this.constraintIndex = constraintIndex;
+            this.force = force;
+        }
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Blueprints/Constraints/StructuralConstraint.cs.meta b/Assets/Obi/Scripts/Common/Blueprints/Constraints/StructuralConstraint.cs.meta
new file mode 100644
index 000000000..0d46eb5e3
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Blueprints/Constraints/StructuralConstraint.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 553bc976d8dc04e3fa4a38926a713231
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Blueprints/GraphColoring.cs b/Assets/Obi/Scripts/Common/Blueprints/GraphColoring.cs
new file mode 100644
index 000000000..fc4223716
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Blueprints/GraphColoring.cs
@@ -0,0 +1,106 @@
+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);
+            }
+        }
+
+
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Blueprints/GraphColoring.cs.meta b/Assets/Obi/Scripts/Common/Blueprints/GraphColoring.cs.meta
new file mode 100644
index 000000000..ff8811308
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Blueprints/GraphColoring.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 9fd5c54becb84484b9b524f897fa9f23
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Blueprints/ObiActorBlueprint.cs b/Assets/Obi/Scripts/Common/Blueprints/ObiActorBlueprint.cs
new file mode 100644
index 000000000..894a445b1
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Blueprints/ObiActorBlueprint.cs
@@ -0,0 +1,606 @@
+using System;
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using UnityEngine.Serialization;
+
+#if UNITY_EDITOR
+using UnityEditor;
+#endif
+
+namespace Obi
+{
+
+    public abstract class ObiActorBlueprint : ScriptableObject, IObiParticleCollection
+    {
+        public delegate void BlueprintCallback(ObiActorBlueprint blueprint);
+        public event BlueprintCallback OnBlueprintGenerate;
+
+        [HideInInspector] [SerializeField] protected bool m_Empty = true;
+        [HideInInspector] [SerializeField] protected int m_ActiveParticleCount = 0;
+        [HideInInspector] [SerializeField] protected int m_InitialActiveParticleCount = 0;
+        [HideInInspector] [SerializeField] protected Bounds _bounds = new Bounds();
+
+        /**Particle components*/
+        [HideInInspector] public Vector3[] positions = null;           /**< Particle positions.*/
+        [HideInInspector] public Vector4[] restPositions = null;       /**< Particle rest positions, used to filter collisions.*/
+
+        [HideInInspector] public Quaternion[] orientations = null;     /**< Particle orientations.*/
+        [HideInInspector] public Quaternion[] restOrientations = null; /**< Particle rest orientations.*/
+
+        [HideInInspector] public Vector3[] velocities = null;          /**< Particle velocities.*/
+        [HideInInspector] public Vector3[] angularVelocities = null;   /**< Particle angular velocities.*/
+
+        [HideInInspector] public float[] invMasses = null;             /**< Particle inverse masses*/
+        [HideInInspector] public float[] invRotationalMasses = null;
+
+        [FormerlySerializedAs("phases")]
+        [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)*/
+
+        /** Simplices **/
+        [HideInInspector] public int[] points = null;
+        [HideInInspector] public int[] edges = null;
+        [HideInInspector] public int[] triangles = null;
+
+        /** Constraint components. Each constraint type contains a list of constraint batches.*/
+        [HideInInspector] public ObiDistanceConstraintsData distanceConstraintsData = null;
+        [HideInInspector] public ObiBendConstraintsData bendConstraintsData = null;
+        [HideInInspector] public ObiSkinConstraintsData skinConstraintsData = null;
+        [HideInInspector] public ObiTetherConstraintsData tetherConstraintsData = null;
+        [HideInInspector] public ObiStretchShearConstraintsData stretchShearConstraintsData = null;
+        [HideInInspector] public ObiBendTwistConstraintsData bendTwistConstraintsData = null;
+        [HideInInspector] public ObiShapeMatchingConstraintsData shapeMatchingConstraintsData = null;
+        [HideInInspector] public ObiAerodynamicConstraintsData aerodynamicConstraintsData = null;
+        [HideInInspector] public ObiChainConstraintsData chainConstraintsData = null;
+        [HideInInspector] public ObiVolumeConstraintsData volumeConstraintsData = null;
+
+        /** Particle groups.*/
+        [HideInInspector] public List<ObiParticleGroup> groups = new List<ObiParticleGroup>();
+
+        /**
+         * Returns the amount of particles used by this blueprint.
+         */
+        public int particleCount
+        {
+            get { return positions != null ? positions.Length : 0; }
+        }
+
+        public int activeParticleCount
+        {
+            get { return m_ActiveParticleCount; }
+        }
+
+        /**
+         * Returns whether this group uses oriented particles.
+         */
+        public bool usesOrientedParticles
+        {
+            get
+            {
+                return invRotationalMasses != null && invRotationalMasses.Length > 0 &&
+                       orientations != null && orientations.Length > 0 &&
+                       restOrientations != null && restOrientations.Length > 0;
+            }
+        }
+
+        public virtual bool usesTethers 
+        {
+            get { return false; }
+        }
+
+        public bool IsParticleActive(int index)
+        {
+            return index < m_ActiveParticleCount;
+        }
+
+        protected virtual void SwapWithFirstInactiveParticle(int index)
+        {
+            positions.Swap(index, m_ActiveParticleCount);
+            restPositions.Swap(index, m_ActiveParticleCount);
+            orientations.Swap(index, m_ActiveParticleCount);
+            restOrientations.Swap(index, m_ActiveParticleCount);
+            velocities.Swap(index, m_ActiveParticleCount);
+            angularVelocities.Swap(index, m_ActiveParticleCount);
+            invMasses.Swap(index, m_ActiveParticleCount);
+            invRotationalMasses.Swap(index, m_ActiveParticleCount);
+            filters.Swap(index, m_ActiveParticleCount);
+            principalRadii.Swap(index, m_ActiveParticleCount);
+            colors.Swap(index, m_ActiveParticleCount);
+        }
+
+        /** 
+         * Activates one particle. This operation preserves the relative order of all particles.
+         */
+        public bool ActivateParticle(int index)
+        {
+            if (IsParticleActive(index))
+                return false;
+
+            SwapWithFirstInactiveParticle(index);
+            m_ActiveParticleCount++;
+
+            return true;
+        }
+
+        /** 
+         * Deactivates one particle. 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 index)
+        {
+            if (!IsParticleActive(index))
+                return false;
+
+            m_ActiveParticleCount--;
+            SwapWithFirstInactiveParticle(index);
+
+            return true;
+        }
+
+        public bool empty
+        {
+            get { return m_Empty; }
+        }
+
+        public void RecalculateBounds()
+        {
+            if (positions.Length > 0)
+            {
+                _bounds = new Bounds(positions[0],Vector3.zero);
+                for (int i = 1; i < positions.Length; ++i)
+                    _bounds.Encapsulate(positions[i]);
+            }
+            else
+                _bounds = new Bounds();
+        }
+
+        public Bounds bounds
+        {
+            get { return _bounds; }
+        }
+
+        public IEnumerable<IObiConstraints> GetConstraints()
+        {
+            if (distanceConstraintsData != null && distanceConstraintsData.GetBatchCount() > 0)
+                yield return distanceConstraintsData;
+            if (bendConstraintsData != null && bendConstraintsData.GetBatchCount() > 0)
+                yield return bendConstraintsData;
+            if (skinConstraintsData != null && skinConstraintsData.GetBatchCount() > 0)
+                yield return skinConstraintsData;
+            if (tetherConstraintsData != null && tetherConstraintsData.GetBatchCount() > 0)
+                yield return tetherConstraintsData;
+            if (stretchShearConstraintsData != null && stretchShearConstraintsData.GetBatchCount() > 0)
+                yield return stretchShearConstraintsData;
+            if (bendTwistConstraintsData != null && bendTwistConstraintsData.GetBatchCount() > 0)
+                yield return bendTwistConstraintsData;
+            if (shapeMatchingConstraintsData != null && shapeMatchingConstraintsData.GetBatchCount() > 0)
+                yield return shapeMatchingConstraintsData;
+            if (aerodynamicConstraintsData != null && aerodynamicConstraintsData.GetBatchCount() > 0)
+                yield return aerodynamicConstraintsData;
+            if (chainConstraintsData != null && chainConstraintsData.GetBatchCount() > 0)
+                yield return chainConstraintsData;
+            if (volumeConstraintsData != null && volumeConstraintsData.GetBatchCount() > 0)
+                yield return volumeConstraintsData;
+        }
+
+        public IObiConstraints GetConstraintsByType(Oni.ConstraintType type)
+        {
+            switch (type)
+            {
+                case Oni.ConstraintType.Distance: return distanceConstraintsData;
+                case Oni.ConstraintType.Bending: return bendConstraintsData;
+                case Oni.ConstraintType.Skin: return skinConstraintsData;
+                case Oni.ConstraintType.Tether: return tetherConstraintsData;
+                case Oni.ConstraintType.BendTwist: return bendTwistConstraintsData;
+                case Oni.ConstraintType.StretchShear: return stretchShearConstraintsData;
+                case Oni.ConstraintType.ShapeMatching: return shapeMatchingConstraintsData;
+                case Oni.ConstraintType.Aerodynamics: return aerodynamicConstraintsData;
+                case Oni.ConstraintType.Chain: return chainConstraintsData;
+                case Oni.ConstraintType.Volume: return volumeConstraintsData;
+                default: return null;
+            }
+        }
+
+        public int GetParticleRuntimeIndex(int blueprintIndex)
+        {
+            return blueprintIndex;
+        }
+
+        public Vector3 GetParticlePosition(int index)
+        {
+            if (positions != null && index < positions.Length)
+            {
+                return positions[index];
+            }
+            return Vector3.zero;
+        }
+
+        public Quaternion GetParticleOrientation(int index)
+        {
+            if (orientations != null && index < orientations.Length)
+            {
+                return orientations[index];
+            }
+            return Quaternion.identity;
+        }
+
+        public void GetParticleAnisotropy(int index, ref Vector4 b1, ref Vector4 b2, ref Vector4 b3)
+        {
+            if (orientations != null && index < orientations.Length)
+            {
+
+                Quaternion orientation = orientations[index];
+
+                b1 = orientation * Vector3.right;
+                b2 = orientation * Vector3.up;
+                b3 = orientation * Vector3.forward;
+
+                b1[3] = principalRadii[index][0];
+                b2[3] = principalRadii[index][1];
+                b3[3] = principalRadii[index][2];
+
+            }
+            else
+            {
+                b1[3] = b2[3] = b3[3] = principalRadii[index][0];
+            }
+        }
+
+        public float GetParticleMaxRadius(int index)
+        {
+            if (principalRadii != null && index < principalRadii.Length)
+            {
+                return principalRadii[index][0];
+            }
+            return 0;
+        }
+
+        public Color GetParticleColor(int index)
+        {
+            if (colors != null && index < colors.Length)
+            {
+                return colors[index];
+            }
+            else
+                return Color.white;
+        }
+
+        public void GenerateImmediate()
+        {
+            var g = Generate();
+            while (g.MoveNext()){}
+        }
+
+        public IEnumerator Generate()
+        {
+            Clear();
+
+            IEnumerator g = Initialize();
+
+            while (g.MoveNext())
+                yield return g.Current;
+
+            RecalculateBounds();
+
+            m_Empty = false;
+            m_InitialActiveParticleCount = m_ActiveParticleCount;
+
+            foreach (IObiConstraints constraints in GetConstraints())
+                for (int i = 0; i < constraints.GetBatchCount(); ++i)
+                    constraints.GetBatch(i).initialActiveConstraintCount = constraints.GetBatch(i).activeConstraintCount;
+
+#if UNITY_EDITOR
+            EditorUtility.SetDirty(this);
+#endif
+
+            if (OnBlueprintGenerate != null)
+                OnBlueprintGenerate(this);
+        }
+
+        public void Clear()
+        {
+            m_Empty = true;
+
+            m_ActiveParticleCount = 0;
+            positions = null;
+            restPositions = null;
+            orientations = null;
+            restOrientations = null;
+            velocities = null;
+            angularVelocities = null;
+            invMasses = null;
+            invRotationalMasses = null;
+            filters = null;
+            //phases = null;
+            principalRadii = null;
+            colors = null;
+
+            points = null;
+            edges = null;
+            triangles = null;
+
+            distanceConstraintsData = null;
+            bendConstraintsData = null;
+            skinConstraintsData = null;
+            tetherConstraintsData = null;
+            bendTwistConstraintsData = null;
+            stretchShearConstraintsData = null;
+            shapeMatchingConstraintsData = null;
+            aerodynamicConstraintsData = null;
+            chainConstraintsData = null;
+            volumeConstraintsData = null;
+
+        }
+
+        public ObiParticleGroup InsertNewParticleGroup(string name, int index, bool saveImmediately = true)
+        {
+            if (index >= 0 && index <= groups.Count)
+            {
+                ObiParticleGroup group = ScriptableObject.CreateInstance<ObiParticleGroup>();
+                group.SetSourceBlueprint(this);
+                group.name = name;
+
+#if UNITY_EDITOR
+                if (!Application.isPlaying)
+                {
+                    AssetDatabase.AddObjectToAsset(group, this);
+                    Undo.RegisterCreatedObjectUndo(group, "Insert particle group");
+
+                    Undo.RecordObject(this, "Insert particle group");
+                    groups.Insert(index, group);
+
+                    if (EditorUtility.IsPersistent(this))
+                    {
+                        EditorUtility.SetDirty(this);
+                        if (saveImmediately)
+                            AssetDatabase.SaveAssets();
+                    }
+                }
+                else
+#endif
+                {
+                    groups.Insert(index, group);
+                }
+
+                return group;
+            }
+            return null;
+        }
+
+        public ObiParticleGroup AppendNewParticleGroup(string name, bool saveImmediately = true)
+        {
+            return InsertNewParticleGroup(name, groups.Count, saveImmediately);
+        }
+
+        public bool RemoveParticleGroupAt(int index, bool saveImmediately = true)
+        {
+            if (index >= 0 && index < groups.Count)
+            {
+#if UNITY_EDITOR
+                if (!Application.isPlaying)
+                {
+                    Undo.RecordObject(this, "Remove particle group");
+
+                    var group = groups[index];
+                    groups.RemoveAt(index);
+
+                    if (group != null)
+                        Undo.DestroyObjectImmediate(group);
+
+                    if (EditorUtility.IsPersistent(this))
+                    {
+                        EditorUtility.SetDirty(this);
+                        if (saveImmediately)
+                            AssetDatabase.SaveAssets();
+                    }
+                }
+                else
+#endif
+                {
+                    var group = groups[index];
+                    groups.RemoveAt(index);
+
+                    if (group != null)
+                        DestroyImmediate(group, true);
+                }
+
+                return true;
+            }
+            return false;
+        }
+
+        public bool SetParticleGroupName(int index, string name, bool saveImmediately = true)
+        {
+            if (index >= 0 && index < groups.Count)
+            {
+#if UNITY_EDITOR
+                if (!Application.isPlaying)
+                {
+                    Undo.RecordObject(this, "Set particle group name");
+                    groups[index].name = name;
+
+                    if (EditorUtility.IsPersistent(this))
+                    {
+                        EditorUtility.SetDirty(this);
+                        if (saveImmediately)
+                            AssetDatabase.SaveAssets();
+                    }
+                }
+                else
+#endif
+                {
+                    groups[index].name = name;
+                }
+
+                return true;
+            }
+            return false;
+        }
+
+        public void ClearParticleGroups(bool saveImmediately = true)
+        {
+#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 (EditorUtility.IsPersistent(this))
+                {
+                    EditorUtility.SetDirty(this);
+                    if (saveImmediately)
+                        AssetDatabase.SaveAssets();
+                }
+            }
+            else
+#endif
+            {
+                for (int i = 0; i < groups.Count; ++i)
+                    if (groups[i] != null)
+                        DestroyImmediate(groups[i], true);
+            }
+
+            groups.Clear();
+        }
+
+        private bool IsParticleSharedInConstraint(int index, List<int> particles, bool[] selected)
+        {
+            bool containsCurrent = false;
+            bool containsUnselected = false;
+
+            for (int k = 0; k < particles.Count; ++k)
+            {
+                containsCurrent    |= particles[k] == index;
+                containsUnselected |= !selected[particles[k]];
+
+                if (containsCurrent && containsUnselected)
+                {
+                    return true;
+                }
+            }
+            return false;
+        }
+
+        private bool DoesParticleShareConstraints(IObiConstraints constraints, int index, List<int> particles, bool[] selected)
+        {
+            bool shared = false;
+            for (int i = 0; i < constraints.GetBatchCount(); ++i)
+            {
+                var batch = constraints.GetBatch(i);
+                for (int j = 0; j < batch.activeConstraintCount; ++j)
+                {
+                    particles.Clear();
+                    batch.GetParticlesInvolved(j, particles);
+
+                    if (shared |= IsParticleSharedInConstraint(index, particles, selected))
+                        break;
+                }
+
+                if (shared)
+                    break;
+            }
+            return shared;
+        }
+
+        private void DeactivateConstraintsWithInactiveParticles(IObiConstraints constraints, List<int> particles)
+        {
+            for (int j = 0; j < constraints.GetBatchCount(); ++j)
+            {
+                var batch = constraints.GetBatch(j);
+
+                for (int i = batch.activeConstraintCount - 1; i >= 0; --i)
+                {
+                    particles.Clear();
+                    batch.GetParticlesInvolved(i, particles);
+                    for (int k = 0; k < particles.Count; ++k)
+                    {
+                        if (!IsParticleActive(particles[k]))
+                        {
+                            batch.DeactivateConstraint(i);
+                            break;
+                        }
+                    }
+                }
+            }
+        }
+
+        private void ParticlesSwappedInGroups(int index, int newIndex)
+        {
+            // Update groups:
+            foreach (ObiParticleGroup group in groups)
+            {
+                for (int i = 0; i < group.particleIndices.Count; ++i)
+                {
+                    if (group.particleIndices[i] == newIndex)
+                        group.particleIndices[i] = index;
+                    else if (group.particleIndices[i] == index)
+                        group.particleIndices[i] = newIndex;
+                }
+            }
+        }
+
+        public void RemoveSelectedParticles(ref bool[] selected, bool optimize = true)
+        {
+            List<int> particles = new List<int>();
+
+            // iterate over all particles and get those selected ones that are only constrained to other selected ones.
+            for (int i = activeParticleCount - 1; i >= 0; --i)
+            {
+                // if the particle is not selected for optimization, skip it.
+                if (!selected[i])
+                    continue;
+
+                // look if the particle shares distance or shape matching constraints with an unselected particle.
+                bool shared = false;
+                if (optimize)
+                {
+                    shared |= DoesParticleShareConstraints(distanceConstraintsData, i, particles, selected);
+                    shared |= DoesParticleShareConstraints(bendConstraintsData, i, particles, selected);
+                    shared |= DoesParticleShareConstraints(shapeMatchingConstraintsData, i, particles, selected);
+                }
+
+                if (!shared)
+                {
+                    if (DeactivateParticle(i))
+                    {
+                        selected.Swap(i, m_ActiveParticleCount);
+
+                        // Update constraints:
+                        foreach (IObiConstraints constraints in GetConstraints())
+                            for (int j = 0; j < constraints.GetBatchCount(); ++j)
+                                constraints.GetBatch(j).ParticlesSwapped(i, m_ActiveParticleCount);
+
+                        // Update groups:
+                        ParticlesSwappedInGroups(i, m_ActiveParticleCount);
+                    }
+                }
+
+            }
+
+            // deactivate all constraints that reference inactive particles:
+            foreach (IObiConstraints constraints in GetConstraints())
+                DeactivateConstraintsWithInactiveParticles(constraints, particles);
+
+        }
+
+        public void RestoreRemovedParticles()
+        {
+            m_ActiveParticleCount = m_InitialActiveParticleCount;
+
+            foreach (IObiConstraints constraints in GetConstraints())
+                for (int j = 0; j < constraints.GetBatchCount(); ++j)
+                    constraints.GetBatch(j).activeConstraintCount = constraints.GetBatch(j).initialActiveConstraintCount;
+           
+        }
+
+        public virtual void GenerateTethers(bool[] selected) { }
+        public virtual void ClearTethers() { }
+
+        protected abstract IEnumerator Initialize();
+
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Blueprints/ObiActorBlueprint.cs.meta b/Assets/Obi/Scripts/Common/Blueprints/ObiActorBlueprint.cs.meta
new file mode 100644
index 000000000..599d5ac93
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Blueprints/ObiActorBlueprint.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: e041cee7fba0844ba933278f278090ce
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {fileID: 2800000, guid: d0123218ec6144d0983c099fc7339924, type: 3}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Blueprints/ObiMeshBasedActorBlueprint.cs b/Assets/Obi/Scripts/Common/Blueprints/ObiMeshBasedActorBlueprint.cs
new file mode 100644
index 000000000..cd4792baf
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Blueprints/ObiMeshBasedActorBlueprint.cs
@@ -0,0 +1,13 @@
+using UnityEngine;
+using System.Collections;
+
+
+namespace Obi
+{
+    public abstract class ObiMeshBasedActorBlueprint : ObiActorBlueprint
+    {
+        public Mesh inputMesh;               /**< Mesh used to generate the blueprint.*/
+        public Vector3 scale = Vector3.one;
+        public Quaternion rotation = Quaternion.identity;
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Blueprints/ObiMeshBasedActorBlueprint.cs.meta b/Assets/Obi/Scripts/Common/Blueprints/ObiMeshBasedActorBlueprint.cs.meta
new file mode 100644
index 000000000..1f175fe2e
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Blueprints/ObiMeshBasedActorBlueprint.cs.meta
@@ -0,0 +1,11 @@
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+guid: 5a20734f05b7e41d89888f99cc0e88f2
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
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diff --git a/Assets/Obi/Scripts/Common/Blueprints/ObiParticleGroup.cs b/Assets/Obi/Scripts/Common/Blueprints/ObiParticleGroup.cs
new file mode 100644
index 000000000..2f6bf501c
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Blueprints/ObiParticleGroup.cs
@@ -0,0 +1,35 @@
+using System;
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiParticleGroup : ScriptableObject
+    {
+        public List<int> particleIndices = new List<int>() { };
+        public ObiActorBlueprint m_Blueprint = null;
+
+        public ObiActorBlueprint blueprint
+        {
+            get { return m_Blueprint; }
+        }
+
+        public void SetSourceBlueprint(ObiActorBlueprint blueprint)
+        {
+            this.m_Blueprint = blueprint;
+        }
+
+        public int Count
+        {
+            get { return particleIndices.Count; }
+        }
+
+        public bool ContainsParticle(int index)
+        {
+            return particleIndices.Contains(index);
+        }
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Blueprints/ObiParticleGroup.cs.meta b/Assets/Obi/Scripts/Common/Blueprints/ObiParticleGroup.cs.meta
new file mode 100644
index 000000000..c7293e092
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Blueprints/ObiParticleGroup.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Collisions.meta b/Assets/Obi/Scripts/Common/Collisions.meta
new file mode 100644
index 000000000..f69d80900
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Collisions.meta
@@ -0,0 +1,9 @@
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+folderAsset: yes
+timeCreated: 1448942565
+licenseType: Store
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+  userData: 
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+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers.meta b/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers.meta
new file mode 100644
index 000000000..8f55bd387
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers.meta
@@ -0,0 +1,9 @@
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+folderAsset: yes
+timeCreated: 1501157275
+licenseType: Store
+DefaultImporter:
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers2D.meta b/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers2D.meta
new file mode 100644
index 000000000..98f5ed000
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers2D.meta
@@ -0,0 +1,9 @@
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+timeCreated: 1503483313
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+DefaultImporter:
+  userData: 
+  assetBundleName: 
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diff --git a/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers2D/ObiBoxShapeTracker2D.cs b/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers2D/ObiBoxShapeTracker2D.cs
new file mode 100644
index 000000000..dab43bce4
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers2D/ObiBoxShapeTracker2D.cs
@@ -0,0 +1,47 @@
+using System;
+using UnityEngine;
+
+namespace Obi{
+
+	public class ObiBoxShapeTracker2D : ObiShapeTracker
+	{
+		public ObiBoxShapeTracker2D(ObiCollider2D source, BoxCollider2D collider){
+            this.source = source;
+			this.collider = collider;
+		}		
+	
+		public override bool UpdateIfNeeded (){
+
+			BoxCollider2D box = collider as BoxCollider2D;
+
+            var world = ObiColliderWorld.GetInstance();
+            int index = source.Handle.index;
+
+            // update collider:
+            var shape = world.colliderShapes[index];
+            shape.is2D = 1;
+            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.materialIndex = source.CollisionMaterial != null ? source.CollisionMaterial.handle.index : -1;
+            shape.contactOffset = source.Thickness + box.edgeRadius;
+            shape.center = box.offset;
+            shape.size = box.size;
+            world.colliderShapes[index] = shape;
+
+            // update bounds:
+            var aabb = world.colliderAabbs[index];
+            aabb.FromBounds(box.bounds, shape.contactOffset, true);
+            world.colliderAabbs[index] = aabb;
+
+            // update transform:
+            var trfm = world.colliderTransforms[index];
+            trfm.FromTransform(box.transform, true);
+            world.colliderTransforms[index] = trfm;
+            return false;
+		}
+
+	}
+}
+
diff --git a/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers2D/ObiBoxShapeTracker2D.cs.meta b/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers2D/ObiBoxShapeTracker2D.cs.meta
new file mode 100644
index 000000000..90d91f6c4
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers2D/ObiBoxShapeTracker2D.cs.meta
@@ -0,0 +1,12 @@
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+timeCreated: 1501960568
+licenseType: Store
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+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
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diff --git a/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers2D/ObiCapsuleShapeTracker2D.cs b/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers2D/ObiCapsuleShapeTracker2D.cs
new file mode 100644
index 000000000..277be12f7
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers2D/ObiCapsuleShapeTracker2D.cs
@@ -0,0 +1,53 @@
+using System;
+using UnityEngine;
+
+namespace Obi{
+
+	public class ObiCapsuleShapeTracker2D : ObiShapeTracker
+	{
+		public ObiCapsuleShapeTracker2D(ObiCollider2D source, CapsuleCollider2D collider)
+        {
+            this.source = source;
+			this.collider = collider;
+		}	
+	
+		public override bool UpdateIfNeeded ()
+        {
+			CapsuleCollider2D capsule = collider as CapsuleCollider2D;
+
+            // retrieve collision world and index:
+            var world = ObiColliderWorld.GetInstance();
+            int index = source.Handle.index;
+
+            // update collider:
+            var shape = world.colliderShapes[index];
+            shape.is2D = 1;
+            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.materialIndex = source.CollisionMaterial != null ? source.CollisionMaterial.handle.index : -1;
+            shape.contactOffset = source.Thickness;
+            shape.center = capsule.offset;
+            Vector2 size = capsule.size;
+            shape.size = new Vector4((capsule.direction == CapsuleDirection2D.Horizontal ? size.y : size.x) * 0.5f,
+                                      Mathf.Max(size.x, size.y),
+                                      capsule.direction == CapsuleDirection2D.Horizontal ? 0 : 1, 0);
+            world.colliderShapes[index] = shape;
+
+            // update bounds:
+            var aabb = world.colliderAabbs[index];
+            aabb.FromBounds(capsule.bounds, shape.contactOffset,true);
+            world.colliderAabbs[index] = aabb;
+
+            // update transform:
+            var trfm = world.colliderTransforms[index];
+            trfm.FromTransform(capsule.transform,true);
+            world.colliderTransforms[index] = trfm;
+
+            return false;
+		}
+
+	}
+}
+
diff --git a/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers2D/ObiCapsuleShapeTracker2D.cs.meta b/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers2D/ObiCapsuleShapeTracker2D.cs.meta
new file mode 100644
index 000000000..9e5005722
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers2D/ObiCapsuleShapeTracker2D.cs.meta
@@ -0,0 +1,12 @@
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+guid: fe1cd08d83cfe4785b8d5bb8e0bd3dd9
+timeCreated: 1501961541
+licenseType: Store
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+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
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diff --git a/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers2D/ObiCircleShapeTracker2D.cs b/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers2D/ObiCircleShapeTracker2D.cs
new file mode 100644
index 000000000..c75ffd90e
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers2D/ObiCircleShapeTracker2D.cs
@@ -0,0 +1,52 @@
+using System;
+using UnityEngine;
+
+namespace Obi{
+
+	public class ObiCircleShapeTracker2D : ObiShapeTracker
+	{
+
+		public ObiCircleShapeTracker2D(ObiCollider2D source, CircleCollider2D collider)
+        {
+            this.source = source;
+			this.collider = collider;
+		}	
+
+		public override bool UpdateIfNeeded ()
+        {
+
+			CircleCollider2D sphere = collider as CircleCollider2D;
+
+            // retrieve collision world and index:
+            var world = ObiColliderWorld.GetInstance();
+            int index = source.Handle.index;
+
+            // update collider:
+            var shape = world.colliderShapes[index];
+            shape.is2D = 1;
+            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.offset;
+            shape.size = Vector3.one * sphere.radius;
+            world.colliderShapes[index] = shape;
+
+            // update bounds:
+            var aabb = world.colliderAabbs[index];
+            aabb.FromBounds(sphere.bounds, shape.contactOffset, true);
+            world.colliderAabbs[index] = aabb;
+
+            // update transform:
+            var trfm = world.colliderTransforms[index];
+            trfm.FromTransform(sphere.transform,true);
+            world.colliderTransforms[index] = trfm;
+
+            return true;
+        }
+
+	}
+}
+
diff --git a/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers2D/ObiCircleShapeTracker2D.cs.meta b/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers2D/ObiCircleShapeTracker2D.cs.meta
new file mode 100644
index 000000000..e2c7b7f36
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers2D/ObiCircleShapeTracker2D.cs.meta
@@ -0,0 +1,12 @@
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+guid: 4290734bafa8c46d8862202365a9f83b
+timeCreated: 1501960324
+licenseType: Store
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diff --git a/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers2D/ObiEdgeShapeTracker2D.cs b/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers2D/ObiEdgeShapeTracker2D.cs
new file mode 100644
index 000000000..dfdb9988f
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers2D/ObiEdgeShapeTracker2D.cs
@@ -0,0 +1,72 @@
+using System;
+using UnityEngine;
+using System.Runtime.InteropServices;
+
+namespace Obi{
+
+	public class ObiEdgeShapeTracker2D : ObiShapeTracker
+	{
+        ObiEdgeMeshHandle handle;
+
+        public ObiEdgeShapeTracker2D(ObiCollider2D source, EdgeCollider2D collider)
+        {
+            this.source = source;
+			this.collider = collider;
+		}		
+
+		public void UpdateEdgeData()
+        {
+            ObiColliderWorld.GetInstance().DestroyEdgeMesh(handle);
+        }
+	
+		public override bool UpdateIfNeeded (){
+
+			EdgeCollider2D edgeCollider = collider as EdgeCollider2D;
+
+            // retrieve collision world and index:
+            var world = ObiColliderWorld.GetInstance();
+            int index = source.Handle.index;
+
+            // get or create the mesh:
+            if (handle == null || !handle.isValid)
+            {
+                handle = world.GetOrCreateEdgeMesh(edgeCollider);
+                handle.Reference();
+            }
+
+            // update collider:
+            var shape = world.colliderShapes[index];
+            shape.is2D = 1;
+            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.materialIndex = source.CollisionMaterial != null ? source.CollisionMaterial.handle.index : -1;
+            shape.center = edgeCollider.offset;
+            shape.contactOffset = source.Thickness + edgeCollider.edgeRadius;
+            shape.dataIndex = handle.index;
+            world.colliderShapes[index] = shape;
+
+            // update bounds:
+            var aabb = world.colliderAabbs[index];
+            aabb.FromBounds(edgeCollider.bounds, shape.contactOffset, true);
+            world.colliderAabbs[index] = aabb;
+
+            // update transform:
+            var trfm = world.colliderTransforms[index];
+            trfm.FromTransform(edgeCollider.transform, true);
+            world.colliderTransforms[index] = trfm;
+
+            return true;
+		}
+
+        public override void Destroy()
+        {
+            base.Destroy();
+
+            if (handle != null && handle.Dereference())
+                ObiColliderWorld.GetInstance().DestroyEdgeMesh(handle);
+        }
+    }
+}
+
diff --git a/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers2D/ObiEdgeShapeTracker2D.cs.meta b/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers2D/ObiEdgeShapeTracker2D.cs.meta
new file mode 100644
index 000000000..07524ca77
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers2D/ObiEdgeShapeTracker2D.cs.meta
@@ -0,0 +1,12 @@
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diff --git a/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D.meta b/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D.meta
new file mode 100644
index 000000000..859897cc2
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+++ b/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D.meta
@@ -0,0 +1,9 @@
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diff --git a/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiBoxShapeTracker.cs b/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiBoxShapeTracker.cs
new file mode 100644
index 000000000..afe993057
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiBoxShapeTracker.cs
@@ -0,0 +1,58 @@
+using System;
+using UnityEngine;
+
+namespace Obi{
+
+	public class ObiBoxShapeTracker : ObiShapeTracker
+	{
+
+		public ObiBoxShapeTracker(ObiCollider source, BoxCollider collider)
+        {
+            this.source = source;
+            this.collider = collider;
+		}		
+	
+		public override bool 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;
+
+            // update collider:
+            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.materialIndex = source.CollisionMaterial != null ? source.CollisionMaterial.handle.index : -1;
+            shape.contactOffset = source.Thickness;
+            shape.center = box.center;
+            shape.size = box.size;
+            world.colliderShapes[index] = shape;
+
+            // update bounds:
+            var aabb = world.colliderAabbs[index];
+            aabb.FromBounds(box.bounds, shape.contactOffset);
+            world.colliderAabbs[index] = aabb;
+
+            // update transform:
+            var trfm = world.colliderTransforms[index];
+            trfm.FromTransform(box.transform);
+            world.colliderTransforms[index] = trfm;
+
+            return true;
+		}
+
+	}
+}
+
diff --git a/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiBoxShapeTracker.cs.meta b/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiBoxShapeTracker.cs.meta
new file mode 100644
index 000000000..9e3ef16f6
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiBoxShapeTracker.cs.meta
@@ -0,0 +1,12 @@
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+guid: 7f9acb590fcdd47838d4e1929e463712
+timeCreated: 1501960568
+licenseType: Store
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+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
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diff --git a/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiCapsuleShapeTracker.cs b/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiCapsuleShapeTracker.cs
new file mode 100644
index 000000000..e55f43b0d
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiCapsuleShapeTracker.cs
@@ -0,0 +1,49 @@
+using System;
+using UnityEngine;
+
+namespace Obi{
+
+	public class ObiCapsuleShapeTracker : ObiShapeTracker
+	{
+
+		public ObiCapsuleShapeTracker(ObiCollider source, CapsuleCollider collider){
+			this.collider = collider;
+            this.source = source;
+		}	
+	
+		public override bool UpdateIfNeeded (){
+
+            CapsuleCollider capsule = collider as CapsuleCollider;
+
+            // 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.Capsule;
+            shape.filter = source.Filter;
+            shape.flags = capsule.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 = capsule.center;
+            shape.size = new Vector4(capsule.radius, capsule.height, capsule.direction, 0);
+            world.colliderShapes[index] = shape;
+
+            // update bounds:
+            var aabb = world.colliderAabbs[index];
+            aabb.FromBounds(capsule.bounds, shape.contactOffset);
+            world.colliderAabbs[index] = aabb;
+
+            // update transform:
+            var trfm = world.colliderTransforms[index];
+            trfm.FromTransform(capsule.transform);
+            world.colliderTransforms[index] = trfm;
+
+            return true;
+        }
+
+	}
+}
+
diff --git a/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiCapsuleShapeTracker.cs.meta b/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiCapsuleShapeTracker.cs.meta
new file mode 100644
index 000000000..488258d09
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiCapsuleShapeTracker.cs.meta
@@ -0,0 +1,12 @@
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diff --git a/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiCharacterControllerShapeTracker.cs b/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiCharacterControllerShapeTracker.cs
new file mode 100644
index 000000000..d50fcd280
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiCharacterControllerShapeTracker.cs
@@ -0,0 +1,52 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+
+    public class ObiCharacterControllerShapeTracker : ObiShapeTracker
+    {
+
+        public ObiCharacterControllerShapeTracker(ObiCollider source, CharacterController collider)
+        {
+            this.collider = collider;
+            this.source = source;
+        }
+
+        public override bool UpdateIfNeeded()
+        {
+
+            CharacterController character = collider as CharacterController;
+
+            // 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.Capsule;
+            shape.filter = source.Filter;
+            shape.flags = character.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 = character.center;
+            shape.size = new Vector4(character.radius, character.height, 1, 0);
+            world.colliderShapes[index] = shape;
+
+            // update bounds:
+            var aabb = world.colliderAabbs[index];
+            aabb.FromBounds(character.bounds, shape.contactOffset);
+            world.colliderAabbs[index] = aabb;
+
+            // update transform:
+            var trfm = world.colliderTransforms[index];
+            trfm.FromTransform(character.transform);
+            world.colliderTransforms[index] = trfm;
+
+            return true;
+        }
+
+    }
+}
+
diff --git a/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiCharacterControllerShapeTracker.cs.meta b/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiCharacterControllerShapeTracker.cs.meta
new file mode 100644
index 000000000..ccbb3adbb
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiCharacterControllerShapeTracker.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiDistanceFieldShapeTracker.cs b/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiDistanceFieldShapeTracker.cs
new file mode 100644
index 000000000..c25d6b9e2
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiDistanceFieldShapeTracker.cs
@@ -0,0 +1,88 @@
+using System;
+using System.Collections.Generic;
+using UnityEngine;
+using System.Runtime.InteropServices;
+
+namespace Obi{
+
+	public class ObiDistanceFieldShapeTracker : ObiShapeTracker
+	{
+		public ObiDistanceField distanceField;
+        ObiDistanceFieldHandle handle;
+
+
+		public ObiDistanceFieldShapeTracker(ObiCollider source, Component collider, ObiDistanceField distanceField){
+
+            this.source = source;
+            this.collider = collider;
+            this.distanceField = distanceField;
+		}
+
+        /**
+		 * Forces the tracker to update distance field data during the next call to UpdateIfNeeded().
+		 */
+        public void UpdateDistanceFieldData()
+        {
+            ObiColliderWorld.GetInstance().DestroyDistanceField(handle);
+        }
+
+        public override bool UpdateIfNeeded ()
+        {
+
+            bool trigger = false;
+            if (collider is Collider) trigger = ((Collider)collider).isTrigger;
+            else if (collider is Collider2D) trigger = ((Collider2D)collider).isTrigger;
+
+            // retrieve collision world and index:
+            var world = ObiColliderWorld.GetInstance();
+            int index = source.Handle.index;
+
+            // decrease reference count of current handle if the df data it points to is different
+            // than the df used by the collider:
+            if (handle != null && handle.owner != distanceField)
+            {
+                if (handle.Dereference())
+                    world.DestroyDistanceField(handle);
+            }
+
+            if (handle == null || !handle.isValid)
+            {
+                handle = world.GetOrCreateDistanceField(distanceField);
+                handle.Reference();
+            }
+
+            // update collider:
+            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.materialIndex = source.CollisionMaterial != null ? source.CollisionMaterial.handle.index : -1;
+            shape.contactOffset = source.Thickness;
+            shape.dataIndex = handle.index;
+            world.colliderShapes[index] = shape;
+
+            // update bounds:
+            var aabb = world.colliderAabbs[index];
+            aabb.FromBounds(distanceField.FieldBounds.Transform(source.transform.localToWorldMatrix), shape.contactOffset);
+            world.colliderAabbs[index] = aabb;
+
+            // update transform:
+            var trfm = world.colliderTransforms[index];
+            trfm.FromTransform(source.transform);
+            world.colliderTransforms[index] = trfm;
+
+            return true;
+        }
+
+        public override void Destroy()
+        {
+            base.Destroy();
+
+            if (handle != null && handle.Dereference())
+                ObiColliderWorld.GetInstance().DestroyDistanceField(handle);
+        }
+
+    }
+}
+
diff --git a/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiDistanceFieldShapeTracker.cs.meta b/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiDistanceFieldShapeTracker.cs.meta
new file mode 100644
index 000000000..71b25fc82
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiDistanceFieldShapeTracker.cs.meta
@@ -0,0 +1,12 @@
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+timeCreated: 1504879085
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diff --git a/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiMeshShapeTracker.cs b/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiMeshShapeTracker.cs
new file mode 100644
index 000000000..e3831d9d4
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiMeshShapeTracker.cs
@@ -0,0 +1,83 @@
+using System;
+using System.Collections.Generic;
+using UnityEngine;
+using System.Runtime.InteropServices;
+
+namespace Obi{
+
+	public class ObiMeshShapeTracker : ObiShapeTracker
+	{
+        ObiTriangleMeshHandle handle;
+
+		public ObiMeshShapeTracker(ObiCollider source, MeshCollider collider){
+
+            this.source = source;
+			this.collider = collider;
+		}
+
+        /**
+		 * Forces the tracker to update mesh data during the next call to UpdateIfNeeded().
+		 */
+        public void UpdateMeshData()
+        {
+            ObiColliderWorld.GetInstance().DestroyTriangleMesh(handle);
+        }
+	
+		public override bool UpdateIfNeeded ()
+        {
+
+            MeshCollider meshCollider = collider as MeshCollider;
+
+            // retrieve collision world and index:
+            var world = ObiColliderWorld.GetInstance();
+            int index = source.Handle.index;
+
+            // decrease reference count of current handle if the mesh data it points to is different
+            // than the mesh used by the collider:
+            if (handle != null && handle.owner != meshCollider.sharedMesh)
+            {
+                if (handle.Dereference())
+                    world.DestroyTriangleMesh(handle);
+            }
+
+            // get or create the mesh:
+            if (handle == null || !handle.isValid)
+            {
+                handle = world.GetOrCreateTriangleMesh(meshCollider.sharedMesh);
+                handle.Reference();
+            }
+
+            // update collider:
+            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.materialIndex = source.CollisionMaterial != null ? source.CollisionMaterial.handle.index : -1;
+            shape.contactOffset = source.Thickness;
+            shape.dataIndex = handle.index;
+            world.colliderShapes[index] = shape;
+
+            // update bounds:
+            var aabb = world.colliderAabbs[index];
+            aabb.FromBounds(meshCollider.bounds, shape.contactOffset);
+            world.colliderAabbs[index] = aabb;
+
+            // update transform:
+            var trfm = world.colliderTransforms[index];
+            trfm.FromTransform(meshCollider.transform);
+            world.colliderTransforms[index] = trfm;
+
+            return true;
+        }
+
+		public override void Destroy()
+        {
+			base.Destroy();
+
+            if (handle != null && handle.Dereference())
+                ObiColliderWorld.GetInstance().DestroyTriangleMesh(handle);
+		}
+	}
+}
+
diff --git a/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiMeshShapeTracker.cs.meta b/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiMeshShapeTracker.cs.meta
new file mode 100644
index 000000000..f7911fbb5
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiMeshShapeTracker.cs.meta
@@ -0,0 +1,12 @@
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+guid: c955001531e3444fd9615a5272954dea
+timeCreated: 1502875710
+licenseType: Store
+MonoImporter:
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
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diff --git a/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiShapeTracker.cs b/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiShapeTracker.cs
new file mode 100644
index 000000000..c3992da14
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiShapeTracker.cs
@@ -0,0 +1,20 @@
+using System;
+using UnityEngine;
+
+namespace Obi{
+
+	public abstract class ObiShapeTracker
+	{
+        protected ObiColliderBase source;
+		protected Component collider;
+
+		public virtual void Destroy(){
+		}
+
+		public abstract bool UpdateIfNeeded ();
+
+	}
+
+}
+
+
diff --git a/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiShapeTracker.cs.meta b/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiShapeTracker.cs.meta
new file mode 100644
index 000000000..749c718f6
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiShapeTracker.cs.meta
@@ -0,0 +1,12 @@
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+guid: 5f455a735ac894ee7bddecd2b5a64ca8
+timeCreated: 1501960324
+licenseType: Store
+MonoImporter:
+  serializedVersion: 2
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diff --git a/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiSphereShapeTracker.cs b/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiSphereShapeTracker.cs
new file mode 100644
index 000000000..ab4368c2f
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiSphereShapeTracker.cs
@@ -0,0 +1,72 @@
+using System;
+using UnityEngine;
+
+namespace Obi{
+
+	public class ObiSphereShapeTracker : ObiShapeTracker
+	{
+
+		public ObiSphereShapeTracker(ObiCollider source, SphereCollider collider)
+        {
+            this.source = source;
+			this.collider = collider;
+		}	
+
+		public override bool 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;
+
+                // 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 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;
+		}
+
+	}
+}
+
diff --git a/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiSphereShapeTracker.cs.meta b/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiSphereShapeTracker.cs.meta
new file mode 100644
index 000000000..946853609
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiSphereShapeTracker.cs.meta
@@ -0,0 +1,12 @@
+fileFormatVersion: 2
+guid: 221c651500acc4cbfa30ed329aebb822
+timeCreated: 1501960324
+licenseType: Store
+MonoImporter:
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiTerrainShapeTracker.cs b/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiTerrainShapeTracker.cs
new file mode 100644
index 000000000..ed3faed03
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiTerrainShapeTracker.cs
@@ -0,0 +1,76 @@
+using System;
+using UnityEngine;
+using System.Runtime.InteropServices;
+
+namespace Obi{
+
+	public class ObiTerrainShapeTracker : ObiShapeTracker
+	{
+		private bool heightmapDataHasChanged = false;
+        ObiHeightFieldHandle handle;
+
+        public ObiTerrainShapeTracker(ObiCollider source, TerrainCollider collider){
+
+            this.source = source;
+			this.collider = collider;
+		}		
+
+		public void UpdateHeightData()
+        {
+            ObiColliderWorld.GetInstance().DestroyHeightField(handle);
+        }
+	
+		public override bool UpdateIfNeeded ()
+        {
+
+            TerrainCollider terrain = collider as TerrainCollider;
+
+            // retrieve collision world and index:
+            var world = ObiColliderWorld.GetInstance();
+            int index = source.Handle.index;
+
+            int resolution = terrain.terrainData.heightmapResolution;
+
+            // get or create the heightfield:
+            if (handle == null || !handle.isValid)
+            {
+                handle = world.GetOrCreateHeightField(terrain.terrainData);
+                handle.Reference();
+            }
+
+            // update collider:
+            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.materialIndex = source.CollisionMaterial != null ? source.CollisionMaterial.handle.index : -1;
+            shape.contactOffset = source.Thickness;
+            shape.dataIndex = handle.index;
+            shape.size = terrain.terrainData.size;
+            shape.center = new Vector4(resolution, resolution, resolution, resolution);
+            world.colliderShapes[index] = shape;
+
+            // update bounds:
+            var aabb = world.colliderAabbs[index];
+            aabb.FromBounds(terrain.bounds, shape.contactOffset);
+            world.colliderAabbs[index] = aabb;
+
+            // update transform:
+            var trfm = world.colliderTransforms[index];
+            trfm.FromTransform(terrain.transform);
+            world.colliderTransforms[index] = trfm;
+
+            return true;
+        }
+
+		public override void Destroy()
+        {
+			base.Destroy();
+
+            if (handle != null && handle.Dereference())
+                ObiColliderWorld.GetInstance().DestroyHeightField(handle);
+        }
+	}
+}
+
diff --git a/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiTerrainShapeTracker.cs.meta b/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiTerrainShapeTracker.cs.meta
new file mode 100644
index 000000000..21b385e35
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Collisions/ColliderTrackers/Trackers3D/ObiTerrainShapeTracker.cs.meta
@@ -0,0 +1,12 @@
+fileFormatVersion: 2
+guid: 601187ba897f54e20b787637df64e96b
+timeCreated: 1502808634
+licenseType: Store
+MonoImporter:
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Collisions/ObiCollider.cs b/Assets/Obi/Scripts/Common/Collisions/ObiCollider.cs
new file mode 100644
index 000000000..13ead10b3
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Collisions/ObiCollider.cs
@@ -0,0 +1,118 @@
+using UnityEngine;
+using UnityEngine.Serialization;
+
+namespace Obi
+{
+
+    /**
+	 * Add this component to any Collider that you want to be considered by Obi.
+	 */
+    [ExecuteInEditMode]
+    [RequireComponent(typeof(Collider))]
+    public class ObiCollider : ObiColliderBase
+    {
+
+        [SerializeProperty("sourceCollider")]
+        [FormerlySerializedAs("SourceCollider")]
+        [SerializeField] private Collider m_SourceCollider;
+
+        /// <summary>
+        /// The Unity collider that this ObiCollider should mimic.
+        /// </summary>
+        /// This is automatically set when you first create the ObiCollider component, but you can override it afterwards.
+        public Collider sourceCollider
+        {
+            set
+            {
+                if (value != null && value.gameObject != this.gameObject)
+                {
+                    Debug.LogError("The Collider component must reside in the same GameObject as ObiCollider.");
+                    return;
+                }
+
+                m_SourceCollider = value;
+
+                RemoveCollider();
+                AddCollider();
+
+            }
+            get { return m_SourceCollider; }
+        }
+
+        [SerializeProperty("distanceField")]
+        [FormerlySerializedAs("distanceField")]
+        [SerializeField] private ObiDistanceField m_DistanceField;
+
+        /// <summary>
+        /// The distance field used by this collider.
+        /// </summary>
+        /// Setting a distance field will cause the collider to ignore its <see cref="m_SourceCollider"/> and use the distance field instead.
+        public ObiDistanceField distanceField
+        {
+            set
+            {
+                if (m_DistanceField != value)
+                {
+                    m_DistanceField = value;
+                    CreateTracker();
+                }
+            }
+            get { return m_DistanceField; }
+        }
+
+        /**
+		 * Creates an OniColliderTracker of the appropiate type.
+   		 */
+        protected override void CreateTracker()
+        {
+
+            if (tracker != null)
+            {
+                tracker.Destroy();
+                tracker = null;
+            }
+
+            if (distanceField != null)
+                tracker = new ObiDistanceFieldShapeTracker(this, m_SourceCollider, distanceField);
+            else
+            {
+
+                if (m_SourceCollider is SphereCollider)
+                    tracker = new ObiSphereShapeTracker(this, (SphereCollider)m_SourceCollider);
+                else if (m_SourceCollider is BoxCollider)
+                    tracker = new ObiBoxShapeTracker(this, (BoxCollider)m_SourceCollider);
+                else if (m_SourceCollider is CapsuleCollider)
+                    tracker = new ObiCapsuleShapeTracker(this, (CapsuleCollider)m_SourceCollider);
+                else if (m_SourceCollider is CharacterController)
+                    tracker = new ObiCharacterControllerShapeTracker(this, (CharacterController)m_SourceCollider);
+                else if (m_SourceCollider is TerrainCollider)
+                    tracker = new ObiTerrainShapeTracker(this, (TerrainCollider)m_SourceCollider);
+                else if (m_SourceCollider is MeshCollider)
+                    tracker = new ObiMeshShapeTracker(this,(MeshCollider)m_SourceCollider);
+                else
+                    Debug.LogWarning("Collider type not supported by Obi.");
+
+            }
+
+        }
+
+        protected override Component GetUnityCollider(ref bool enabled)
+        {
+
+            if (m_SourceCollider != null)
+                enabled = m_SourceCollider.enabled;
+
+            return m_SourceCollider;
+        }
+
+        protected override void FindSourceCollider()
+        {
+            if (sourceCollider == null)
+                sourceCollider = GetComponent<Collider>();
+            else
+                AddCollider();
+        }
+
+    }
+}
+
diff --git a/Assets/Obi/Scripts/Common/Collisions/ObiCollider.cs.meta b/Assets/Obi/Scripts/Common/Collisions/ObiCollider.cs.meta
new file mode 100644
index 000000000..430e54775
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Collisions/ObiCollider.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 6757b231cedd544c583ef8aeaf773b2a
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {fileID: 2800000, guid: 6da22d6bce08a4f3d86542bb903de689, type: 3}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Collisions/ObiCollider2D.cs b/Assets/Obi/Scripts/Common/Collisions/ObiCollider2D.cs
new file mode 100644
index 000000000..2ebcd494f
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Collisions/ObiCollider2D.cs
@@ -0,0 +1,82 @@
+using UnityEngine;
+using System;
+using System.Collections;
+using System.Collections.Generic;
+
+namespace Obi
+{
+
+    /**
+	 * Add this component to any Collider that you want to be considered by Obi.
+	 */
+    [ExecuteInEditMode]
+    [RequireComponent(typeof(Collider2D))]
+    public class ObiCollider2D : ObiColliderBase
+    {
+        [SerializeProperty("SourceCollider")]
+        [SerializeField] private Collider2D sourceCollider;
+
+        public Collider2D SourceCollider
+        {
+            set
+            {
+                if (value.gameObject != this.gameObject)
+                {
+                    Debug.LogError("The Collider component must reside in the same GameObject as ObiCollider.");
+                }
+                else
+                {
+                    sourceCollider = value;
+
+                    RemoveCollider();
+                    AddCollider();
+                }
+            }
+            get { return sourceCollider; }
+        }
+
+        /**
+		 * Creates an OniColliderTracker of the appropiate type.
+   		 */
+        protected override void CreateTracker()
+        {
+
+            if (tracker != null)
+            {
+                tracker.Destroy();
+                tracker = null;
+            }
+
+            if (sourceCollider is CircleCollider2D)
+                tracker = new ObiCircleShapeTracker2D(this,(CircleCollider2D)sourceCollider);
+            else if (sourceCollider is BoxCollider2D)
+                tracker = new ObiBoxShapeTracker2D(this,(BoxCollider2D)sourceCollider);
+            else if (sourceCollider is CapsuleCollider2D)
+                tracker = new ObiCapsuleShapeTracker2D(this,(CapsuleCollider2D)sourceCollider);
+            else if (sourceCollider is EdgeCollider2D)
+                tracker = new ObiEdgeShapeTracker2D(this,(EdgeCollider2D)sourceCollider);
+            else
+                Debug.LogWarning("Collider2D type not supported by Obi.");
+
+        }
+
+        protected override Component GetUnityCollider(ref bool enabled)
+        {
+
+            if (sourceCollider != null)
+                enabled = sourceCollider.enabled;
+
+            return sourceCollider;
+        }
+
+        protected override void FindSourceCollider()
+        {
+            if (SourceCollider == null)
+                SourceCollider = GetComponent<Collider2D>();
+            else
+                AddCollider();
+        }
+
+    }
+}
+
diff --git a/Assets/Obi/Scripts/Common/Collisions/ObiCollider2D.cs.meta b/Assets/Obi/Scripts/Common/Collisions/ObiCollider2D.cs.meta
new file mode 100644
index 000000000..06928c2a9
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Collisions/ObiCollider2D.cs.meta
@@ -0,0 +1,12 @@
+fileFormatVersion: 2
+guid: 7f6a9934a1a0f44e89ccbb25355461bb
+timeCreated: 1503509235
+licenseType: Store
+MonoImporter:
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {fileID: 2800000, guid: e7185d0557058412db2fc499de3a0739, type: 3}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Collisions/ObiColliderBase.cs b/Assets/Obi/Scripts/Common/Collisions/ObiColliderBase.cs
new file mode 100644
index 000000000..7700c7bd8
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Collisions/ObiColliderBase.cs
@@ -0,0 +1,206 @@
+using UnityEngine;
+using System;
+
+namespace Obi
+{
+
+    /**
+	 * Implements common functionality for ObiCollider and ObiCollider2D.
+	 */
+    public abstract class ObiColliderBase : MonoBehaviour
+    {
+
+        [SerializeProperty("Thickness")]
+        [SerializeField] private float thickness = 0;
+
+        [SerializeProperty("CollisionMaterial")]
+        [SerializeField] private ObiCollisionMaterial material;
+
+        [SerializeField] private int filter = ObiUtils.MakeFilter(ObiUtils.CollideWithEverything, 0);
+
+        public ObiCollisionMaterial CollisionMaterial
+        {
+            set
+            {
+                material = value;
+            }
+            get { return material; }
+        }
+
+        public int Filter
+        {
+            set
+            {
+                if (filter != value)
+                {
+                    filter = value;
+                    dirty = true;
+                }
+            }
+            get { return filter; }
+        }
+
+        public float Thickness
+        {
+            set
+            {
+                if (!Mathf.Approximately(thickness, value))
+                {
+                    thickness = value;
+                    dirty = true;
+                }
+            }
+            get { return thickness; }
+        }
+
+        public ObiShapeTracker Tracker
+        {
+            get { return tracker; }
+        }
+
+        public ObiColliderHandle Handle
+        {
+            get
+            {
+                if (shapeHandle == null)
+                    FindSourceCollider();
+                return shapeHandle;
+            }
+        }
+
+        public IntPtr OniCollider
+        {
+            get
+            {
+                if (oniCollider == IntPtr.Zero)
+                    FindSourceCollider();
+
+                return oniCollider;
+            }
+        }
+
+        public ObiRigidbodyBase Rigidbody
+        {
+            get { return obiRigidbody; }
+        }
+
+        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*/
+
+        /**
+		 * Creates an OniColliderTracker of the appropiate type.
+   		 */
+        protected abstract void CreateTracker();
+
+        protected abstract Component GetUnityCollider(ref bool enabled);
+
+        protected abstract void FindSourceCollider();
+
+        protected void CreateRigidbody()
+        {
+
+            obiRigidbody = null;
+
+            // find the first rigidbody up our hierarchy:
+            Rigidbody rb = GetComponentInParent<Rigidbody>();
+            Rigidbody2D rb2D = GetComponentInParent<Rigidbody2D>();
+
+            // if we have an rigidbody above us, see if it has a ObiRigidbody component and add one if it doesn't:
+            if (rb != null)
+            {
+
+                obiRigidbody = rb.GetComponent<ObiRigidbody>();
+
+                if (obiRigidbody == null)
+                    obiRigidbody = rb.gameObject.AddComponent<ObiRigidbody>();
+
+            }
+            else if (rb2D != null)
+            {
+
+                obiRigidbody = rb2D.GetComponent<ObiRigidbody2D>();
+
+                if (obiRigidbody == null)
+                    obiRigidbody = rb2D.gameObject.AddComponent<ObiRigidbody2D>();
+
+            }
+
+        }
+
+        private void OnTransformParentChanged()
+        {
+            CreateRigidbody();
+        }
+
+        protected void AddCollider()
+        {
+
+            Component unityCollider = GetUnityCollider(ref wasUnityColliderEnabled);
+
+            if (unityCollider != null && (shapeHandle == null || !shapeHandle.isValid))
+            {
+                shapeHandle = ObiColliderWorld.GetInstance().CreateCollider();
+                shapeHandle.owner = this;
+
+                // Create shape tracker:
+                CreateTracker();
+
+                // Create rigidbody if necessary, and link ourselves to it:
+                CreateRigidbody();
+            }
+
+        }
+
+        protected void RemoveCollider()
+        {
+            ObiColliderWorld.GetInstance().DestroyCollider(shapeHandle);
+
+            // Destroy shape tracker:
+            if (tracker != null)
+            {
+                tracker.Destroy();
+                tracker = null;
+            }
+        }
+
+        /** 
+		 * Check if the collider transform or its shape have changed any relevant property, and update their Oni counterparts.
+		 */
+        public void UpdateIfNeeded()
+        {
+            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)
+                    tracker.UpdateIfNeeded();
+
+            }
+            // If the unity collider is null but its handle is valid, the unity collider has been destroyed.
+            else if (shapeHandle != null && shapeHandle.isValid)
+                RemoveCollider();
+        }
+
+        private void OnEnable()
+        {
+            // Initialize using the source collider specified by the user (or find an appropiate one).
+            FindSourceCollider();
+        }
+
+        private void OnDisable()
+        {
+            RemoveCollider();
+        }
+
+    }
+}
+
diff --git a/Assets/Obi/Scripts/Common/Collisions/ObiColliderBase.cs.meta b/Assets/Obi/Scripts/Common/Collisions/ObiColliderBase.cs.meta
new file mode 100644
index 000000000..7bc649a2f
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Collisions/ObiColliderBase.cs.meta
@@ -0,0 +1,12 @@
+fileFormatVersion: 2
+guid: 5a055da07c6fe4debad9680a4b251f7a
+timeCreated: 1503477796
+licenseType: Store
+MonoImporter:
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Collisions/ObiColliderWorld.cs b/Assets/Obi/Scripts/Common/Collisions/ObiColliderWorld.cs
new file mode 100644
index 000000000..233c5818e
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Collisions/ObiColliderWorld.cs
@@ -0,0 +1,434 @@
+using UnityEngine;
+using System;
+using System.Collections;
+using System.Collections.Generic;
+using System.Runtime.InteropServices;
+
+namespace Obi
+{
+    public class ObiResourceHandle<T> where T : class
+    {
+        public T owner = null;               /**< reference to the owner instance*/
+        public int index = -1;               /**< index of this resource in the collision world.*/
+        private int referenceCount = 0;      /**< amount of references to this handle. Can be used to clean up any associated resources after it reaches zero.*/
+
+        public bool isValid
+        {
+            get { return index >= 0; }
+        }
+
+        public void Invalidate()
+        {
+            index = -1;
+            referenceCount = 0;
+        }
+
+        public void Reference()
+        {
+            referenceCount++;
+        }
+
+        public bool Dereference()
+        {
+            return --referenceCount == 0;
+        }
+
+        public ObiResourceHandle(int index = -1)
+        {
+            this.index = index;
+            owner = null;
+        }
+    }
+
+    public class ObiColliderHandle : ObiResourceHandle<ObiColliderBase>
+    {
+        public ObiColliderHandle(int index = -1) : base(index) { }
+    }
+    public class ObiCollisionMaterialHandle : ObiResourceHandle<ObiCollisionMaterial>
+    {
+        public ObiCollisionMaterialHandle(int index = -1) : base(index) { }
+    }
+    public class ObiRigidbodyHandle : ObiResourceHandle<ObiRigidbodyBase>
+    {
+        public ObiRigidbodyHandle(int index = -1) : base(index) { }
+    }
+
+    [ExecuteInEditMode]
+    public class ObiColliderWorld
+    {
+        [NonSerialized] public List<IColliderWorldImpl> implementations;
+
+        [NonSerialized] public List<ObiColliderHandle> colliderHandles;           // list of collider handles, used by ObiCollider components to retrieve them.
+        [NonSerialized] public ObiNativeColliderShapeList colliderShapes;         // list of collider shapes.
+        [NonSerialized] public ObiNativeAabbList colliderAabbs;                   // list of collider bounds.
+        [NonSerialized] public ObiNativeAffineTransformList colliderTransforms;   // list of collider transforms.
+
+        [NonSerialized] public List<ObiCollisionMaterialHandle> materialHandles;
+        [NonSerialized] public ObiNativeCollisionMaterialList collisionMaterials; // list of collision materials.
+
+        [NonSerialized] public List<ObiRigidbodyHandle> rigidbodyHandles;         // list of rigidbody handles, used by ObiRigidbody components to retrieve them.
+        [NonSerialized] public ObiNativeRigidbodyList rigidbodies;                // list of rigidbodies.
+
+        [NonSerialized] public ObiTriangleMeshContainer triangleMeshContainer;
+        [NonSerialized] public ObiEdgeMeshContainer edgeMeshContainer;
+        [NonSerialized] public ObiDistanceFieldContainer distanceFieldContainer;
+        [NonSerialized] public ObiHeightFieldContainer heightFieldContainer;
+
+        private static ObiColliderWorld instance;
+
+        public static ObiColliderWorld GetInstance()
+        {
+            if (instance == null)
+            {
+                instance = new ObiColliderWorld();
+                instance.Initialize();
+            }
+            return instance;
+        }
+
+        private void Initialize()
+        {
+            // Allocate all lists:
+            if (implementations == null)
+                implementations = new List<IColliderWorldImpl>();
+
+            if (colliderHandles == null)
+                colliderHandles = new List<ObiColliderHandle>();
+            if (colliderShapes == null)
+                colliderShapes = new ObiNativeColliderShapeList();
+            if (colliderAabbs == null)
+                colliderAabbs = new ObiNativeAabbList();
+            if (colliderTransforms == null)
+                colliderTransforms = new ObiNativeAffineTransformList();
+
+            if (materialHandles == null)
+                materialHandles = new List<ObiCollisionMaterialHandle>();
+            if (collisionMaterials == null)
+                collisionMaterials = new ObiNativeCollisionMaterialList();
+
+            if (rigidbodyHandles == null)
+                rigidbodyHandles = new List<ObiRigidbodyHandle>();
+            if (rigidbodies == null)
+                rigidbodies = new ObiNativeRigidbodyList();
+
+            if (triangleMeshContainer == null)
+                triangleMeshContainer = new ObiTriangleMeshContainer();
+            if (edgeMeshContainer == null)
+                edgeMeshContainer = new ObiEdgeMeshContainer();
+            if (distanceFieldContainer == null)
+                distanceFieldContainer = new ObiDistanceFieldContainer();
+            if (heightFieldContainer == null)
+                heightFieldContainer = new ObiHeightFieldContainer();
+        }
+
+        private void Destroy()
+        {
+            for (int i = 0; i < implementations.Count; ++i)
+            {
+                implementations[i].SetColliders(colliderShapes, colliderAabbs, colliderTransforms, 0);
+                implementations[i].UpdateWorld(0);
+            }
+
+            // Invalidate all handles:
+            if (colliderHandles != null)
+                foreach (var handle in colliderHandles)
+                    handle.Invalidate();
+
+            if (rigidbodyHandles != null)
+                foreach (var handle in rigidbodyHandles)
+                    handle.Invalidate();
+
+            if (materialHandles != null)
+                foreach (var handle in materialHandles)
+                    handle.Invalidate();
+
+            // Dispose of all lists:
+            implementations = null;
+            colliderHandles = null;
+            rigidbodyHandles = null;
+            materialHandles = null;
+
+            if (colliderShapes != null)
+                colliderShapes.Dispose();
+            if (colliderAabbs != null)
+                colliderAabbs.Dispose();
+            if (colliderTransforms != null)
+                colliderTransforms.Dispose();
+
+            if (collisionMaterials != null)
+                collisionMaterials.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();
+
+            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)
+                Destroy();
+        }
+
+        public void RegisterImplementation(IColliderWorldImpl impl)
+        {
+            if (!implementations.Contains(impl))
+                implementations.Add(impl);
+        }
+
+        public void UnregisterImplementation(IColliderWorldImpl impl)
+        {
+            implementations.Remove(impl);
+            DestroyIfUnused();
+        }
+
+        public ObiColliderHandle CreateCollider()
+        {
+            var handle = new ObiColliderHandle(colliderHandles.Count);
+            colliderHandles.Add(handle);
+
+            colliderShapes.Add(new ColliderShape() { materialIndex = -1, rigidbodyIndex = -1});
+            colliderAabbs.Add(new Aabb());
+            colliderTransforms.Add(new AffineTransform());
+
+            return handle;
+        }
+
+        public ObiRigidbodyHandle CreateRigidbody()
+        {
+            var handle = new ObiRigidbodyHandle(rigidbodyHandles.Count);
+            rigidbodyHandles.Add(handle);
+
+            rigidbodies.Add(new ColliderRigidbody());
+
+            return handle;
+        }
+
+        public ObiCollisionMaterialHandle CreateCollisionMaterial()
+        {
+            var handle = new ObiCollisionMaterialHandle(materialHandles.Count);
+            materialHandles.Add(handle);
+
+            collisionMaterials.Add(new CollisionMaterial());
+
+            return handle;
+        }
+
+        public ObiTriangleMeshHandle GetOrCreateTriangleMesh(Mesh mesh)
+        {
+            return triangleMeshContainer.GetOrCreateTriangleMesh(mesh);
+        }
+
+        public void DestroyTriangleMesh(ObiTriangleMeshHandle meshHandle)
+        {
+            triangleMeshContainer.DestroyTriangleMesh(meshHandle);
+        }
+
+        public ObiEdgeMeshHandle GetOrCreateEdgeMesh(EdgeCollider2D collider)
+        {
+            return edgeMeshContainer.GetOrCreateEdgeMesh(collider);
+        }
+
+        public void DestroyEdgeMesh(ObiEdgeMeshHandle meshHandle)
+        {
+            edgeMeshContainer.DestroyEdgeMesh(meshHandle);
+        }
+
+        public ObiDistanceFieldHandle GetOrCreateDistanceField(ObiDistanceField df)
+        {
+            return distanceFieldContainer.GetOrCreateDistanceField(df);
+        }
+
+        public void DestroyDistanceField(ObiDistanceFieldHandle dfHandle)
+        {
+            distanceFieldContainer.DestroyDistanceField(dfHandle);
+        }
+
+        public ObiHeightFieldHandle GetOrCreateHeightField(TerrainData hf)
+        {
+            return heightFieldContainer.GetOrCreateHeightField(hf);
+        }
+
+        public void DestroyHeightField(ObiHeightFieldHandle hfHandle)
+        {
+            heightFieldContainer.DestroyHeightField(hfHandle);
+        }
+
+        public void DestroyCollider(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--;
+
+                DestroyIfUnused();
+            }
+
+        }
+
+        public void DestroyRigidbody(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();
+            }
+
+        }
+
+        public void DestroyCollisionMaterial(ObiCollisionMaterialHandle handle)
+        {
+            if (collisionMaterials != null && handle != null && handle.isValid && handle.index < materialHandles.Count)
+            {
+                int index = handle.index;
+                int lastIndex = materialHandles.Count - 1;
+
+                // swap all collider info:
+                materialHandles.Swap(index, lastIndex);
+                collisionMaterials.Swap(index, lastIndex);
+
+                // update the index of the handle we swapped with:
+                materialHandles[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:
+                materialHandles.RemoveAt(lastIndex);
+                collisionMaterials.count--;
+
+                DestroyIfUnused();
+            }
+        }
+
+        public void UpdateColliders()
+        {
+            // update all colliders:
+            for (int i = 0; i < colliderHandles.Count; ++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;
+
+                for (int i = 0; i < rigidbodyHandles.Count; ++i)
+                {
+                    Vector4 linearDelta = Vector4.zero;
+                    Vector4 angularDelta = Vector4.zero;
+
+                    foreach (ObiSolver solver in solvers)
+                    {
+                        if (solver != null && solver.initialized)
+                        {
+                            linearDelta += solver.rigidbodyLinearDeltas[i] * rcpCount;
+                            angularDelta += solver.rigidbodyAngularDeltas[i] * rcpCount;
+                        }
+                    }
+
+                    // update rigidbody velocities
+                    rigidbodyHandles[i].owner.UpdateVelocities(linearDelta, angularDelta);
+                }
+            }
+        }
+
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Collisions/ObiColliderWorld.cs.meta b/Assets/Obi/Scripts/Common/Collisions/ObiColliderWorld.cs.meta
new file mode 100644
index 000000000..e2753233a
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Collisions/ObiColliderWorld.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 72e79cbbc15cc42e1b3e0db8936d18a5
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Collisions/ObiColliderWorld.cs.orig b/Assets/Obi/Scripts/Common/Collisions/ObiColliderWorld.cs.orig
new file mode 100644
index 000000000..46d5419e8
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Collisions/ObiColliderWorld.cs.orig
@@ -0,0 +1,452 @@
+using UnityEngine;
+using System;
+using System.Collections;
+using System.Collections.Generic;
+using System.Runtime.InteropServices;
+
+namespace Obi
+{
+    public class ObiResourceHandle<T> where T : class
+    {
+        public T owner = null;               /**< reference to the owner instance*/
+        public int index = -1;               /**< index of this resource in the collision world.*/
+        private int referenceCount = 0;      /**< amount of references to this handle. Can be used to clean up any associated resources after it reaches zero.*/
+
+        public bool isValid
+        {
+            get { return index >= 0; }
+        }
+
+        public void Invalidate()
+        {
+            index = -1;
+            referenceCount = 0;
+        }
+
+        public void Reference()
+        {
+            referenceCount++;
+        }
+
+        public bool Dereference()
+        {
+            return --referenceCount == 0;
+        }
+
+        public ObiResourceHandle(int index = -1)
+        {
+            this.index = index;
+            owner = null;
+        }
+    }
+
+    public class ObiColliderHandle : ObiResourceHandle<ObiColliderBase>
+    {
+        public ObiColliderHandle(int index = -1) : base(index) { }
+    }
+    public class ObiCollisionMaterialHandle : ObiResourceHandle<ObiCollisionMaterial>
+    {
+        public ObiCollisionMaterialHandle(int index = -1) : base(index) { }
+    }
+    public class ObiRigidbodyHandle : ObiResourceHandle<ObiRigidbodyBase>
+    {
+        public ObiRigidbodyHandle(int index = -1) : base(index) { }
+    }
+
+    [ExecuteInEditMode]
+    public class ObiColliderWorld
+    {
+        [NonSerialized] public List<IColliderWorldImpl> implementations;
+
+        [NonSerialized] public List<ObiColliderHandle> colliderHandles;           // list of collider handles, used by ObiCollider components to retrieve them.
+        [NonSerialized] public ObiNativeColliderShapeList colliderShapes;         // list of collider shapes.
+        [NonSerialized] public ObiNativeAabbList colliderAabbs;                   // list of collider bounds.
+        [NonSerialized] public ObiNativeAffineTransformList colliderTransforms;   // list of collider transforms.
+
+        [NonSerialized] public List<ObiCollisionMaterialHandle> materialHandles;
+        [NonSerialized] public ObiNativeCollisionMaterialList collisionMaterials; // list of collision materials.
+
+        [NonSerialized] public List<ObiRigidbodyHandle> rigidbodyHandles;         // list of rigidbody handles, used by ObiRigidbody components to retrieve them.
+        [NonSerialized] public ObiNativeRigidbodyList rigidbodies;                // list of rigidbodies.
+
+        [NonSerialized] public ObiTriangleMeshContainer triangleMeshContainer;
+        [NonSerialized] public ObiEdgeMeshContainer edgeMeshContainer;
+        [NonSerialized] public ObiDistanceFieldContainer distanceFieldContainer;
+        [NonSerialized] public ObiHeightFieldContainer heightFieldContainer;
+
+        private static ObiColliderWorld instance;
+
+        public static ObiColliderWorld GetInstance()
+        {
+            if (instance == null)
+            {
+                instance = new ObiColliderWorld();
+                instance.Initialize();
+            }
+            return instance;
+        }
+
+        private void Initialize()
+        {
+            // Allocate all lists:
+            if (implementations == null)
+                implementations = new List<IColliderWorldImpl>();
+
+            if (colliderHandles == null)
+                colliderHandles = new List<ObiColliderHandle>();
+            if (colliderShapes == null)
+                colliderShapes = new ObiNativeColliderShapeList();
+            if (colliderAabbs == null)
+                colliderAabbs = new ObiNativeAabbList();
+            if (colliderTransforms == null)
+                colliderTransforms = new ObiNativeAffineTransformList();
+
+            if (materialHandles == null)
+                materialHandles = new List<ObiCollisionMaterialHandle>();
+            if (collisionMaterials == null)
+                collisionMaterials = new ObiNativeCollisionMaterialList();
+
+            if (rigidbodyHandles == null)
+                rigidbodyHandles = new List<ObiRigidbodyHandle>();
+            if (rigidbodies == null)
+                rigidbodies = new ObiNativeRigidbodyList();
+
+            if (triangleMeshContainer == null)
+                triangleMeshContainer = new ObiTriangleMeshContainer();
+            if (edgeMeshContainer == null)
+                edgeMeshContainer = new ObiEdgeMeshContainer();
+            if (distanceFieldContainer == null)
+                distanceFieldContainer = new ObiDistanceFieldContainer();
+            if (heightFieldContainer == null)
+                heightFieldContainer = new ObiHeightFieldContainer();
+        }
+
+        private void Destroy()
+        {
+            for (int i = 0; i < implementations.Count; ++i)
+            {
+                implementations[i].SetColliders(colliderShapes, colliderAabbs, colliderTransforms, 0);
+                implementations[i].UpdateWorld(0);
+            }
+
+            // Invalidate all handles:
+            if (colliderHandles != null)
+                foreach (var handle in colliderHandles)
+                    handle.Invalidate();
+
+            if (rigidbodyHandles != null)
+                foreach (var handle in rigidbodyHandles)
+                    handle.Invalidate();
+
+            if (materialHandles != null)
+                foreach (var handle in materialHandles)
+                    handle.Invalidate();
+
+            // Dispose of all lists:
+            implementations = null;
+            colliderHandles = null;
+            rigidbodyHandles = null;
+            materialHandles = null;
+
+            if (colliderShapes != null)
+                colliderShapes.Dispose();
+            if (colliderAabbs != null)
+                colliderAabbs.Dispose();
+            if (colliderTransforms != null)
+                colliderTransforms.Dispose();
+
+            if (collisionMaterials != null)
+                collisionMaterials.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();
+
+            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)
+                Destroy();
+        }
+
+        public void RegisterImplementation(IColliderWorldImpl impl)
+        {
+            if (!implementations.Contains(impl))
+                implementations.Add(impl);
+        }
+
+        public void UnregisterImplementation(IColliderWorldImpl impl)
+        {
+            implementations.Remove(impl);
+            DestroyIfUnused();
+        }
+
+        public ObiColliderHandle CreateCollider()
+        {
+            var handle = new ObiColliderHandle(colliderHandles.Count);
+            colliderHandles.Add(handle);
+
+            colliderShapes.Add(new ColliderShape());
+            colliderAabbs.Add(new Aabb());
+            colliderTransforms.Add(new AffineTransform());
+
+            return handle;
+        }
+
+        public ObiRigidbodyHandle CreateRigidbody()
+        {
+            var handle = new ObiRigidbodyHandle(rigidbodyHandles.Count);
+            rigidbodyHandles.Add(handle);
+
+            rigidbodies.Add(new ColliderRigidbody());
+
+            return handle;
+        }
+
+        public ObiCollisionMaterialHandle CreateCollisionMaterial()
+        {
+            var handle = new ObiCollisionMaterialHandle(materialHandles.Count);
+            materialHandles.Add(handle);
+
+            collisionMaterials.Add(new CollisionMaterial());
+
+            return handle;
+        }
+
+        public ObiTriangleMeshHandle GetOrCreateTriangleMesh(Mesh mesh)
+        {
+            return triangleMeshContainer.GetOrCreateTriangleMesh(mesh);
+        }
+
+        public void DestroyTriangleMesh(ObiTriangleMeshHandle meshHandle)
+        {
+            triangleMeshContainer.DestroyTriangleMesh(meshHandle);
+        }
+
+        public ObiEdgeMeshHandle GetOrCreateEdgeMesh(EdgeCollider2D collider)
+        {
+            return edgeMeshContainer.GetOrCreateEdgeMesh(collider);
+        }
+
+        public void DestroyEdgeMesh(ObiEdgeMeshHandle meshHandle)
+        {
+            edgeMeshContainer.DestroyEdgeMesh(meshHandle);
+        }
+
+        public ObiDistanceFieldHandle GetOrCreateDistanceField(ObiDistanceField df)
+        {
+            return distanceFieldContainer.GetOrCreateDistanceField(df);
+        }
+
+        public void DestroyDistanceField(ObiDistanceFieldHandle dfHandle)
+        {
+            distanceFieldContainer.DestroyDistanceField(dfHandle);
+        }
+
+        public ObiHeightFieldHandle GetOrCreateHeightField(TerrainData hf)
+        {
+            return heightFieldContainer.GetOrCreateHeightField(hf);
+        }
+
+        public void DestroyHeightField(ObiHeightFieldHandle hfHandle)
+        {
+            heightFieldContainer.DestroyHeightField(hfHandle);
+        }
+
+        public void DestroyCollider(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--;
+
+                DestroyIfUnused();
+            }
+
+        }
+
+        public void DestroyRigidbody(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();
+            }
+
+        }
+
+        public void DestroyCollisionMaterial(ObiCollisionMaterialHandle handle)
+        {
+            if (collisionMaterials != null && handle != null && handle.isValid && handle.index < materialHandles.Count)
+            {
+                int index = handle.index;
+                int lastIndex = materialHandles.Count - 1;
+
+                // swap all collider info:
+                materialHandles.Swap(index, lastIndex);
+                collisionMaterials.Swap(index, lastIndex);
+
+                // update the index of the handle we swapped with:
+                materialHandles[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:
+                materialHandles.RemoveAt(lastIndex);
+                collisionMaterials.count--;
+
+                DestroyIfUnused();
+            }
+        }
+
+        public void UpdateColliders()
+        {
+            // update all colliders:
+            for (int i = 0; i < colliderHandles.Count; ++i)
+                colliderHandles[i].owner.UpdateIfNeeded();
+<<<<<<< HEAD
+=======
+
+            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();
+                }
+            }
+>>>>>>> 56Hotfix
+        }
+
+        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.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)
+            {
+                // 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) count++;
+
+            if (count > 0)
+            {
+                // we want to average the deltas applied by all solvers, so calculate 1/solverCount.
+                float rcpCount = 1.0f / count;
+
+                for (int i = 0; i < rigidbodyHandles.Count; ++i)
+                {
+                    Vector4 linearDelta = Vector4.zero;
+                    Vector4 angularDelta = Vector4.zero;
+
+                    foreach (ObiSolver solver in solvers)
+                    {
+                        if (solver != null)
+                        {
+                            linearDelta += solver.rigidbodyLinearDeltas[i] * rcpCount;
+                            angularDelta += solver.rigidbodyAngularDeltas[i] * rcpCount;
+                        }
+                    }
+
+                    // update rigidbody velocities
+                    rigidbodyHandles[i].owner.UpdateVelocities(linearDelta, angularDelta);
+                }
+            }
+        }
+
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Collisions/ObiColliderWorld.cs.orig.meta b/Assets/Obi/Scripts/Common/Collisions/ObiColliderWorld.cs.orig.meta
new file mode 100644
index 000000000..e1c169cde
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Collisions/ObiColliderWorld.cs.orig.meta
@@ -0,0 +1,7 @@
+fileFormatVersion: 2
+guid: 663bb98786e3a46a3b909fa8d01073f2
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Collisions/ObiCollisionMaterial.cs b/Assets/Obi/Scripts/Common/Collisions/ObiCollisionMaterial.cs
new file mode 100644
index 000000000..b20a92eb4
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Collisions/ObiCollisionMaterial.cs
@@ -0,0 +1,80 @@
+using UnityEngine;
+using System;
+using System.Collections;
+
+namespace Obi{
+
+    /**
+     * Holds information about the physics properties of a particle or collider, and how it should react to collisions.
+     */
+    [CreateAssetMenu(fileName = "collision material", menuName = "Obi/Collision Material", order = 180)]
+    public class ObiCollisionMaterial : ScriptableObject
+    {
+        protected ObiCollisionMaterialHandle materialHandle;
+
+	    public float dynamicFriction;
+	    public float staticFriction;
+	    public float stickiness;
+	    public float stickDistance;
+	
+	    public Oni.MaterialCombineMode frictionCombine;
+	    public Oni.MaterialCombineMode stickinessCombine;
+
+	    [Space]
+	    public bool rollingContacts = false;
+
+	    [Indent()]
+	    [VisibleIf("rollingContacts")]
+	    public float rollingFriction;
+
+        public ObiCollisionMaterialHandle handle
+        {
+            get
+            {
+                CreateMaterialIfNeeded();
+                return materialHandle;
+            }
+        }
+
+	    public void OnEnable()
+        {
+            UpdateMaterial();
+        }
+
+	    public void OnDisable()
+        {
+            ObiColliderWorld.GetInstance().DestroyCollisionMaterial(materialHandle);
+        }
+
+        public void OnValidate()
+        {
+            // we can't create GameObjects in OnValidate(), so make sure the colliderworld already exists.
+            UpdateMaterial();
+        }
+
+        public void UpdateMaterial()
+        {
+            var world = ObiColliderWorld.GetInstance();
+            var mat = world.collisionMaterials[handle.index];
+            mat.FromObiCollisionMaterial(this);
+            world.collisionMaterials[handle.index] = mat;
+        }
+
+        protected void CreateMaterialIfNeeded()
+        {
+            if (materialHandle == null || !materialHandle.isValid)
+            {
+                var world = ObiColliderWorld.GetInstance();
+
+                // create the material:
+                materialHandle = world.CreateCollisionMaterial();
+                materialHandle.owner = this;
+
+                // copy material data from this material (use materialHandle instead of handle, to not retrigger CreateMaterialIfNeeded)
+                var mat = world.collisionMaterials[materialHandle.index];
+                mat.FromObiCollisionMaterial(this);
+                world.collisionMaterials[materialHandle.index] = mat;
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Collisions/ObiCollisionMaterial.cs.meta b/Assets/Obi/Scripts/Common/Collisions/ObiCollisionMaterial.cs.meta
new file mode 100644
index 000000000..bf25cb7db
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Collisions/ObiCollisionMaterial.cs.meta
@@ -0,0 +1,12 @@
+fileFormatVersion: 2
+guid: 5b9c84cdb747944209b1c8753933c5db
+timeCreated: 1483360014
+licenseType: Store
+MonoImporter:
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {fileID: 2800000, guid: e101664ae1c454916896aaaa3199221c, type: 3}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Collisions/ObiDistanceField.cs b/Assets/Obi/Scripts/Common/Collisions/ObiDistanceField.cs
new file mode 100644
index 000000000..3e5e315cd
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Collisions/ObiDistanceField.cs
@@ -0,0 +1,129 @@
+using UnityEngine;
+using System;
+using System.Collections;
+using System.Collections.Generic;
+
+namespace Obi{
+
+    [CreateAssetMenu(fileName = "distance field", menuName = "Obi/Distance Field", order = 181)]
+	[ExecuteInEditMode]	
+	public class ObiDistanceField : ScriptableObject
+	{
+		[SerializeProperty("InputMesh")]
+		[SerializeField] private Mesh input = null;
+
+		[HideInInspector][SerializeField] private float minNodeSize = 0;
+		[HideInInspector][SerializeField] private Bounds bounds = new Bounds(); 
+		[HideInInspector] public List<DFNode> nodes;		/**< list of distance field nodes*/
+
+		[Range(0.0000001f,0.1f)]
+		public float maxError = 0.01f;
+
+		[Range(1, 8)]
+		public int maxDepth = 5;
+
+		public bool Initialized{
+			get{return nodes != null;}
+		}
+
+		public Bounds FieldBounds {
+			get{return bounds;}
+		}
+
+		public float EffectiveSampleSize {
+			get{return minNodeSize;}
+		}
+
+		public Mesh InputMesh{
+			set{
+				if (value != input){
+					Reset();
+					input = value;
+				}
+			}
+			get{return input;}
+		}
+
+		public void Reset(){
+			nodes = null;
+			if (input != null)
+				bounds = input.bounds;
+		}
+
+		public IEnumerator Generate(){
+
+			Reset();
+
+			if (input == null)
+				yield break;
+
+            int[] tris = input.triangles;
+            Vector3[] verts = input.vertices;
+
+            nodes = new List<DFNode>();
+            var buildingCoroutine = ASDF.Build(maxError, maxDepth, verts, tris, nodes);
+
+            while (buildingCoroutine.MoveNext())
+                yield return new CoroutineJob.ProgressInfo("Processed nodes: " + nodes.Count, 1);
+
+            // calculate min node size;
+            minNodeSize = float.PositiveInfinity;
+            for (int j = 0; j < nodes.Count; ++j)
+                minNodeSize = Mathf.Min(minNodeSize, nodes[j].center[3] * 2);
+
+            // get bounds:
+            float max = Mathf.Max(bounds.size[0], Mathf.Max(bounds.size[1], bounds.size[2])) + 0.2f;
+            bounds.size = new Vector3(max, max, max);
+
+        }
+
+		/**
+		 * Return a volume texture containing a representation of this distance field.
+		 */
+		public Texture3D GetVolumeTexture(int size){
+
+			if (!Initialized)
+				return null;
+	
+			// upper bound of the distance from any point inside the bounds to the surface.
+			float maxDist = Mathf.Max(bounds.size.x,bounds.size.y,bounds.size.z);				
+	
+			float spacingX = bounds.size.x / (float)size;
+			float spacingY = bounds.size.y / (float)size;
+			float spacingZ = bounds.size.z / (float)size;
+	
+			Texture3D tex = new Texture3D (size, size, size, TextureFormat.Alpha8, false);
+	
+			var cols = new Color[size*size*size];
+			int idx = 0;
+			Color c = Color.black;
+	
+			for (int z = 0; z < size; ++z)
+			{
+				for (int y = 0; y < size; ++y)
+				{
+					for (int x = 0; x < size; ++x, ++idx)
+					{
+						Vector3 samplePoint = bounds.min + new Vector3(spacingX * x + spacingX*0.5f,
+						                                 			   spacingY * y + spacingY*0.5f,
+						                                  			   spacingZ * z + spacingZ*0.5f);
+
+                        float distance = ASDF.Sample(nodes,samplePoint);
+	
+						if (distance >= 0)
+							c.a = distance.Remap(0,maxDist*0.1f,0.5f,1);
+						else 
+							c.a = distance.Remap(-maxDist*0.1f,0,0,0.5f);
+	
+						cols[idx] = c;
+					}
+				}
+			}
+			tex.SetPixels (cols);
+			tex.Apply ();
+			return tex;
+	
+		}
+	}
+}
+
diff --git a/Assets/Obi/Scripts/Common/Collisions/ObiDistanceField.cs.meta b/Assets/Obi/Scripts/Common/Collisions/ObiDistanceField.cs.meta
new file mode 100644
index 000000000..9f0681502
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Collisions/ObiDistanceField.cs.meta
@@ -0,0 +1,12 @@
+fileFormatVersion: 2
+guid: d31207380edf34b1b84ce50af22f2356
+timeCreated: 1516041748
+licenseType: Store
+MonoImporter:
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {fileID: 2800000, guid: a83ed40096e3a40efa85f35b091e6298, type: 3}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Collisions/ObiDistanceFieldContainer.cs b/Assets/Obi/Scripts/Common/Collisions/ObiDistanceFieldContainer.cs
new file mode 100644
index 000000000..9d6fde096
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Collisions/ObiDistanceFieldContainer.cs
@@ -0,0 +1,103 @@
+using System;
+using System.Collections.Generic;
+using UnityEngine;
+
+namespace Obi
+{
+
+    public class ObiDistanceFieldHandle : ObiResourceHandle<ObiDistanceField>
+    {
+        public ObiDistanceFieldHandle(ObiDistanceField field, int index = -1) : base(index) { owner = field; }
+    }
+
+    public struct DistanceFieldHeader //we need to use the header in the backend, so it must be a struct.
+    {
+        public int firstNode;
+        public int nodeCount;
+  
+        public DistanceFieldHeader(int firstNode, int nodeCount)
+        {
+            this.firstNode = firstNode;
+            this.nodeCount = nodeCount;
+        }
+    }
+
+    public class ObiDistanceFieldContainer
+    {
+        public Dictionary<ObiDistanceField, ObiDistanceFieldHandle> handles;  /**< dictionary indexed by asset, so that we don't generate data for the same distance field multiple times.*/
+
+        public ObiNativeDistanceFieldHeaderList headers; /**< One header per distance field.*/
+        public ObiNativeDFNodeList dfNodes;
+
+        public ObiDistanceFieldContainer()
+        {
+            handles = new Dictionary<ObiDistanceField, ObiDistanceFieldHandle>();
+            headers = new ObiNativeDistanceFieldHeaderList();
+            dfNodes = new ObiNativeDFNodeList();
+        }
+
+        public ObiDistanceFieldHandle GetOrCreateDistanceField(ObiDistanceField source)
+        {
+            ObiDistanceFieldHandle handle;
+
+            if (!handles.TryGetValue(source, out handle))
+            {
+
+                handle = new ObiDistanceFieldHandle(source, headers.count);
+                handles.Add(source, handle);
+                headers.Add(new DistanceFieldHeader(dfNodes.count, source.nodes.Count));
+
+                dfNodes.AddRange(source.nodes);
+            }
+
+            return handle;
+        }
+
+        public void DestroyDistanceField(ObiDistanceFieldHandle handle)
+        {
+            if (handle != null && handle.isValid && handle.index < handles.Count)
+            {
+                var header = headers[handle.index];
+
+                // Update headers:
+                for (int i = 0; i < headers.count; ++i)
+                {
+                    var h = headers[i];
+                    if (h.firstNode > header.firstNode)
+                    {
+                        h.firstNode -= header.nodeCount;
+                        headers[i] = h;
+                    }
+                }
+
+                // update handles:
+                foreach (var pair in handles)
+                {
+                    if (pair.Value.index > handle.index)
+                        pair.Value.index--;
+                }
+
+                // Remove nodes
+                dfNodes.RemoveRange(header.firstNode, header.nodeCount);
+
+                // remove header:
+                headers.RemoveAt(handle.index);
+
+                // remove the mesh from the dictionary:
+                handles.Remove(handle.owner);
+
+                // Invalidate our handle:
+                handle.Invalidate();
+            }
+        }
+
+        public void Dispose()
+        {
+            if (headers != null)
+                headers.Dispose();
+            if (dfNodes != null)
+                dfNodes.Dispose();
+        }
+
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Collisions/ObiDistanceFieldContainer.cs.meta b/Assets/Obi/Scripts/Common/Collisions/ObiDistanceFieldContainer.cs.meta
new file mode 100644
index 000000000..6d49dbfd5
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Collisions/ObiDistanceFieldContainer.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: e8fb69dfa0ce5432d83da86e05e31e12
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Collisions/ObiEdgeMeshContainer.cs b/Assets/Obi/Scripts/Common/Collisions/ObiEdgeMeshContainer.cs
new file mode 100644
index 000000000..d4bc3e7e5
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Collisions/ObiEdgeMeshContainer.cs
@@ -0,0 +1,163 @@
+using System;
+using System.Collections.Generic;
+using UnityEngine;
+
+namespace Obi
+{
+    public struct Edge : IBounded
+    {
+        public int i1;
+        public int i2;
+
+        Aabb b;
+
+        public Edge(int i1, int i2, Vector2 v1, Vector2 v2)
+        {
+            this.i1 = i1;
+            this.i2 = i2;
+            b = new Aabb(v1);
+            b.Encapsulate(v2);
+        }
+
+        public Aabb GetBounds()
+        {
+            return b;
+        }
+    }
+
+    public class ObiEdgeMeshHandle : ObiResourceHandle<EdgeCollider2D>
+    {
+        public ObiEdgeMeshHandle(EdgeCollider2D collider, int index = -1) : base(index) { owner = collider; }
+    }
+
+    public struct EdgeMeshHeader
+    {
+        public int firstNode;
+        public int nodeCount;
+        public int firstEdge;
+        public int edgeCount;
+        public int firstVertex;
+        public int vertexCount;
+
+        public EdgeMeshHeader(int firstNode, int nodeCount, int firstTriangle, int triangleCount, int firstVertex, int vertexCount)
+        {
+            this.firstNode = firstNode;
+            this.nodeCount = nodeCount;
+            this.firstEdge = firstTriangle;
+            this.edgeCount = triangleCount;
+            this.firstVertex = firstVertex;
+            this.vertexCount = vertexCount;
+        }
+    }
+
+    public class ObiEdgeMeshContainer
+    {
+        public Dictionary<EdgeCollider2D, ObiEdgeMeshHandle> handles;  /**< dictionary indexed by mesh, so that we don't generate data for the same mesh multiple times.*/
+
+        public ObiNativeEdgeMeshHeaderList headers;
+        public ObiNativeBIHNodeList bihNodes;
+        public ObiNativeEdgeList edges;
+        public ObiNativeVector2List vertices;
+
+        public ObiEdgeMeshContainer()
+        {
+            handles = new Dictionary<EdgeCollider2D, ObiEdgeMeshHandle>();
+            headers = new ObiNativeEdgeMeshHeaderList();
+            bihNodes = new ObiNativeBIHNodeList();
+            edges = new ObiNativeEdgeList();
+            vertices = new ObiNativeVector2List();
+        }
+
+        public ObiEdgeMeshHandle GetOrCreateEdgeMesh(EdgeCollider2D source)
+        {
+            ObiEdgeMeshHandle handle;
+
+            if (!handles.TryGetValue(source, out handle))
+            {
+                Vector2[] sourceVertices = source.points;
+                int[] sourceEdges = new int[source.edgeCount * 2];
+
+                for (int i = 0; i < source.edgeCount; ++i)
+                {
+                    sourceEdges[i * 2] = i;
+                    sourceEdges[i * 2 + 1] = i + 1;
+                }
+
+                // Build a bounding interval hierarchy from the edges:
+                IBounded[] t = new IBounded[source.edgeCount];
+                for (int i = 0; i < source.edgeCount; ++i)
+                {
+                    t[i] = new Edge(i, i+1, sourceVertices[i], sourceVertices[i+1]);
+                }
+                var sourceBih = BIH.Build(ref t);
+
+                Edge[] edgs = Array.ConvertAll(t, x => (Edge)x);
+
+                handle = new ObiEdgeMeshHandle(source, headers.count);
+                handles.Add(source, handle);
+                headers.Add(new EdgeMeshHeader(bihNodes.count, sourceBih.Length, edges.count, edgs.Length, vertices.count, sourceVertices.Length));
+
+                bihNodes.AddRange(sourceBih);
+                edges.AddRange(edgs);
+                vertices.AddRange(sourceVertices);
+            }
+
+            return handle;
+        }
+
+        public void DestroyEdgeMesh(ObiEdgeMeshHandle handle)
+        {
+            if (handle != null && handle.isValid && handle.index < handles.Count)
+            {
+                var header = headers[handle.index];
+
+                // Update headers:
+                for (int i = 0; i < headers.count; ++i)
+                {
+                    var h = headers[i];
+                    if (h.firstEdge > header.firstEdge)
+                    {
+                        h.firstNode -= header.nodeCount;
+                        h.firstEdge -= header.edgeCount;
+                        h.firstVertex -= header.vertexCount;
+                        headers[i] = h;
+                    }
+                }
+
+                // update handles:
+                foreach (var pair in handles)
+                {
+                    if (pair.Value.index > handle.index)
+                        pair.Value.index--;
+                }
+
+                // Remove nodes, triangles and vertices
+                bihNodes.RemoveRange(header.firstNode, header.nodeCount);
+                edges.RemoveRange(header.firstEdge, header.edgeCount);
+                vertices.RemoveRange(header.firstVertex, header.vertexCount);
+
+                // remove header:
+                headers.RemoveAt(handle.index);
+
+                // remove the collider from the dictionary:
+                handles.Remove(handle.owner);
+
+                // Invalidate our handle:
+                handle.Invalidate();
+            }
+        }
+
+        public void Dispose()
+        {
+            if (headers != null)
+                headers.Dispose();
+            if (edges != null)
+                edges.Dispose();
+            if (vertices != null)
+                vertices.Dispose();
+            if (bihNodes != null)
+                bihNodes.Dispose();
+        }
+
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Collisions/ObiEdgeMeshContainer.cs.meta b/Assets/Obi/Scripts/Common/Collisions/ObiEdgeMeshContainer.cs.meta
new file mode 100644
index 000000000..8e1c4df1b
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Collisions/ObiEdgeMeshContainer.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 26d97a1797c5d43a69fc77f77c37a3b6
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Collisions/ObiHeightFieldContainer.cs b/Assets/Obi/Scripts/Common/Collisions/ObiHeightFieldContainer.cs
new file mode 100644
index 000000000..75131e753
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Collisions/ObiHeightFieldContainer.cs
@@ -0,0 +1,114 @@
+using System;
+using System.Collections.Generic;
+using UnityEngine;
+
+namespace Obi
+{
+    public class ObiHeightFieldHandle : ObiResourceHandle<TerrainData>
+    {
+        public ObiHeightFieldHandle(TerrainData data, int index = -1) : base(index) { owner = data; }
+    }
+
+    public struct HeightFieldHeader //we need to use the header in the backend, so it must be a struct.
+    {
+        public int firstSample;
+        public int sampleCount;
+
+        public HeightFieldHeader(int firstSample, int sampleCount)
+        {
+            this.firstSample = firstSample;
+            this.sampleCount = sampleCount;
+        }
+    }
+
+    public class ObiHeightFieldContainer
+    {
+        public Dictionary<TerrainData, ObiHeightFieldHandle> handles;  /**< dictionary indexed by asset, so that we don't generate data for the same distance field multiple times.*/
+
+        public ObiNativeHeightFieldHeaderList headers; /**< One header per distance field.*/
+        public ObiNativeFloatList samples;
+
+        public ObiHeightFieldContainer()
+        {
+            handles = new Dictionary<TerrainData, ObiHeightFieldHandle>();
+            headers = new ObiNativeHeightFieldHeaderList();
+            samples = new ObiNativeFloatList();
+        }
+
+        public ObiHeightFieldHandle GetOrCreateHeightField(TerrainData source)
+        {
+            ObiHeightFieldHandle handle;
+
+            if (!handles.TryGetValue(source, out handle))
+            {
+                // Get the heighfield into a 1d array:
+                int width = source.heightmapResolution;
+                int height = source.heightmapResolution;
+
+                float[,] heights = source.GetHeights(0, 0, width, height);
+                bool[,] holes = source.GetHoles(0, 0, width-1, height-1);
+
+                float[] buffer = new float[width * height];
+
+                for (int y = 0; y < height; ++y)
+                    for (int x = 0; x < width; ++x)
+                        buffer[y * width + x] = heights[y, x] * (holes[Mathf.Min(y,height - 2), Mathf.Min(x, width - 2)] ? 1:-1);
+
+                handle = new ObiHeightFieldHandle(source, headers.count);
+                handles.Add(source, handle);
+                headers.Add(new HeightFieldHeader(samples.count, buffer.Length));
+
+                samples.AddRange(buffer);
+            }
+
+            return handle;
+        }
+
+        public void DestroyHeightField(ObiHeightFieldHandle handle)
+        {
+            if (handle != null && handle.isValid && handle.index < handles.Count)
+            {
+                var header = headers[handle.index];
+
+                // Update headers:
+                for (int i = 0; i < headers.count; ++i)
+                {
+                    var h = headers[i];
+                    if (h.firstSample > header.firstSample)
+                    {
+                        h.firstSample -= header.sampleCount;
+                        headers[i] = h;
+                    }
+                }
+
+                // update handles:
+                foreach (var pair in handles)
+                {
+                    if (pair.Value.index > handle.index)
+                        pair.Value.index--;
+                }
+
+                // Remove nodes
+                samples.RemoveRange(header.firstSample, header.sampleCount);
+
+                // remove header:
+                headers.RemoveAt(handle.index);
+
+                // remove the heightfield from the dictionary:
+                handles.Remove(handle.owner);
+
+                // Invalidate our handle:
+                handle.Invalidate();
+            }
+        }
+
+        public void Dispose()
+        {
+            if (headers != null)
+                headers.Dispose();
+            if (samples != null)
+                samples.Dispose();
+        }
+
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Collisions/ObiHeightFieldContainer.cs.meta b/Assets/Obi/Scripts/Common/Collisions/ObiHeightFieldContainer.cs.meta
new file mode 100644
index 000000000..4a72e5c5c
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Collisions/ObiHeightFieldContainer.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 144f4377b36f741b3af30c9ff572733f
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+  serializedVersion: 2
+  defaultReferences: []
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diff --git a/Assets/Obi/Scripts/Common/Collisions/ObiRigidbody.cs b/Assets/Obi/Scripts/Common/Collisions/ObiRigidbody.cs
new file mode 100644
index 000000000..0896b6524
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Collisions/ObiRigidbody.cs
@@ -0,0 +1,89 @@
+using UnityEngine;
+using System;
+using System.Collections;
+
+namespace Obi
+{
+
+    /**
+	 * Small helper class that lets you specify Obi-only properties for rigidbodies.
+	 */
+
+    [ExecuteInEditMode]
+    [RequireComponent(typeof(Rigidbody))]
+    public class ObiRigidbody : ObiRigidbodyBase
+    {
+        public Rigidbody unityRigidbody { get; private set; }
+
+        public Vector3 position => unityRigidbody.position;
+        public Quaternion rotation => unityRigidbody.rotation;
+
+        public Vector3 linearVelocity { get; protected set; }
+        public Vector3 angularVelocity { get; protected set; }
+
+        private Quaternion prevRotation;
+        private Vector3 prevPosition;
+
+        public override void OnEnable()
+        {
+            unityRigidbody = GetComponent<Rigidbody>();
+            prevPosition = unityRigidbody.position;
+            prevRotation = unityRigidbody.rotation;
+
+            linearVelocity = unityRigidbody.linearVelocity;
+            angularVelocity = unityRigidbody.angularVelocity;
+            base.OnEnable();
+        }
+
+        private void UpdateVelocities(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)
+            {
+                // differentiate positions to obtain linear velocity:
+                linearVelocity = (unityRigidbody.position - prevPosition) / stepTime;
+
+                // differentiate rotations to obtain angular velocity:
+                Quaternion delta = unityRigidbody.rotation * Quaternion.Inverse(prevRotation);
+                angularVelocity = new Vector3(delta.x, delta.y, delta.z) * 2.0f / stepTime;
+            }
+            else
+            {
+                // if the object is non-kinematic, just copy velocities.
+                linearVelocity = unityRigidbody.linearVelocity;
+                angularVelocity = unityRigidbody.angularVelocity;
+            }
+
+            prevPosition = unityRigidbody.position;
+            prevRotation = unityRigidbody.rotation;
+        }
+
+        public override void UpdateIfNeeded(float stepTime)
+        {
+            UpdateVelocities(stepTime);
+            var world = ObiColliderWorld.GetInstance();
+
+            var rb = world.rigidbodies[handle.index];
+            rb.FromRigidbody(this);
+            world.rigidbodies[handle.index] = rb;
+        }
+
+        /**
+		 * Reads velocities back from the solver.
+		 */
+        public override void UpdateVelocities(Vector3 linearDelta, Vector3 angularDelta)
+        {
+            // 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))
+            {
+                if (Vector3.SqrMagnitude(linearDelta) > 0.00001f || Vector3.SqrMagnitude(angularDelta) > 0.00001f)
+                {
+                    unityRigidbody.linearVelocity += linearDelta;
+                    unityRigidbody.angularVelocity += angularDelta;
+                }
+            }
+        }
+    }
+}
+
diff --git a/Assets/Obi/Scripts/Common/Collisions/ObiRigidbody.cs.meta b/Assets/Obi/Scripts/Common/Collisions/ObiRigidbody.cs.meta
new file mode 100644
index 000000000..7a15a80f6
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Collisions/ObiRigidbody.cs.meta
@@ -0,0 +1,12 @@
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diff --git a/Assets/Obi/Scripts/Common/Collisions/ObiRigidbody2D.cs b/Assets/Obi/Scripts/Common/Collisions/ObiRigidbody2D.cs
new file mode 100644
index 000000000..6e831e839
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Collisions/ObiRigidbody2D.cs
@@ -0,0 +1,87 @@
+using UnityEngine;
+using System;
+using System.Collections;
+
+namespace Obi
+{
+
+    /**
+	 * Small helper class that lets you specify Obi-only properties for rigidbodies.
+	 */
+
+    [ExecuteInEditMode]
+    [RequireComponent(typeof(Rigidbody2D))]
+    public class ObiRigidbody2D : ObiRigidbodyBase
+    {
+        public Rigidbody2D unityRigidbody { get; private set; }
+
+        public Vector2 position => unityRigidbody.position;
+        public float rotation => unityRigidbody.rotation;
+
+        public Vector2 linearVelocity { get; protected set; }
+        public float angularVelocity { get; protected set; }
+
+        private Quaternion prevRotation;
+        private Vector3 prevPosition;
+
+        public override void OnEnable()
+        {
+            unityRigidbody = GetComponent<Rigidbody2D>();
+            prevPosition = transform.position;
+            prevRotation = transform.rotation;
+
+            linearVelocity = unityRigidbody.linearVelocity;
+            angularVelocity = unityRigidbody.angularVelocity;
+            base.OnEnable();
+        }
+
+        private void UpdateKinematicVelocities(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)
+            {
+                // differentiate positions to obtain linear velocity:
+                linearVelocity = (transform.position - prevPosition) / stepTime;
+
+                // differentiate rotations to obtain angular velocity:
+                Quaternion delta = transform.rotation * Quaternion.Inverse(prevRotation);
+                angularVelocity = delta.z * Mathf.Rad2Deg * 2.0f / stepTime;
+            }
+            else
+            {
+                // if the object is non-kinematic, just copy velocities.
+                linearVelocity = unityRigidbody.linearVelocity;
+                angularVelocity = unityRigidbody.angularVelocity;
+            }
+
+            prevPosition = transform.position;
+            prevRotation = transform.rotation;
+        }
+
+        public override void UpdateIfNeeded(float stepTime)
+        {
+            UpdateKinematicVelocities(stepTime);
+            var world = ObiColliderWorld.GetInstance();
+
+            var rb = world.rigidbodies[handle.index];
+            rb.FromRigidbody(this);
+            world.rigidbodies[handle.index] = rb;
+        }
+
+        /**
+		 * Reads velocities back from the solver.
+		 */
+        public override void UpdateVelocities(Vector3 linearDelta, Vector3 angularDelta)
+        {
+            // 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;
+            }
+
+        }
+    }
+}
+
diff --git a/Assets/Obi/Scripts/Common/Collisions/ObiRigidbody2D.cs.meta b/Assets/Obi/Scripts/Common/Collisions/ObiRigidbody2D.cs.meta
new file mode 100644
index 000000000..8b4dbc1d7
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Collisions/ObiRigidbody2D.cs.meta
@@ -0,0 +1,12 @@
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+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {fileID: 2800000, guid: 21e01eb398ab24a7abb1f3b493af6b20, type: 3}
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diff --git a/Assets/Obi/Scripts/Common/Collisions/ObiRigidbodyBase.cs b/Assets/Obi/Scripts/Common/Collisions/ObiRigidbodyBase.cs
new file mode 100644
index 000000000..69cbef4f5
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Collisions/ObiRigidbodyBase.cs
@@ -0,0 +1,41 @@
+using UnityEngine;
+using Unity.Profiling;
+using System;
+using System.Collections;
+
+namespace Obi{
+
+	/**
+	 * Small helper class that lets you specify Obi-only properties for rigidbodies.
+	 */
+
+	[ExecuteInEditMode]
+	public abstract class ObiRigidbodyBase : MonoBehaviour
+	{
+
+        public bool kinematicForParticles = false;
+
+        public ObiRigidbodyHandle handle;
+
+        public virtual void OnEnable()
+        {
+            handle = ObiColliderWorld.GetInstance().CreateRigidbody();
+            handle.owner = this;
+            UpdateIfNeeded(1);
+        }
+
+		public void OnDisable()
+        {
+            ObiColliderWorld.GetInstance().DestroyRigidbody(handle);
+        }
+
+		public abstract void UpdateIfNeeded(float stepTime);
+
+		/**
+		 * Reads velocities back from the solver.
+		 */
+		public abstract void UpdateVelocities(Vector3 linearDelta, Vector3 angularDelta);
+
+	}
+}
+
diff --git a/Assets/Obi/Scripts/Common/Collisions/ObiRigidbodyBase.cs.meta b/Assets/Obi/Scripts/Common/Collisions/ObiRigidbodyBase.cs.meta
new file mode 100644
index 000000000..0e3cab7cc
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Collisions/ObiRigidbodyBase.cs.meta
@@ -0,0 +1,12 @@
+fileFormatVersion: 2
+guid: 8f0adb129c9cf4d978dc5964711503b8
+timeCreated: 1516131526
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+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
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diff --git a/Assets/Obi/Scripts/Common/Collisions/ObiTriangleMeshContainer.cs b/Assets/Obi/Scripts/Common/Collisions/ObiTriangleMeshContainer.cs
new file mode 100644
index 000000000..1fa9f41d0
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Collisions/ObiTriangleMeshContainer.cs
@@ -0,0 +1,163 @@
+using System;
+using System.Collections.Generic;
+using UnityEngine;
+
+namespace Obi
+{
+    public struct Triangle : IBounded
+    {
+        public int i1;
+        public int i2;
+        public int i3;
+
+        Aabb b;
+
+        public Triangle(int i1, int i2, int i3, Vector3 v1, Vector3 v2, Vector3 v3)
+        {
+            this.i1 = i1;
+            this.i2 = i2;
+            this.i3 = i3;
+            b = new Aabb(v1);
+            b.Encapsulate(v2);
+            b.Encapsulate(v3);
+        }
+
+        public Aabb GetBounds()
+        {
+            return b;
+        }
+    }
+
+    public class ObiTriangleMeshHandle : ObiResourceHandle<Mesh>
+    {
+        public ObiTriangleMeshHandle(Mesh mesh, int index = -1) : base(index) { owner = mesh; }
+    }
+
+    public struct TriangleMeshHeader //we need to use the header in the backend, so it must be a struct.
+    {
+        public int firstNode;
+        public int nodeCount;
+        public int firstTriangle;
+        public int triangleCount;
+        public int firstVertex;
+        public int vertexCount;
+
+        public TriangleMeshHeader(int firstNode, int nodeCount, int firstTriangle, int triangleCount, int firstVertex, int vertexCount)
+        {
+            this.firstNode = firstNode;
+            this.nodeCount = nodeCount;
+            this.firstTriangle = firstTriangle;
+            this.triangleCount = triangleCount;
+            this.firstVertex = firstVertex;
+            this.vertexCount = vertexCount;
+        }
+    }
+
+    public class ObiTriangleMeshContainer
+    {
+        public Dictionary<Mesh,ObiTriangleMeshHandle> handles;  /**< dictionary indexed by mesh, so that we don't generate data for the same mesh multiple times.*/
+
+        public ObiNativeTriangleMeshHeaderList headers; /**< One header per mesh.*/
+        public ObiNativeBIHNodeList bihNodes;
+        public ObiNativeTriangleList triangles;
+        public ObiNativeVector3List vertices;
+
+        public ObiTriangleMeshContainer()
+        {
+            handles = new Dictionary<Mesh, ObiTriangleMeshHandle>();
+            headers = new ObiNativeTriangleMeshHeaderList();
+            bihNodes = new ObiNativeBIHNodeList();
+            triangles = new ObiNativeTriangleList();
+            vertices = new ObiNativeVector3List();
+        }
+
+        public ObiTriangleMeshHandle GetOrCreateTriangleMesh(Mesh source)
+        {
+            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)
+                {
+                    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);
+            }
+
+            return handle;
+        }
+
+        public void DestroyTriangleMesh(ObiTriangleMeshHandle handle)
+        {
+            if (handle != null && handle.isValid && handle.index < handles.Count)
+            {
+                var header = headers[handle.index];
+
+                // Update headers:
+                for (int i = 0; i < headers.count; ++i)
+                {
+                    var h = headers[i];
+                    if (h.firstTriangle > header.firstTriangle)
+                    {
+                        h.firstNode -= header.nodeCount;
+                        h.firstTriangle -= header.triangleCount;
+                        h.firstVertex -= header.vertexCount;
+                        headers[i] = h;
+                    }
+                }
+
+                // update handles:
+                foreach (var pair in handles)
+                {
+                    if (pair.Value.index > handle.index)
+                        pair.Value.index --;
+                }
+
+                // Remove nodes, triangles and vertices
+                bihNodes.RemoveRange(header.firstNode, header.nodeCount);
+                triangles.RemoveRange(header.firstTriangle, header.triangleCount);
+                vertices.RemoveRange(header.firstVertex, header.vertexCount);
+
+                // remove header:
+                headers.RemoveAt(handle.index);
+
+                // remove the mesh from the dictionary:
+                handles.Remove(handle.owner);
+
+                // Invalidate our handle:
+                handle.Invalidate();
+            }
+        }
+
+        public void Dispose()
+        {
+            if (headers != null)
+                headers.Dispose();
+            if (triangles != null)
+                triangles.Dispose();
+            if (vertices != null)
+                vertices.Dispose();
+            if (bihNodes != null)
+                bihNodes.Dispose();
+        }
+
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Collisions/ObiTriangleMeshContainer.cs.meta b/Assets/Obi/Scripts/Common/Collisions/ObiTriangleMeshContainer.cs.meta
new file mode 100644
index 000000000..a92add228
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Collisions/ObiTriangleMeshContainer.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/DataStructures.meta b/Assets/Obi/Scripts/Common/DataStructures.meta
new file mode 100644
index 000000000..2c79eb3bb
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diff --git a/Assets/Obi/Scripts/Common/DataStructures/ASDF.meta b/Assets/Obi/Scripts/Common/DataStructures/ASDF.meta
new file mode 100644
index 000000000..2ccf1cd06
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/ASDF.meta
@@ -0,0 +1,8 @@
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diff --git a/Assets/Obi/Scripts/Common/DataStructures/ASDF/ASDF.cs b/Assets/Obi/Scripts/Common/DataStructures/ASDF/ASDF.cs
new file mode 100644
index 000000000..3573506c2
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/ASDF/ASDF.cs
@@ -0,0 +1,187 @@
+using System;
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+namespace Obi
+{
+    public class ASDF
+    {
+        static readonly Vector4[] corners = 
+        {
+            new Vector4(-1,-1,-1,-1),
+            new Vector4(-1,-1,1,-1),
+            new Vector4(-1,1,-1,-1),
+            new Vector4(-1,1,1,-1),
+
+            new Vector4(1,-1,-1,-1),
+            new Vector4(1,-1,1,-1),
+            new Vector4(1,1,-1,-1),
+            new Vector4(1,1,1,-1)
+        };
+
+        static readonly Vector4[] samples =
+        {
+            new Vector4(0,0,0,0),
+            new Vector4(1,0,0,0),
+            new Vector4(-1,0,0,0),
+            new Vector4(0,1,0,0),
+            new Vector4(0,-1,0,0),
+            new Vector4(0,0,1,0),
+            new Vector4(0,0,-1,0),
+
+            new Vector4(0,-1,-1,0),
+            new Vector4(0,-1,1,0),
+            new Vector4(0,1,-1,0),
+            new Vector4(0,1,1,0),
+
+            new Vector4(-1,0,-1,0),
+            new Vector4(-1,0,1,0),
+            new Vector4(1,0,-1,0),
+            new Vector4(1,0,1,0),
+
+            new Vector4(-1,-1,0,0),
+            new Vector4(-1,1,0,0),
+            new Vector4(1,-1,0,0),
+            new Vector4(1,1,0,0)
+        };
+
+        const float sqrt3 = 1.73205f;
+
+        public static IEnumerator Build(float maxError, int maxDepth, Vector3[] vertexPositions, int[] triangleIndices, List<DFNode> nodes, int yieldAfterNodeCount = 32)
+        {
+            // Empty vertex or triangle lists, return.
+            if (maxDepth <= 0 ||
+                nodes == null ||
+                vertexPositions == null || vertexPositions.Length == 0 ||
+                triangleIndices == null || triangleIndices.Length == 0)
+                yield break;
+           
+            // Build a bounding interval hierarchy from the triangles, to speed up distance queries:
+            IBounded[] t = new IBounded[triangleIndices.Length / 3];
+            for (int i = 0; i < t.Length; ++i)
+            {
+                int t1 = triangleIndices[i * 3];
+                int t2 = triangleIndices[i * 3 + 1];
+                int t3 = triangleIndices[i * 3 + 2];
+                t[i] = new Triangle(t1, t2, t3, vertexPositions[t1], vertexPositions[t2], vertexPositions[t3]);
+            }
+            var bih = BIH.Build(ref t);
+
+            // Copy reordered triangles over to a new array:
+            Triangle[] tris = Array.ConvertAll(t, x => (Triangle)x); 
+
+            // Build angle weighted normals, used to determine the sign of the distance field.
+            Vector3[] angleNormals = ObiUtils.CalculateAngleWeightedNormals(vertexPositions,triangleIndices);
+
+            // Calculate bounding box of the mesh:
+            Bounds bounds = new Bounds(vertexPositions[0], Vector3.zero);
+            for (int i = 1; i < vertexPositions.Length; ++i)
+                bounds.Encapsulate(vertexPositions[i]);
+
+            bounds.Expand(0.2f);
+
+            // Auxiliar variables to keep track of current tree depth:
+            int depth = 0;
+            int nodesToNextLevel = 1;
+
+            // Initialize node list:
+            Vector4 center = bounds.center;
+            Vector3 boundsExtents = bounds.extents;
+            center[3] = Mathf.Max(boundsExtents[0], Math.Max(boundsExtents[1], boundsExtents[2]));
+            nodes.Clear();
+            nodes.Add(new DFNode(center));
+
+
+            var queue = new Queue<int>();
+            queue.Enqueue(0);
+
+            int processedNodeCount = 0;
+            while (queue.Count > 0)
+            {
+                // get current node:
+                int index = queue.Dequeue();
+                var node = nodes[index];
+
+                // measure distance at the 8 node corners:
+                for (int i = 0; i < 8; ++i)
+                {
+                    Vector4 point = node.center + corners[i] * node.center[3];
+                    point[3] = 0;
+                    float distance = BIH.DistanceToSurface(bih, tris, vertexPositions,angleNormals,point);
+
+                    if (i < 4)
+                        node.distancesA[i] = distance;
+                    else
+                        node.distancesB[i - 4] = distance;
+                }
+
+                // only subdivide those nodes intersecting the surface:
+                if (depth < maxDepth && Mathf.Abs(BIH.DistanceToSurface(bih, tris, vertexPositions, angleNormals, node.center)) < node.center[3] * sqrt3)
+                {
+
+                    // calculate mean squared error between measured distances and interpolated ones:
+                    float mse = 0;
+                    for (int i = 0; i < samples.Length; ++i)
+                    {
+                        Vector4 point = node.center + samples[i] * node.center[3];
+                        float groundTruth = BIH.DistanceToSurface(bih, tris, vertexPositions, angleNormals, point);
+                        float estimation = node.Sample(point);
+                        float d = groundTruth - estimation;
+                        mse += d * d;
+                    }
+                    mse /= (float)samples.Length;
+
+                    // if error > threshold, subdivide the node:
+                    if (mse > maxError)
+                    {
+                        node.firstChild = nodes.Count;
+                        for (int i = 0; i < 8; ++i)
+                        {
+                            queue.Enqueue(nodes.Count);
+                            nodes.Add(new DFNode(node.center + corners[i] * node.center[3] * 0.5f));
+                        }
+                    }
+
+                    // keep track of current depth:
+                    if (--nodesToNextLevel == 0)
+                    {
+                        depth++;
+                        nodesToNextLevel = queue.Count;
+                    }
+                }
+
+                // feed the modified node back:
+                nodes[index] = node;
+
+                // if we've processed enough nodes, yield.
+                if (nodes.Count - processedNodeCount >= yieldAfterNodeCount)
+                {
+                    processedNodeCount = nodes.Count;
+                    yield return null;
+                }
+            }
+        }
+
+        public static float Sample(List<DFNode> nodes, Vector3 position)
+        {
+            if (nodes != null && nodes.Count > 0)
+            {
+                var queue = new Queue<int>();
+                queue.Enqueue(0);
+
+                while (queue.Count > 0)
+                {
+                    // get current node:
+                    var node = nodes[queue.Dequeue()];
+
+                    if (node.firstChild > -1)
+                        queue.Enqueue(node.firstChild + node.GetOctant(position));
+                    else
+                        return node.Sample(position);
+                }
+            }
+            return 0;
+        }
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/DataStructures/ASDF/ASDF.cs.meta b/Assets/Obi/Scripts/Common/DataStructures/ASDF/ASDF.cs.meta
new file mode 100644
index 000000000..d51108acd
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/ASDF/ASDF.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 6951f2457b77d4daf9f257e128b6dfb2
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
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diff --git a/Assets/Obi/Scripts/Common/DataStructures/ASDF/DFNode.cs b/Assets/Obi/Scripts/Common/DataStructures/ASDF/DFNode.cs
new file mode 100644
index 000000000..0121d6fc0
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/ASDF/DFNode.cs
@@ -0,0 +1,65 @@
+using System;
+using System.Runtime.InteropServices;
+using UnityEngine;
+
+namespace Obi
+{
+    [Serializable]
+    public struct DFNode
+    {
+        public Vector4 distancesA;
+        public Vector4 distancesB;
+        public Vector4 center;
+        public int firstChild;
+
+        // add 12 bytes of padding to ensure correct memory alignment:
+        private int pad0;
+        private int pad1;
+        private int pad2;
+
+        public DFNode(Vector4 center)
+        {
+            this.distancesA = Vector4.zero;
+            this.distancesB = Vector4.zero;
+            this.center = center;
+            this.firstChild = -1;
+            this.pad0 = 0;
+            this.pad1 = 0;
+            this.pad2 = 0;
+        }
+
+        public float Sample(Vector3 position)
+        {
+            Vector3 nPos = GetNormalizedPos(position);
+
+            // trilinear interpolation: interpolate along x axis
+            Vector4 x = distancesA + (distancesB - distancesA) * nPos[0];
+
+            // interpolate along y axis
+            float y0 = x[0] + (x[2] - x[0]) * nPos[1];
+            float y1 = x[1] + (x[3] - x[1]) * nPos[1];
+
+            // interpolate along z axis.
+            return y0 + (y1 - y0) * nPos[2];
+        }
+
+        public Vector3 GetNormalizedPos(Vector3 position)
+        {
+            float size = center[3] * 2;
+            return new Vector3(
+                (position[0] - (center[0] - center[3])) / size,
+                (position[1] - (center[1] - center[3])) / size,
+                (position[2] - (center[2] - center[3])) / size
+            );
+        }
+
+        public int GetOctant(Vector3 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;
+        }
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/DataStructures/ASDF/DFNode.cs.meta b/Assets/Obi/Scripts/Common/DataStructures/ASDF/DFNode.cs.meta
new file mode 100644
index 000000000..17405a2c1
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/ASDF/DFNode.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 769e6e9ced39347bc96146f1858ab648
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
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+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/DataStructures/Aabb.cs b/Assets/Obi/Scripts/Common/DataStructures/Aabb.cs
new file mode 100644
index 000000000..0ab75766d
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/Aabb.cs
@@ -0,0 +1,53 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public struct Aabb
+    {
+        public Vector4 min;
+        public Vector4 max;
+
+        public Vector4 center
+        {
+            get { return min + (max - min) * 0.5f; }
+        }
+
+        public Vector4 size
+        {
+            get { return max - min; }
+        }
+
+        public Aabb(Vector4 min, Vector4 max)
+        {
+            this.min = min;
+            this.max = max;
+        }
+
+        public Aabb(Vector4 point)
+        {
+            this.min = point;
+            this.max = point;
+        }
+
+        public void Encapsulate(Vector4 point)
+        {
+            min = Vector4.Min(min, point);
+            max = Vector4.Max(max, point); 
+        }
+
+        public void Encapsulate(Aabb other)
+        {
+            min = Vector4.Min(min, other.min);
+            max = Vector4.Max(max, other.max);
+        }
+
+        public void FromBounds(Bounds bounds, float thickness, bool is2D = false)
+        {
+            Vector3 s = Vector3.one * thickness;
+            min = bounds.min - s;
+            max = bounds.max + s;
+            if (is2D)
+                max[2] = min[2] = 0;
+        }
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/DataStructures/Aabb.cs.meta b/Assets/Obi/Scripts/Common/DataStructures/Aabb.cs.meta
new file mode 100644
index 000000000..242d31dd4
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/Aabb.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 4b6d58d9b0a8a4f7ea09067526d713cf
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
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+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/DataStructures/AffineTransform.cs b/Assets/Obi/Scripts/Common/DataStructures/AffineTransform.cs
new file mode 100644
index 000000000..6c8fa5f6e
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/AffineTransform.cs
@@ -0,0 +1,34 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public struct AffineTransform
+    {
+        public Vector4 translation;
+        public Vector4 scale;
+        public Quaternion rotation;
+
+        public AffineTransform(Vector4 translation, Quaternion rotation, Vector4 scale)
+        {
+            // make sure there are good values in the 4th component:
+            translation[3] = 0;
+            scale[3] = 1;
+
+            this.translation = translation;
+            this.rotation = rotation;
+            this.scale = scale;
+        }
+
+        public void FromTransform(Transform source, bool is2D = false)
+        {
+            translation = source.position;
+            rotation = source.rotation;
+            scale = source.lossyScale;
+
+            if (is2D)
+            {
+                translation[2] = 0;
+            }
+        }
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/DataStructures/AffineTransform.cs.meta b/Assets/Obi/Scripts/Common/DataStructures/AffineTransform.cs.meta
new file mode 100644
index 000000000..b15e7adca
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/AffineTransform.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 0c8eff617709c457a85387e2f72187aa
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+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
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+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/DataStructures/BVH.meta b/Assets/Obi/Scripts/Common/DataStructures/BVH.meta
new file mode 100644
index 000000000..4dd39cc26
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/BVH.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 3d141c0731e7c43e8be29d786670298c
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/DataStructures/BVH/BIH.cs b/Assets/Obi/Scripts/Common/DataStructures/BVH/BIH.cs
new file mode 100644
index 000000000..c770ed386
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/BVH/BIH.cs
@@ -0,0 +1,262 @@
+using System;
+using System.Collections.Generic;
+using UnityEngine;
+
+namespace Obi
+{
+    public class BIH
+    {
+        public static BIHNode[] Build(ref IBounded[] elements, int maxDepth = 10, float maxOverlap = 0.7f)
+        {
+            List<BIHNode> nodes = new List<BIHNode>{ new BIHNode(0, elements.Length) };
+
+            // auxiliar variables to keep track of current tree depth:
+            int depth = 0;
+            int nodesToNextLevel = 1;
+
+            var queue = new Queue<int>();
+            queue.Enqueue(0);
+
+            while (queue.Count > 0)
+            {
+                // get current node:
+                int index = queue.Dequeue();
+                var node = nodes[index];
+
+                // if this node contains enough elements, split it:
+                if (node.count > 2)
+                {
+                    int start = node.start;
+                    int end = start + (node.count - 1);
+
+                    // calculate bounding box of all elements:
+                    Aabb b = elements[start].GetBounds();
+                    for (int k = start + 1; k <= end; ++k)
+                        b.Encapsulate(elements[k].GetBounds());
+
+                    // determine split axis (longest one):
+                    Vector3 size = b.size;
+                    int axis = node.axis = (size.x > size.y) ?
+                                                (size.x > size.z ? 0 : 2) :
+                                                (size.y > size.z ? 1 : 2);
+
+                    // place split plane at half the longest axis:
+                    float pivot = b.min[axis] + size[axis] * 0.5f;
+
+                    // partition elements according to which side of the split plane they're at:
+                    int j = HoarePartition(elements, start, end, pivot, ref node, axis);
+
+                    // create two child nodes:
+                    var minChild = new BIHNode(start, j - start + 1);
+                    var maxChild = new BIHNode(j + 1, end - j);
+
+                    // calculate child overlap:
+                    float overlap = size[axis] > 0 ? Mathf.Max(node.min - node.max, 0) / size[axis] : 1;
+
+                    // guard against cases where all elements are on one side of the split plane,
+                    // due to all having the same or very similar bounds as the entire group.
+                    if (overlap <= maxOverlap && minChild.count > 0 && maxChild.count > 0)
+                    {
+                        node.firstChild = nodes.Count;
+                        nodes[index] = node;
+
+                        queue.Enqueue(nodes.Count);
+                        queue.Enqueue(nodes.Count + 1);
+
+                        // append child nodes to list:
+                        nodes.Add(minChild);
+                        nodes.Add(maxChild);
+                    }
+
+                    // keep track of current depth:
+                    if (--nodesToNextLevel == 0)
+                    {
+                        depth++;
+                        if (depth >= maxDepth)
+                            return nodes.ToArray();
+                        nodesToNextLevel = queue.Count;
+                    }
+                }
+            }
+            return nodes.ToArray();
+        }
+
+        public static int HoarePartition(IBounded[] elements, int start, int end, float pivot, ref BIHNode node, int axis)
+        {
+            int i = start;
+            int j = end;
+
+            while (i <= j)
+            {
+                while (i < end && elements[i].GetBounds().center[axis] < pivot)
+                    node.min = Mathf.Max(node.min, elements[i++].GetBounds().max[axis]);
+
+                while (j > start && elements[j].GetBounds().center[axis] > pivot)
+                    node.max = Mathf.Min(node.max, elements[j--].GetBounds().min[axis]);
+
+                if (i <= j)
+                {
+                    node.min = Mathf.Max(node.min, elements[j].GetBounds().max[axis]);
+                    node.max = Mathf.Min(node.max, elements[i].GetBounds().min[axis]);
+                    ObiUtils.Swap(ref elements[i++], ref elements[j--]);
+                }
+            }
+
+            return j;
+        }
+
+        public static float DistanceToSurface(Triangle[] triangles,
+                                              Vector3[] vertices,
+                                              Vector3[] normals,
+                                              in BIHNode node,
+                                              in Vector3 point)
+        {
+            float minDistance = float.MaxValue;
+            int sign = 1;
+
+            Vector3 pointOnTri;
+            Vector3 interpolatedNormal;
+
+            for (int i = node.start; i < node.start + node.count; ++i)
+            {
+                Triangle t = triangles[i];
+
+
+                    ObiUtils.NearestPointOnTri(in vertices[t.i1],
+                                               in vertices[t.i2],
+                                               in vertices[t.i3],
+                                               in point,
+                                               out pointOnTri);
+
+                Vector3 pointToTri = point - pointOnTri;
+                float sqrDistance = pointToTri.sqrMagnitude;
+
+                if (sqrDistance < minDistance)
+                {
+                    Vector3 bary = Vector3.zero;
+                    ObiUtils.BarycentricCoordinates(in vertices[t.i1], in vertices[t.i2], in vertices[t.i3], in pointOnTri, ref bary);
+                    ObiUtils.BarycentricInterpolation(in normals[t.i1],
+                                                      in normals[t.i2],
+                                                      in normals[t.i3],
+                                                      in bary,
+                                                      out interpolatedNormal);
+
+                    sign = ObiUtils.PureSign(pointToTri.x * interpolatedNormal.x +
+                                             pointToTri.y * interpolatedNormal.y +
+                                             pointToTri.z * interpolatedNormal.z);
+
+                    minDistance = sqrDistance;
+                }
+            }
+
+            return Mathf.Sqrt(minDistance) * sign;
+        }
+
+        public static float DistanceToSurface(BIHNode[] nodes,
+                                              Triangle[] triangles,
+                                              Vector3[] vertices,
+                                              Vector3[] normals,
+                                              in Vector3 point)
+        {
+
+            if (nodes.Length > 0)
+                return DistanceToSurface(nodes, triangles, vertices, normals, in nodes[0], in point);
+
+            return float.MaxValue;
+        }
+
+        public static float DistanceToSurface(BIHNode[] nodes,
+                                              Triangle[] triangles,
+                                              Vector3[] vertices,
+                                              Vector3[] normals,
+                                              in BIHNode node,
+                                              in Vector3 point)
+        {
+
+            float MinSignedDistance(float d1, float d2)
+            {
+                return (Mathf.Abs(d1) < Mathf.Abs(d2)) ? d1 : d2;
+            }
+
+            if (node.firstChild >= 0)
+            {
+                /**
+                 * If the current node is not a leaf, figure out which side of the split plane that contains the query point, and recurse down that side.
+                 * You will get the index and distance to the closest triangle in that subtree.
+                 * Then, check if the distance to the nearest triangle is closer to the query point than the distance between the query point and the split plane.
+                 * If it is closer, there is no need to recurse down the other side of the KD tree and you can just return.
+                 * Otherwise, you will need to recurse down the other way too, and return whichever result is closer.
+                 */
+
+                float si = float.MaxValue;
+                float p = point[node.axis];
+
+                // child nodes overlap:
+                if (node.min > node.max)
+                {
+                    // CASE 1: we are in the overlapping zone: recurse down both.
+                    if (p <= node.min && p >= node.max)
+                    {
+                        si = MinSignedDistance(DistanceToSurface(nodes, triangles, vertices, normals, in nodes[node.firstChild], in point),
+                                               DistanceToSurface(nodes, triangles, vertices, normals, in nodes[node.firstChild + 1], in point));
+                    }
+                    // CASE 2: to the right of left pivot, that is: in the right child only.
+                    else if (p > node.min)
+                    {
+                        si = DistanceToSurface(nodes, triangles, vertices, normals, in nodes[node.firstChild + 1], in point);
+
+                        // only recurse down left child if nearest surface in right child is furthest than left pivot.
+                        if (Mathf.Abs(si) > Mathf.Abs(p - node.min))
+                            si = MinSignedDistance(si, DistanceToSurface(nodes, triangles, vertices, normals, in nodes[node.firstChild], in point));
+                    }
+                    // CASE 3: to the left of right pivot, that is: in the left child only.
+                    else
+                    {
+                        si = DistanceToSurface(nodes, triangles, vertices, normals, nodes[node.firstChild], point);
+
+                        // only recurse down left child if nearest surface in right child is furthest than left pivot.
+                        if (Mathf.Abs(si) > Mathf.Abs(node.max - p))
+                            si = MinSignedDistance(si, DistanceToSurface(nodes, triangles, vertices, normals, in nodes[node.firstChild + 1], in point));
+                    }
+                }
+                // child nodes do not overlap
+                else
+                {
+                    // CASE 4: we are in the middle. just pick up one child (I chose right), get minimum, and if the other child pivot is nearer, recurse down it too.
+                    // Just like case 2.
+                    if (p > node.min && p < node.max)
+                    {
+                        si = DistanceToSurface(nodes, triangles, vertices, normals, in nodes[node.firstChild + 1], in point);
+
+                        // only recurse down left child if nearest surface in right child is furthest than left pivot.
+                        if (Mathf.Abs(si) > Mathf.Abs(p - node.min))
+                            si = MinSignedDistance(si, DistanceToSurface(nodes, triangles, vertices, normals, in nodes[node.firstChild], in point));
+                    }
+                    // CASE 5: in the left child. Just like case 3.
+                    else if (p <= node.min)
+                    {
+                        si = DistanceToSurface(nodes, triangles, vertices, normals, in nodes[node.firstChild], in point);
+
+                        // only recurse down left child if nearest surface in right child is furthest than left pivot.
+                        if (Mathf.Abs(si) > Mathf.Abs(node.max - p))
+                            si = MinSignedDistance(si, DistanceToSurface(nodes, triangles, vertices, normals, in nodes[node.firstChild + 1], in point));
+                    }
+                    // CASE 6: in the right child. Just like case 2
+                    else if (p >= node.max)
+                    {
+                        si = DistanceToSurface(nodes, triangles, vertices, normals, in nodes[node.firstChild + 1], in point);
+
+                        // only recurse down left child if nearest surface in right child is furthest than left pivot.
+                        if (Mathf.Abs(si) > Mathf.Abs(p - node.min))
+                            si = MinSignedDistance(si, DistanceToSurface(nodes, triangles, vertices, normals, in nodes[node.firstChild], in point));
+                    }
+                }
+
+                return si;
+            }
+            else
+                return DistanceToSurface(triangles, vertices, normals, in node, point);
+        }
+
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/DataStructures/BVH/BIH.cs.meta b/Assets/Obi/Scripts/Common/DataStructures/BVH/BIH.cs.meta
new file mode 100644
index 000000000..767c410f2
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/BVH/BIH.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 7d1727eb52e8f4619a5dc1084db72db0
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
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diff --git a/Assets/Obi/Scripts/Common/DataStructures/BVH/BIHNode.cs b/Assets/Obi/Scripts/Common/DataStructures/BVH/BIHNode.cs
new file mode 100644
index 000000000..0599e5e39
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/BVH/BIHNode.cs
@@ -0,0 +1,25 @@
+using System;
+
+namespace Obi
+{
+    public struct BIHNode
+    {
+        public int firstChild;     /**< index of the first child node. The second one is right after the first.*/
+        public int start;          /**< index of the first element in this node.*/
+        public int count;          /**< amount of elements in this node.*/
+
+        public int axis;           /**< axis of the split plane (0,1,2 = x,y,z)*/
+        public float min;          /**< minimum split plane*/
+        public float max;          /**< maximum split plane*/
+
+        public BIHNode(int start, int count)
+        {
+            firstChild = -1;
+            this.start = start;
+            this.count = count;
+            axis = 0;
+            min = float.MinValue;
+            max = float.MaxValue;
+        }
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/DataStructures/BVH/BIHNode.cs.meta b/Assets/Obi/Scripts/Common/DataStructures/BVH/BIHNode.cs.meta
new file mode 100644
index 000000000..618215bc2
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/BVH/BIHNode.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/DataStructures/BVH/IBounded.cs b/Assets/Obi/Scripts/Common/DataStructures/BVH/IBounded.cs
new file mode 100644
index 000000000..f6cf2b3c1
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/BVH/IBounded.cs
@@ -0,0 +1,10 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    public interface IBounded
+    {
+        Aabb GetBounds();
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/DataStructures/BVH/IBounded.cs.meta b/Assets/Obi/Scripts/Common/DataStructures/BVH/IBounded.cs.meta
new file mode 100644
index 000000000..376054976
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/BVH/IBounded.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/DataStructures/CellSpan.cs b/Assets/Obi/Scripts/Common/DataStructures/CellSpan.cs
new file mode 100644
index 000000000..12e7453bb
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/CellSpan.cs
@@ -0,0 +1,17 @@
+using UnityEngine;
+using System.Collections;
+
+namespace Obi
+{
+    public struct CellSpan
+    {
+        public VInt4 min;
+        public VInt4 max;
+
+        public CellSpan(VInt4 min, VInt4 max)
+        {
+            this.min = min;
+            this.max = max;
+        }
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/DataStructures/CellSpan.cs.meta b/Assets/Obi/Scripts/Common/DataStructures/CellSpan.cs.meta
new file mode 100644
index 000000000..4b19c3ac8
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/CellSpan.cs.meta
@@ -0,0 +1,11 @@
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+guid: 786fc387d096a4921bd52253d3f51b02
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diff --git a/Assets/Obi/Scripts/Common/DataStructures/ColliderRigidbody.cs b/Assets/Obi/Scripts/Common/DataStructures/ColliderRigidbody.cs
new file mode 100644
index 000000000..10126adc9
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/ColliderRigidbody.cs
@@ -0,0 +1,68 @@
+using UnityEngine;
+using System.Collections;
+
+namespace Obi
+{
+    public struct ColliderRigidbody
+    {
+        public Matrix4x4 inverseInertiaTensor;
+        public Vector4 velocity;
+        public Vector4 angularVelocity;
+        public Vector4 com;
+        public float inverseMass;
+
+        private int pad0;
+        private int pad1;
+        private int pad2;
+
+        public void FromRigidbody(ObiRigidbody rb)
+        {
+            bool kinematic = !Application.isPlaying || rb.unityRigidbody.isKinematic || rb.kinematicForParticles;
+
+            //rotation = source.rotation;
+            velocity = rb.kinematicForParticles ? Vector3.zero : rb.linearVelocity;
+            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:
+            com = rb.unityRigidbody.position + rb.unityRigidbody.rotation * rb.unityRigidbody.centerOfMass;
+
+            Vector3 invTensor = new Vector3((rb.unityRigidbody.constraints & RigidbodyConstraints.FreezeRotationX) != 0 ? 0 : 1 / rb.unityRigidbody.inertiaTensor.x,
+                                            (rb.unityRigidbody.constraints & RigidbodyConstraints.FreezeRotationY) != 0 ? 0 : 1 / rb.unityRigidbody.inertiaTensor.y,
+                                            (rb.unityRigidbody.constraints & RigidbodyConstraints.FreezeRotationZ) != 0 ? 0 : 1 / rb.unityRigidbody.inertiaTensor.z);
+
+            // the inertia tensor is a diagonal matrix (Vector3) because it is expressed in the space generated by the principal axes of rotation (inertiaTensorRotation).
+            Vector3 inertiaTensor = kinematic ? Vector3.zero : invTensor;
+
+            // calculate full world space inertia matrix:
+            Matrix4x4 rotation = Matrix4x4.Rotate(rb.unityRigidbody.rotation * rb.unityRigidbody.inertiaTensorRotation);
+            inverseInertiaTensor = rotation * Matrix4x4.Scale(inertiaTensor) * rotation.transpose;
+
+            inverseMass = kinematic ? 0 : 1 / rb.unityRigidbody.mass;
+
+        }
+
+        public void FromRigidbody(ObiRigidbody2D rb)
+        {
+
+            bool kinematic = !Application.isPlaying || rb.unityRigidbody.isKinematic || rb.kinematicForParticles;
+            velocity = rb.linearVelocity;
+
+            // For some weird reason, in 2D angular velocity is measured in *degrees* per second, 
+            // instead of radians. Seriously Unity, WTF??
+            angularVelocity = new Vector4(0, 0, rb.angularVelocity * Mathf.Deg2Rad, 0);
+
+            // center of mass in unity is affected by local rotation and poistion, but not scale. We need it expressed in world space:
+            com = rb.transform.position + rb.transform.rotation * rb.unityRigidbody.centerOfMass;
+
+            Vector3 inertiaTensor = kinematic ? Vector3.zero : new Vector3(0, 0, (rb.unityRigidbody.constraints & RigidbodyConstraints2D.FreezeRotation) != 0 ? 0 : 1 / rb.unityRigidbody.inertia);
+
+            Matrix4x4 rotation = Matrix4x4.Rotate(Quaternion.AngleAxis(rb.rotation, Vector3.forward));
+            inverseInertiaTensor = rotation * Matrix4x4.Scale(inertiaTensor) * rotation.transpose;
+
+            inverseMass = kinematic ? 0 : 1 / rb.unityRigidbody.mass;
+
+        }
+
+
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/DataStructures/ColliderRigidbody.cs.meta b/Assets/Obi/Scripts/Common/DataStructures/ColliderRigidbody.cs.meta
new file mode 100644
index 000000000..ee3318973
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/ColliderRigidbody.cs.meta
@@ -0,0 +1,11 @@
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+guid: 2273ddd528c3a44af9ef3f985a620e24
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diff --git a/Assets/Obi/Scripts/Common/DataStructures/ColliderShape.cs b/Assets/Obi/Scripts/Common/DataStructures/ColliderShape.cs
new file mode 100644
index 000000000..70ab4cdc9
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/ColliderShape.cs
@@ -0,0 +1,34 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public struct ColliderShape
+    {
+        public enum ShapeType
+        {
+            Sphere = 0,
+            Box = 1,
+            Capsule = 2,
+            Heightmap = 3,
+            TriangleMesh = 4,
+            EdgeMesh = 5,
+            SignedDistanceField = 6
+        }
+
+        public Vector4 center;   
+        public Vector4 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.*/
+        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 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).
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/DataStructures/ColliderShape.cs.meta b/Assets/Obi/Scripts/Common/DataStructures/ColliderShape.cs.meta
new file mode 100644
index 000000000..9f1dc6e02
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/ColliderShape.cs.meta
@@ -0,0 +1,11 @@
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+guid: 38d82eae8f8744bdc9f0795c1fd3b317
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diff --git a/Assets/Obi/Scripts/Common/DataStructures/CollisionMaterial.cs b/Assets/Obi/Scripts/Common/DataStructures/CollisionMaterial.cs
new file mode 100644
index 000000000..082f99c67
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/CollisionMaterial.cs
@@ -0,0 +1,34 @@
+using UnityEngine;
+using System.Collections;
+
+namespace Obi
+{
+
+    public struct CollisionMaterial 
+    {
+        public float dynamicFriction;
+        public float staticFriction;
+        public float rollingFriction;
+        public float stickiness;
+        public float stickDistance;
+        public Oni.MaterialCombineMode frictionCombine;
+        public Oni.MaterialCombineMode stickinessCombine;
+        public int rollingContacts;
+
+        public void FromObiCollisionMaterial(ObiCollisionMaterial material)
+        {
+            if (material != null)
+            {
+                dynamicFriction = material.dynamicFriction;
+                staticFriction = material.staticFriction;
+                stickiness = material.stickiness;
+                stickDistance = material.stickDistance;
+                rollingFriction = material.rollingFriction;
+                frictionCombine = material.frictionCombine;
+                stickinessCombine = material.stickinessCombine;
+                rollingContacts = material.rollingContacts ? 1 : 0;
+            }
+        }
+
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/DataStructures/CollisionMaterial.cs.meta b/Assets/Obi/Scripts/Common/DataStructures/CollisionMaterial.cs.meta
new file mode 100644
index 000000000..9653b5b07
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/CollisionMaterial.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/DataStructures/NativeList.meta b/Assets/Obi/Scripts/Common/DataStructures/NativeList.meta
new file mode 100644
index 000000000..c9416a7cd
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/NativeList.meta
@@ -0,0 +1,8 @@
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diff --git a/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeAabbList.cs b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeAabbList.cs
new file mode 100644
index 000000000..0c699a24c
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeAabbList.cs
@@ -0,0 +1,18 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiNativeAabbList : ObiNativeList<Aabb>
+    {
+        public ObiNativeAabbList() { }
+        public ObiNativeAabbList(int capacity = 8, int alignment = 16) : base(capacity, alignment)
+        {
+            for (int i = 0; i < capacity; ++i)
+                this[i] = new Aabb();
+        }
+
+    }
+}
+
diff --git a/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeAabbList.cs.meta b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeAabbList.cs.meta
new file mode 100644
index 000000000..398a60417
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeAabbList.cs.meta
@@ -0,0 +1,11 @@
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+guid: 96e807cda064c47c1aed643600660143
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+  externalObjects: {}
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diff --git a/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeAffineTransformList.cs b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeAffineTransformList.cs
new file mode 100644
index 000000000..466b4f8d2
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeAffineTransformList.cs
@@ -0,0 +1,18 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiNativeAffineTransformList : ObiNativeList<AffineTransform>
+    {
+        public ObiNativeAffineTransformList() { }
+        public ObiNativeAffineTransformList(int capacity = 8, int alignment = 16) : base(capacity, alignment)
+        {
+            for (int i = 0; i < capacity; ++i)
+                this[i] = new AffineTransform();
+        }
+
+    }
+}
+
diff --git a/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeAffineTransformList.cs.meta b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeAffineTransformList.cs.meta
new file mode 100644
index 000000000..c5ae9d09e
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeAffineTransformList.cs.meta
@@ -0,0 +1,11 @@
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+guid: 8f741a9b23bfd4f55979eb1a18146388
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diff --git a/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeBIHNodeList.cs b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeBIHNodeList.cs
new file mode 100644
index 000000000..376276d25
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeBIHNodeList.cs
@@ -0,0 +1,17 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiNativeBIHNodeList : ObiNativeList<BIHNode>
+    {
+        public ObiNativeBIHNodeList() { }
+        public ObiNativeBIHNodeList(int capacity = 8, int alignment = 16) : base(capacity, alignment)
+        {
+            for (int i = 0; i < capacity; ++i)
+                this[i] = new BIHNode();
+        }
+    }
+}
+
diff --git a/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeBIHNodeList.cs.meta b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeBIHNodeList.cs.meta
new file mode 100644
index 000000000..301def190
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeBIHNodeList.cs.meta
@@ -0,0 +1,11 @@
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+guid: c960e0992a4cf4d7195a513c5fd5f550
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diff --git a/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeBoneWeightList.cs b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeBoneWeightList.cs
new file mode 100644
index 000000000..83c375513
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeBoneWeightList.cs
@@ -0,0 +1,18 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiNativeBoneWeightList : ObiNativeList<BoneWeight1>
+    {
+        public ObiNativeBoneWeightList() { }
+        public ObiNativeBoneWeightList(int capacity = 8, int alignment = 16) : base(capacity, alignment)
+        {
+            for (int i = 0; i < capacity; ++i)
+                this[i] = new BoneWeight1();
+        }
+
+    }
+}
+
diff --git a/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeBoneWeightList.cs.meta b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeBoneWeightList.cs.meta
new file mode 100644
index 000000000..36daa8edd
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeBoneWeightList.cs.meta
@@ -0,0 +1,11 @@
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+guid: 50b49a1cc8de340ebb8d6a89fb044c1d
+MonoImporter:
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diff --git a/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeByteList.cs b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeByteList.cs
new file mode 100644
index 000000000..800c3046b
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeByteList.cs
@@ -0,0 +1,18 @@
+using System;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiNativeByteList : ObiNativeList<byte>
+    {
+
+        public ObiNativeByteList() { }
+        public ObiNativeByteList(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/ObiNativeByteList.cs.meta b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeByteList.cs.meta
new file mode 100644
index 000000000..ffe7d6fd4
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeByteList.cs.meta
@@ -0,0 +1,11 @@
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+guid: aefb86b129c07425fa244ada261f4184
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diff --git a/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeCellSpanList.cs b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeCellSpanList.cs
new file mode 100644
index 000000000..468759ceb
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeCellSpanList.cs
@@ -0,0 +1,18 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiNativeCellSpanList : ObiNativeList<CellSpan>
+    {
+        public ObiNativeCellSpanList() { }
+        public ObiNativeCellSpanList(int capacity = 8, int alignment = 16) : base(capacity, alignment)
+        {
+            for (int i = 0; i < capacity; ++i)
+                this[i] = new CellSpan();
+        }
+
+    }
+}
+
diff --git a/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeCellSpanList.cs.meta b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeCellSpanList.cs.meta
new file mode 100644
index 000000000..f06f2c711
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeCellSpanList.cs.meta
@@ -0,0 +1,11 @@
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+guid: 53a29ecfe0ecb4db3a344781b333776d
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diff --git a/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeColliderShapeList.cs b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeColliderShapeList.cs
new file mode 100644
index 000000000..bce8165f1
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeColliderShapeList.cs
@@ -0,0 +1,18 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiNativeColliderShapeList : ObiNativeList<ColliderShape>
+    {
+        public ObiNativeColliderShapeList() { }
+        public ObiNativeColliderShapeList(int capacity = 8, int alignment = 16) : base(capacity, alignment)
+        {
+            for (int i = 0; i < capacity; ++i)
+                this[i] = new ColliderShape();
+        }
+
+    }
+}
+
diff --git a/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeColliderShapeList.cs.meta b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeColliderShapeList.cs.meta
new file mode 100644
index 000000000..22379f03f
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeColliderShapeList.cs.meta
@@ -0,0 +1,11 @@
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+guid: 45031e9a1b74143c4a6df44e2b999373
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diff --git a/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeCollisionMaterialList.cs b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeCollisionMaterialList.cs
new file mode 100644
index 000000000..0f1a048ae
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeCollisionMaterialList.cs
@@ -0,0 +1,18 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiNativeCollisionMaterialList : ObiNativeList<CollisionMaterial>
+    {
+        public ObiNativeCollisionMaterialList() { }
+        public ObiNativeCollisionMaterialList(int capacity = 8, int alignment = 16) : base(capacity, alignment)
+        {
+            for (int i = 0; i < capacity; ++i)
+                this[i] = new CollisionMaterial();
+        }
+
+    }
+}
+
diff --git a/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeCollisionMaterialList.cs.meta b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeCollisionMaterialList.cs.meta
new file mode 100644
index 000000000..1c43e6aea
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeCollisionMaterialList.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeColorList.cs b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeColorList.cs
new file mode 100644
index 000000000..c6a61babf
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeColorList.cs
@@ -0,0 +1,22 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiNativeColorList : ObiNativeList<Color>
+    {
+        public ObiNativeColorList() { }
+        public ObiNativeColorList(int capacity = 8, int alignment = 16) : base(capacity, alignment)
+        {
+            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
new file mode 100644
index 000000000..23dc2862c
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeColorList.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 391ffe5ba25364d2393afabc3083daa1
+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
new file mode 100644
index 000000000..d5ff11583
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeContactShapeList.cs
@@ -0,0 +1,17 @@
+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
new file mode 100644
index 000000000..ab5d80836
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeContactShapeList.cs.meta
@@ -0,0 +1,11 @@
+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/ObiNativeDFNodeList.cs b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeDFNodeList.cs
new file mode 100644
index 000000000..c19ee95fb
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeDFNodeList.cs
@@ -0,0 +1,18 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiNativeDFNodeList : ObiNativeList<DFNode>
+    {
+        public ObiNativeDFNodeList() { }
+        public ObiNativeDFNodeList(int capacity = 8, int alignment = 16) : base(capacity, alignment)
+        {
+            for (int i = 0; i < capacity; ++i)
+                this[i] = new DFNode();
+        }
+
+    }
+}
+
diff --git a/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeDFNodeList.cs.meta b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeDFNodeList.cs.meta
new file mode 100644
index 000000000..447524703
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeDFNodeList.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 17462646d532945749479c75ba3cd0d8
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeDistanceFieldHeaderList.cs b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeDistanceFieldHeaderList.cs
new file mode 100644
index 000000000..a784f7774
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeDistanceFieldHeaderList.cs
@@ -0,0 +1,17 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiNativeDistanceFieldHeaderList : ObiNativeList<DistanceFieldHeader>
+    {
+        public ObiNativeDistanceFieldHeaderList() { }
+        public ObiNativeDistanceFieldHeaderList(int capacity = 8, int alignment = 16) : base(capacity, alignment)
+        {
+            for (int i = 0; i < capacity; ++i)
+                this[i] = new DistanceFieldHeader();
+        }
+    }
+}
+
diff --git a/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeDistanceFieldHeaderList.cs.meta b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeDistanceFieldHeaderList.cs.meta
new file mode 100644
index 000000000..198e874f0
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeDistanceFieldHeaderList.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 1e18334e185814395aac025a1d4afe70
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeEdgeList.cs b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeEdgeList.cs
new file mode 100644
index 000000000..6589654c9
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeEdgeList.cs
@@ -0,0 +1,17 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiNativeEdgeList : ObiNativeList<Edge>
+    {
+        public ObiNativeEdgeList() { }
+        public ObiNativeEdgeList(int capacity = 8, int alignment = 16) : base(capacity, alignment)
+        {
+            for (int i = 0; i < capacity; ++i)
+                this[i] = new Edge();
+        }
+    }
+}
+
diff --git a/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeEdgeList.cs.meta b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeEdgeList.cs.meta
new file mode 100644
index 000000000..1d0141367
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeEdgeList.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 0d602b9fba6fc4e78a78b8dee0acd309
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeEdgeMeshHeaderList.cs b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeEdgeMeshHeaderList.cs
new file mode 100644
index 000000000..6055829df
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeEdgeMeshHeaderList.cs
@@ -0,0 +1,17 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiNativeEdgeMeshHeaderList : ObiNativeList<EdgeMeshHeader>
+    {
+        public ObiNativeEdgeMeshHeaderList() { }
+        public ObiNativeEdgeMeshHeaderList(int capacity = 8, int alignment = 16) : base(capacity, alignment)
+        {
+            for (int i = 0; i < capacity; ++i)
+                this[i] = new EdgeMeshHeader();
+        }
+    }
+}
+
diff --git a/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeEdgeMeshHeaderList.cs.meta b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeEdgeMeshHeaderList.cs.meta
new file mode 100644
index 000000000..98f0f3d8e
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeEdgeMeshHeaderList.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 474a95d0d9d37494f9ac5201e262b8a4
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeFloatList.cs b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeFloatList.cs
new file mode 100644
index 000000000..b1c418bf6
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeFloatList.cs
@@ -0,0 +1,18 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiNativeFloatList : ObiNativeList<float>
+    {
+        public ObiNativeFloatList() { }
+        public ObiNativeFloatList(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/ObiNativeFloatList.cs.meta b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeFloatList.cs.meta
new file mode 100644
index 000000000..332159d3d
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeFloatList.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 7cf0e80d841ca4425a99bc2d4beb3547
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeHeightFieldHeaderList.cs b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeHeightFieldHeaderList.cs
new file mode 100644
index 000000000..1baeff23b
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeHeightFieldHeaderList.cs
@@ -0,0 +1,18 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiNativeHeightFieldHeaderList : ObiNativeList<HeightFieldHeader>
+    {
+        public ObiNativeHeightFieldHeaderList() { }
+        public ObiNativeHeightFieldHeaderList(int capacity = 8, int alignment = 16) : base(capacity, alignment)
+        {
+            for (int i = 0; i < capacity; ++i)
+                this[i] = new HeightFieldHeader();
+        }
+
+    }
+}
+
diff --git a/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeHeightFieldHeaderList.cs.meta b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeHeightFieldHeaderList.cs.meta
new file mode 100644
index 000000000..412b35ad4
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeHeightFieldHeaderList.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 61e8d2ecda37e442aa8f24756395f12a
+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
new file mode 100644
index 000000000..c18c1821f
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeInt4List.cs
@@ -0,0 +1,23 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiNativeInt4List : ObiNativeList<VInt4>
+    {
+        public ObiNativeInt4List() { }
+        public ObiNativeInt4List(int capacity = 8, int alignment = 16) : base(capacity, alignment)
+        {
+            for (int i = 0; i < capacity; ++i)
+                this[i] = new VInt4(0,0,0,0);
+        }
+
+        public ObiNativeInt4List(int capacity, int alignment, VInt4 defaultValue) : base(capacity, alignment)
+        {
+            for (int i = 0; i < capacity; ++i)
+                this[i] = defaultValue;
+        }
+    }
+}
+
diff --git a/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeInt4List.cs.meta b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeInt4List.cs.meta
new file mode 100644
index 000000000..1a032a3fb
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeInt4List.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 18f572cdc044a4caabe29c40944c0987
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeIntList.cs b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeIntList.cs
new file mode 100644
index 000000000..9b2704cbc
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeIntList.cs
@@ -0,0 +1,18 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiNativeIntList : ObiNativeList<int>
+    {
+        public ObiNativeIntList() { }
+        public ObiNativeIntList(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/ObiNativeIntList.cs.meta b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeIntList.cs.meta
new file mode 100644
index 000000000..be2264626
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeIntList.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 0f8a8fd8447dc458bab16dea3dfd5580
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeIntPtrList.cs b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeIntPtrList.cs
new file mode 100644
index 000000000..6ac489c10
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeIntPtrList.cs
@@ -0,0 +1,16 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    public class ObiNativeIntPtrList : ObiNativeList<IntPtr>
+    {
+        public ObiNativeIntPtrList() { }
+        public ObiNativeIntPtrList(int capacity = 8, int alignment = 16) : base(capacity, alignment)
+        {
+            for (int i = 0; i < capacity; ++i)
+                this[i] = IntPtr.Zero;
+        }
+    }
+}
+
diff --git a/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeIntPtrList.cs.meta b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeIntPtrList.cs.meta
new file mode 100644
index 000000000..4d49d8b6d
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeIntPtrList.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 6201c3f1582cd43deaaf41286f802126
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeList.cs b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeList.cs
new file mode 100644
index 000000000..4d27307a7
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeList.cs
@@ -0,0 +1,442 @@
+using System;
+using System.Text;
+using System.Collections.Generic;
+using UnityEngine;
+using Unity.Collections;
+using Unity.Collections.LowLevel.Unsafe;
+using System.Collections;
+
+namespace Obi
+{
+    public unsafe abstract class ObiNativeList<T> : IEnumerable<T>, IDisposable, ISerializationCallbackReceiver where T : struct
+    {
+        public T[] serializedContents;
+        protected void* m_AlignedPtr = null;
+
+        protected int m_Stride;
+        protected int m_Capacity;
+        protected int m_Count;
+        [SerializeField] protected int m_AlignBytes = 16;
+
+#if ENABLE_UNITY_COLLECTIONS_CHECKS
+        protected AtomicSafetyHandle m_SafetyHandle;
+#endif
+        protected ComputeBuffer m_ComputeBuffer;
+
+        public int count
+        {
+            set
+            {
+                if (value != m_Count)
+                {
+                    // we should not use ResizeUninitialized as it would destroy all current data.
+                    // 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);
+                }
+            }
+            get { return m_Count; }
+        }
+
+        public int capacity
+        {
+            set
+            {
+                if (value != m_Capacity)
+                    ChangeCapacity(value);
+            }
+            get { return m_Capacity; }
+        }
+
+        public bool isCreated
+        {
+            get { return m_AlignedPtr != null; }
+        }
+
+        public T this[int index]
+        {
+            get
+            {
+                return UnsafeUtility.ReadArrayElementWithStride<T>(m_AlignedPtr, index, m_Stride);
+            }
+            set
+            {
+                UnsafeUtility.WriteArrayElementWithStride<T>(m_AlignedPtr, index, m_Stride, value);
+
+                if (m_ComputeBuffer != null)
+                    m_ComputeBuffer.SetData(AsNativeArray<T>(), index, index, 1);
+            }
+        }
+
+        // Declare parameterless constructor, called by Unity upon deserialization.
+        protected ObiNativeList()
+        {
+#if ENABLE_UNITY_COLLECTIONS_CHECKS
+            m_SafetyHandle = AtomicSafetyHandle.Create();
+#endif
+        }
+
+        public ObiNativeList(int capacity = 8, int alignment = 16)
+        {
+#if ENABLE_UNITY_COLLECTIONS_CHECKS
+            m_SafetyHandle = AtomicSafetyHandle.Create();
+#endif
+            m_AlignBytes = alignment;
+            ChangeCapacity(capacity);
+        }
+
+        ~ObiNativeList()
+        {
+            Dispose(false);
+        }
+
+        protected void Dispose(bool disposing)
+        {
+            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;
+            }
+#if ENABLE_UNITY_COLLECTIONS_CHECKS
+            // dispose of atomic safety handle:
+            AtomicSafetyHandle.CheckDeallocateAndThrow(m_SafetyHandle);
+            AtomicSafetyHandle.Release(m_SafetyHandle);
+#endif
+        }
+
+        public void Dispose()
+        {
+            Dispose(true);
+        }
+
+        public void OnBeforeSerialize()
+        {
+            if (isCreated)
+            {
+                // create a new managed array to serialize the data:
+                serializedContents = new T[m_Count];
+
+                // pin the managed array and get its address:
+                ulong serializedContentsHandle;
+                var serializedContentsAddress = UnsafeUtility.PinGCArrayAndGetDataAddress(serializedContents, out serializedContentsHandle);
+
+                // copy data over to the managed array:
+                UnsafeUtility.MemCpy(serializedContentsAddress, m_AlignedPtr, m_Count * m_Stride);
+
+                // unpin the managed array:
+                UnsafeUtility.ReleaseGCObject(serializedContentsHandle);
+            }
+        }
+
+        public void OnAfterDeserialize()
+        {
+            if (serializedContents != null)
+            {
+                // resize to receive the serialized data:
+                ResizeUninitialized(serializedContents.Length);
+
+                // pin the managed array and get its address:
+                ulong serializedContentsHandle;
+                var serializedContentsAddress = UnsafeUtility.PinGCArrayAndGetDataAddress(serializedContents, out serializedContentsHandle);
+
+                // copy data from the managed array:
+                UnsafeUtility.MemCpy(m_AlignedPtr, serializedContentsAddress, m_Count * m_Stride);
+
+                // unpin the managed array:
+                UnsafeUtility.ReleaseGCObject(serializedContentsHandle);
+            }
+        }
+
+        // Reinterprets the data in the list as a native array.
+        public NativeArray<U> AsNativeArray<U>() where U : struct
+        {
+            return AsNativeArray<U>(m_Count);
+        }
+
+        // Reinterprets the data in the list as a native array.
+        public NativeArray<U> AsNativeArray<U>(int arrayLength) where U : struct
+        {
+            unsafe
+            {
+                NativeArray<U> array = NativeArrayUnsafeUtility.ConvertExistingDataToNativeArray<U>(m_AlignedPtr, arrayLength, Allocator.None);
+
+#if ENABLE_UNITY_COLLECTIONS_CHECKS
+                NativeArrayUnsafeUtility.SetAtomicSafetyHandle(ref array, m_SafetyHandle);
+#endif
+                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
+        {
+            if (m_ComputeBuffer != null)
+            {
+                m_ComputeBuffer.Dispose();
+            }
+
+            m_ComputeBuffer = new ComputeBuffer(m_Count, m_Stride);
+            m_ComputeBuffer.SetData(AsNativeArray<U>());
+            return m_ComputeBuffer;
+        }
+
+        protected void ChangeCapacity(int newCapacity)
+        {
+            // allocate a new buffer:
+            m_Stride = UnsafeUtility.SizeOf<T>();
+            var newAlignedPtr = UnsafeUtility.Malloc(newCapacity * m_Stride, 16, Allocator.Persistent);
+
+            // if there was a previous allocation:
+            if (isCreated)
+            {
+                // copy contents from previous memory region
+                unsafe
+                {
+                    UnsafeUtility.MemCpy(newAlignedPtr, m_AlignedPtr, Mathf.Min(newCapacity, m_Capacity) * m_Stride);
+                }
+
+                // free previous memory region
+                UnsafeUtility.Free(m_AlignedPtr, Allocator.Persistent);
+            }
+
+            // get hold of new pointers/capacity.
+            m_AlignedPtr = newAlignedPtr;
+            m_Capacity = newCapacity;
+        }
+
+        public bool Compare(ObiNativeList<T> other)
+        {
+            if (other == null || !isCreated || !other.isCreated)
+                throw new ArgumentNullException();
+
+            if (m_Count != other.m_Count)
+                return false;
+
+            return UnsafeUtility.MemCmp(m_AlignedPtr, other.m_AlignedPtr, m_Count * m_Stride) == 0;
+        }
+
+        public void CopyFrom(ObiNativeList<T> source)
+        {
+            if (source == null || !isCreated || !source.isCreated)
+                throw new ArgumentNullException();
+
+            if (m_Count < source.m_Count)
+                throw new ArgumentOutOfRangeException();
+
+            UnsafeUtility.MemCpy(m_AlignedPtr, source.m_AlignedPtr, source.count * m_Stride);
+        }
+
+        public void CopyFrom(ObiNativeList<T> source, int sourceIndex, int destIndex, int length)
+        {
+            if (source == null || !isCreated || !source.isCreated)
+                throw new ArgumentNullException();
+
+            if (length <= 0 || source.m_Count == 0)
+                return;
+
+            if (sourceIndex >= source.m_Count || sourceIndex < 0 || destIndex >= m_Count || destIndex < 0 ||
+                sourceIndex + length > source.m_Count || destIndex + length > m_Count)
+                throw new ArgumentOutOfRangeException();
+
+            void* sourceAddress = source.AddressOfElement(sourceIndex);
+            void* destAddress = AddressOfElement(destIndex);
+            UnsafeUtility.MemCpy(destAddress, sourceAddress, length * m_Stride);
+
+        }
+
+        public void CopyReplicate(T value, int destIndex, int length)
+        {
+            if (length <= 0) return;
+
+            if (!isCreated)
+                throw new ArgumentNullException();
+
+            if (destIndex >= m_Count || destIndex < 0 || destIndex + length > m_Count)
+                throw new ArgumentOutOfRangeException();
+
+            void* sourceAddress = UnsafeUtility.AddressOf(ref value);
+            void* destAddress = AddressOfElement(destIndex);
+            UnsafeUtility.MemCpyReplicate(destAddress, sourceAddress, m_Stride, length);
+        }
+
+        public void CopyTo(T[] dest, int sourceIndex, int length)
+        {
+            if (length <= 0) return;
+
+            if (dest == null || !isCreated)
+                throw new ArgumentNullException();
+
+            if (sourceIndex < 0 || sourceIndex >= m_Count || sourceIndex + length > m_Count || length > dest.Length)
+                throw new ArgumentOutOfRangeException();
+
+            ulong destHandle;
+            void* sourceAddress = AddressOfElement(sourceIndex);
+            void* destAddress = UnsafeUtility.PinGCArrayAndGetDataAddress(dest, out destHandle);
+            UnsafeUtility.MemCpy(destAddress, sourceAddress, length * m_Stride);
+
+            UnsafeUtility.ReleaseGCObject(destHandle);
+        }
+
+        public void Clear()
+        {
+            m_Count = 0;
+        }
+
+        public void Add(T item)
+        {
+            EnsureCapacity(m_Count + 1);
+            this[m_Count++] = item;
+        }
+
+        public void AddRange(IEnumerable<T> enumerable)
+        {
+            ICollection<T> collection = enumerable as ICollection<T>;
+            if (collection != null && collection.Count > 0)
+            {
+                EnsureCapacity(m_Count + collection.Count);
+            }
+
+            using (IEnumerator<T> enumerator = enumerable.GetEnumerator())
+            {
+                while (enumerator.MoveNext())
+                {
+                    Add(enumerator.Current);
+                }
+            }
+        }
+
+        public void RemoveRange(int index, int count)
+        {
+            if (index < 0 || count < 0 || index + count > m_Count)
+                throw new ArgumentOutOfRangeException();
+
+            for (int i = index; i < m_Count - count; ++i)
+                this[i] = this[i + count];
+
+            m_Count -= count;
+        }
+
+        public void RemoveAt(int index)
+        {
+            if (index < 0 || index >= count)
+                throw new ArgumentOutOfRangeException();
+
+            for (int i = index; i < m_Count - 1; ++i)
+                this[i] = this[i + 1];
+
+            m_Count--;
+        }
+
+        /**
+         * Ensures a minimal capacity of count elements, then sets the new count. Useful when passing the backing array to C++
+         * for being filled with new data.
+         */
+        public bool ResizeUninitialized(int newCount)
+        {
+            newCount = Mathf.Max(0, newCount);
+            bool realloc = EnsureCapacity(newCount);
+            m_Count = newCount;
+            return realloc;
+        }
+
+        public bool ResizeInitialized(int newCount, T value = default(T))
+        {
+            newCount = Mathf.Max(0, newCount);
+
+            bool initialize = newCount >= m_Capacity || !isCreated;
+            bool realloc = EnsureCapacity(newCount);
+
+            if (initialize)
+            {
+                void* sourceAddress = UnsafeUtility.AddressOf(ref value);
+                void* destAddress = AddressOfElement(m_Count);
+                UnsafeUtility.MemCpyReplicate(destAddress, sourceAddress, m_Stride, m_Capacity - m_Count);
+            }
+
+            m_Count = newCount;
+
+            return realloc;
+        }
+
+        public bool EnsureCapacity(int min)
+        {
+            if (min >= m_Capacity || !isCreated)
+            {
+                ChangeCapacity(min * 2);
+                return true;
+            }
+            return false;
+        }
+
+        public void WipeToZero()
+        {
+            unsafe
+            {
+                if (isCreated)
+                    UnsafeUtility.MemClear(m_AlignedPtr, count * m_Stride);
+            }
+        }
+
+        public override string ToString()
+        {
+            StringBuilder sb = new StringBuilder();
+            sb.Append('[');
+
+            for (int t = 0; t < m_Count; t++)
+            {
+                sb.Append(this[t].ToString());
+
+                if (t < (m_Count - 1)) sb.Append(',');
+
+            }
+            sb.Append(']');
+            return sb.ToString();
+        }
+
+        public void* AddressOfElement(int index)
+        {
+            // UnsafeUtility.AddressOf(ref UnsafeUtilityEx.ArrayElementAsRef<T>(m_AlignedPtr, m_Count));
+            return (void*) ((byte*)m_AlignedPtr + m_Stride * index);
+        }
+
+        public IntPtr GetIntPtr()
+        {
+            if (isCreated)
+                return new IntPtr(m_AlignedPtr);
+            return IntPtr.Zero;
+        }
+
+        public void Swap(int index1, int index2)
+        {
+            // check to avoid out of bounds access:
+            if (index1 >= 0 && index1 < count && index2 >= 0 && index2 < count)
+            {
+                var aux = this[index1];
+                this[index1] = this[index2];
+                this[index2] = aux;
+            }
+        }
+
+        public IEnumerator<T> GetEnumerator()
+        {
+            for (int i = 0; i < count; ++i)
+            {
+                yield return this[i];
+            }
+        }
+
+        IEnumerator IEnumerable.GetEnumerator()
+        {
+            return this.GetEnumerator();
+        }
+    }
+}
+
diff --git a/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeList.cs.meta b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeList.cs.meta
new file mode 100644
index 000000000..6bfb7bb8f
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeList.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: be1183504e86c409d97f706fcfcb0b3f
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeMatrix4x4List.cs b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeMatrix4x4List.cs
new file mode 100644
index 000000000..32d189542
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeMatrix4x4List.cs
@@ -0,0 +1,16 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiNativeMatrix4x4List : ObiNativeList<Matrix4x4>
+    {
+        public ObiNativeMatrix4x4List(int capacity = 8, int alignment = 16) : base(capacity, alignment)
+        {
+            for (int i = 0; i < capacity; ++i)
+                this[i] = Matrix4x4.identity;
+        }
+    }
+}
+
diff --git a/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeMatrix4x4List.cs.meta b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeMatrix4x4List.cs.meta
new file mode 100644
index 000000000..8e6aebecc
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeMatrix4x4List.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: f6b7295a6ebb4475fb050c4c5b3770cc
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeQuaternionList.cs b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeQuaternionList.cs
new file mode 100644
index 000000000..c8552ff3e
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeQuaternionList.cs
@@ -0,0 +1,24 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiNativeQuaternionList : ObiNativeList<Quaternion>
+    {
+        public ObiNativeQuaternionList() { }
+        public ObiNativeQuaternionList(int capacity = 8, int alignment = 16) : base(capacity, alignment)
+        {
+            for (int i = 0; i < capacity; ++i)
+                this[i] = Quaternion.identity;
+        }
+
+        public ObiNativeQuaternionList(int capacity, int alignment, Quaternion defaultValue) : base(capacity, alignment)
+        {
+            for (int i = 0; i < capacity; ++i)
+                this[i] = defaultValue;
+        }
+
+    }
+}
+
diff --git a/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeQuaternionList.cs.meta b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeQuaternionList.cs.meta
new file mode 100644
index 000000000..c60a0807b
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeQuaternionList.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 6bad311b87fb6408793370e029c1d625
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeQueryResultList.cs b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeQueryResultList.cs
new file mode 100644
index 000000000..d82e9de0a
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeQueryResultList.cs
@@ -0,0 +1,17 @@
+using System;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiNativeQueryResultList : ObiNativeList<QueryResult>
+    {
+
+        public ObiNativeQueryResultList(int capacity = 8, int alignment = 16) : base(capacity, alignment)
+        {
+            for (int i = 0; i < capacity; ++i)
+                this[i] = new QueryResult();
+        }
+
+    }
+}
+
diff --git a/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeQueryResultList.cs.meta b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeQueryResultList.cs.meta
new file mode 100644
index 000000000..694b63a3d
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeQueryResultList.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 415658bfe3b0f45c285a26d383086a70
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeQueryShapeList.cs b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeQueryShapeList.cs
new file mode 100644
index 000000000..c7aa54f7e
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeQueryShapeList.cs
@@ -0,0 +1,17 @@
+using System;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiNativeQueryShapeList : ObiNativeList<QueryShape>
+    {
+
+        public ObiNativeQueryShapeList(int capacity = 8, int alignment = 16) : base(capacity, alignment)
+        {
+            for (int i = 0; i < capacity; ++i)
+                this[i] = new QueryShape();
+        }
+
+    }
+}
+
diff --git a/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeQueryShapeList.cs.meta b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeQueryShapeList.cs.meta
new file mode 100644
index 000000000..c148868c0
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeQueryShapeList.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: a1b44ba5a49564f81bc8eeebbee71cf3
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeRigidbodyList.cs b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeRigidbodyList.cs
new file mode 100644
index 000000000..221ff10f2
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeRigidbodyList.cs
@@ -0,0 +1,18 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiNativeRigidbodyList : ObiNativeList<ColliderRigidbody>
+    {
+        public ObiNativeRigidbodyList() { }
+        public ObiNativeRigidbodyList(int capacity = 8, int alignment = 16) : base(capacity, alignment)
+        {
+            for (int i = 0; i < capacity; ++i)
+                this[i] = new ColliderRigidbody();
+        }
+
+    }
+}
+
diff --git a/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeRigidbodyList.cs.meta b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeRigidbodyList.cs.meta
new file mode 100644
index 000000000..d5811a353
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeRigidbodyList.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 28ae021335a854c3eb91c500cd4c77b6
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeTriangleList.cs b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeTriangleList.cs
new file mode 100644
index 000000000..6fd173aa1
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeTriangleList.cs
@@ -0,0 +1,18 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiNativeTriangleList : ObiNativeList<Triangle>
+    {
+        public ObiNativeTriangleList() { }
+        public ObiNativeTriangleList(int capacity = 8, int alignment = 16) : base(capacity, alignment)
+        {
+            for (int i = 0; i < capacity; ++i)
+                this[i] = new Triangle();
+        }
+
+    }
+}
+
diff --git a/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeTriangleList.cs.meta b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeTriangleList.cs.meta
new file mode 100644
index 000000000..6c43dfc5a
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeTriangleList.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 0eda4a24fce5949d284395fe3a782477
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeTriangleMeshHeaderList.cs b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeTriangleMeshHeaderList.cs
new file mode 100644
index 000000000..ed34c97bb
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeTriangleMeshHeaderList.cs
@@ -0,0 +1,18 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiNativeTriangleMeshHeaderList : ObiNativeList<TriangleMeshHeader>
+    {
+        public ObiNativeTriangleMeshHeaderList() { }
+        public ObiNativeTriangleMeshHeaderList(int capacity = 8, int alignment = 16) : base(capacity, alignment)
+        {
+            for (int i = 0; i < capacity; ++i)
+                this[i] = new TriangleMeshHeader();
+        }
+
+    }
+}
+
diff --git a/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeTriangleMeshHeaderList.cs.meta b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeTriangleMeshHeaderList.cs.meta
new file mode 100644
index 000000000..f0ba2517e
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeTriangleMeshHeaderList.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: b7289725194bb4368a4ac8e6cd9a7062
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeVector2List.cs b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeVector2List.cs
new file mode 100644
index 000000000..94f9c6b5c
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeVector2List.cs
@@ -0,0 +1,18 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiNativeVector2List : ObiNativeList<Vector2>
+    {
+        public ObiNativeVector2List() { }
+        public ObiNativeVector2List(int capacity = 8, int alignment = 16) : base(capacity, alignment)
+        {
+            for (int i = 0; i < capacity; ++i)
+                this[i] = Vector2.zero;
+        }
+
+    }
+}
+
diff --git a/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeVector2List.cs.meta b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeVector2List.cs.meta
new file mode 100644
index 000000000..f62d13ea0
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeVector2List.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 097972b931df946398eb40913011ada0
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeVector3List.cs b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeVector3List.cs
new file mode 100644
index 000000000..4fb3b0002
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeVector3List.cs
@@ -0,0 +1,18 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiNativeVector3List : ObiNativeList<Vector3>
+    {
+        public ObiNativeVector3List() { }
+        public ObiNativeVector3List(int capacity = 8, int alignment = 16) : base(capacity, alignment)
+        {
+            for (int i = 0; i < capacity; ++i)
+                this[i] = Vector3.zero;
+        }
+
+    }
+}
+
diff --git a/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeVector3List.cs.meta b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeVector3List.cs.meta
new file mode 100644
index 000000000..c14bf94ed
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeVector3List.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: fb8db19bcf3ce468786ed448ea6821d4
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeVector4List.cs b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeVector4List.cs
new file mode 100644
index 000000000..2f72c6381
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeVector4List.cs
@@ -0,0 +1,36 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiNativeVector4List : ObiNativeList<Vector4>
+    {
+        public ObiNativeVector4List() { }
+        public ObiNativeVector4List(int capacity = 8, int alignment = 16) : base(capacity, alignment)
+        {
+            for (int i = 0; i < capacity; ++i)
+                this[i] = Vector4.zero;
+        }
+
+
+        public Vector3 GetVector3(int index)
+        {
+            unsafe
+            {
+                byte* start = (byte*)m_AlignedPtr + index * sizeof(Vector4);
+                return *(Vector3*)start;
+            }
+        }
+
+        public void SetVector3(int index, Vector3 value)
+        {
+            unsafe
+            {
+                byte* start = (byte*)m_AlignedPtr + index * sizeof(Vector4);
+                *(Vector3*)start = value;
+            }
+        }
+    }
+}
+
diff --git a/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeVector4List.cs.meta b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeVector4List.cs.meta
new file mode 100644
index 000000000..681b0b726
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/NativeList/ObiNativeVector4List.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 7a1016daf70074bd790b5a278c314263
+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
new file mode 100644
index 000000000..0a44ef0d7
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/ObiList.cs
@@ -0,0 +1,165 @@
+using System;
+using System.Collections;
+using System.Collections.Generic;
+
+namespace Obi
+{
+	/**
+	 * Custom IList implementation that allows access to the underlying raw array, for efficient C++ interop. Also
+	 * includes some auxiliar methods that make it easier and faster to send data back and forth between C# and C++, as
+     * well as deal with accesing the contents of the list directly without a copy.
+	 */
+	public class ObiList<T> : IList<T>
+	{
+		private T[] data = new T[16];
+		private int count = 0;
+	
+	    #region Implementation of IEnumerable
+	
+	    public IEnumerator<T> GetEnumerator()
+	    {
+			for (int i = 0; i < count;++i)
+				yield return data[i];
+	    }
+	
+	    IEnumerator IEnumerable.GetEnumerator()
+	    {
+	        return GetEnumerator();
+	    }
+	
+	    #endregion
+	
+	    #region Implementation of ICollection<T>
+	
+	    public void Add(T item)
+	    {
+            EnsureCapacity(count + 1);
+            data[count++] = item;
+	    }
+	
+	    public void Clear()
+	    {
+			count = 0;
+	    }
+	
+	    public bool Contains(T item)
+	    {
+			for (int i = 0; i < count; ++i)
+				if (data[i].Equals(item)) 
+					return true;
+			return false;
+	    }
+	
+	    public void CopyTo(T[] array, int arrayIndex)
+	    {
+			if (array == null)
+				throw new ArgumentNullException();
+
+			if (array.Length-arrayIndex < count)
+				throw new ArgumentException();
+
+			Array.Copy(data,0,array,arrayIndex,count);
+	    }
+	
+	    public bool Remove(T item)
+	    {
+			bool found = false;
+			for (int i = 0; i < count; ++i)
+			{
+				// Look for the element, and mark it as found.
+				if (!found && data[i].Equals(item))
+					found = true;
+				
+				//If we found the element and are not at the last element, displace the element 1 position backwards.
+				if (found && i < count-1)
+				{
+					data[i] = data[i+1];
+				}
+			}	
+
+			// If we found and removed the element, reduce the element count by 1.
+			if (found)
+				count--;
+
+			return found;		
+	    }
+	
+	    public int Count
+	    {
+	        get { return count; }
+	    }
+	
+	    public bool IsReadOnly
+	    {
+			get { return false; }
+	    }
+	
+	    #endregion
+	
+	    #region Implementation of IList<T>
+	
+	    public int IndexOf(T item)
+	    {
+			return Array.IndexOf(data,item);
+	    }
+	
+	    public void Insert(int index, T item)
+	    {
+			if (index < 0 || index > count)
+				throw new ArgumentOutOfRangeException();
+
+			EnsureCapacity(++count);
+
+	        for (int i = count-1; i > index; ++i)
+			{
+				data[i] = data[i-1];
+			}
+
+			data[index] = item;
+	    }
+	
+	    public void RemoveAt(int index)
+	    {
+			for (int i = index; i < count; ++i)
+			{
+				if (i < count-1)
+				{
+					data[i] = data[i+1];
+				}
+			}	
+
+			count--;
+	    }
+	
+	    public T this[int index]
+	    {
+	        get { return data[index]; }
+	        set { data[index] = value; }
+	    }
+	
+	    #endregion
+	
+	    #region Added stuff
+	
+		public T[] Data{
+			get{return data;}
+		}
+
+		/**
+		 * Ensures a minimal capacity of count elements, then sets the new count. Useful when passing the backing array to C++
+		 * for being filled with new data.
+		 */
+		public void SetCount(int count){
+			EnsureCapacity(count);
+			this.count = count;
+		}
+
+		public void EnsureCapacity(int capacity){	
+			if (capacity >= data.Length)
+				Array.Resize(ref data,capacity*2);
+		}
+	
+	    #endregion
+	}
+}
+
diff --git a/Assets/Obi/Scripts/Common/DataStructures/ObiList.cs.meta b/Assets/Obi/Scripts/Common/DataStructures/ObiList.cs.meta
new file mode 100644
index 000000000..c47f6adcd
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/ObiList.cs.meta
@@ -0,0 +1,12 @@
+fileFormatVersion: 2
+guid: d8100b324be8f46cc9578fd52193a876
+timeCreated: 1513467715
+licenseType: Store
+MonoImporter:
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/DataStructures/ParticlePair.cs b/Assets/Obi/Scripts/Common/DataStructures/ParticlePair.cs
new file mode 100644
index 000000000..18ab9f1ff
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/ParticlePair.cs
@@ -0,0 +1,24 @@
+using UnityEngine;
+using System.Collections;
+
+
+namespace Obi
+{
+    public struct ParticlePair
+    {
+        public int first;
+        public int second;
+
+        public ParticlePair(int first, int second)
+        {
+            this.first = first;
+            this.second = second;
+        }
+
+        public int this[int index]
+        {
+            get { return index == 0 ? first : second; }
+            set { if (index == 0) first = value; else second = value; }
+        }
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/DataStructures/ParticlePair.cs.meta b/Assets/Obi/Scripts/Common/DataStructures/ParticlePair.cs.meta
new file mode 100644
index 000000000..03bca0884
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/ParticlePair.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/DataStructures/Queries.meta b/Assets/Obi/Scripts/Common/DataStructures/Queries.meta
new file mode 100644
index 000000000..a8d87e4f6
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/Queries.meta
@@ -0,0 +1,8 @@
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diff --git a/Assets/Obi/Scripts/Common/DataStructures/Queries/QueryResult.cs b/Assets/Obi/Scripts/Common/DataStructures/Queries/QueryResult.cs
new file mode 100644
index 000000000..d165b565c
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/Queries/QueryResult.cs
@@ -0,0 +1,16 @@
+using UnityEngine;
+using System.Runtime.InteropServices;
+
+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.*/
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/DataStructures/Queries/QueryResult.cs.meta b/Assets/Obi/Scripts/Common/DataStructures/Queries/QueryResult.cs.meta
new file mode 100644
index 000000000..7420cabfb
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/Queries/QueryResult.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: a2effdf7f81654462ac5af1735de92eb
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+  externalObjects: {}
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diff --git a/Assets/Obi/Scripts/Common/DataStructures/Queries/QueryShape.cs b/Assets/Obi/Scripts/Common/DataStructures/Queries/QueryShape.cs
new file mode 100644
index 000000000..a035e46c0
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/Queries/QueryShape.cs
@@ -0,0 +1,36 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public struct QueryShape
+    {
+        public enum QueryType
+        {
+            Sphere = 0,
+            Box = 1,
+            Ray = 2,
+        }
+
+        public Vector4 center;      /**<  box: center of the box in solver space.
+                                          sphere: center of the sphere in solver space,.
+                                          ray: start of the ray in solver space.*/
+
+        public Vector4 size;     /**<     box: size of the box in each axis.
+                                          sphere: radius of sphere (x,y,z),
+                                          ray: end of the line segment in solver space.*/
+        public QueryType type;
+        public float contactOffset;
+        public float maxDistance;          // minimum distance around the shape to look for.
+        public int filter;
+
+        public QueryShape(QueryType type, Vector3 center, Vector3 size, float contactOffset, float distance, int filter)
+        {
+            this.type = type;
+            this.center = center;
+            this.size = size;
+            this.contactOffset = contactOffset;
+            this.maxDistance = distance;
+            this.filter = filter;
+        }
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/DataStructures/Queries/QueryShape.cs.meta b/Assets/Obi/Scripts/Common/DataStructures/Queries/QueryShape.cs.meta
new file mode 100644
index 000000000..7276f4498
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/Queries/QueryShape.cs.meta
@@ -0,0 +1,11 @@
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+guid: 6d126422956eb46eaa20e28b8d59122c
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diff --git a/Assets/Obi/Scripts/Common/DataStructures/SimplexCounts.cs b/Assets/Obi/Scripts/Common/DataStructures/SimplexCounts.cs
new file mode 100644
index 000000000..c9b8e2be0
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/SimplexCounts.cs
@@ -0,0 +1,47 @@
+using UnityEngine;
+using System.Collections;
+
+
+namespace Obi
+{
+    public struct SimplexCounts
+    {
+        public int pointCount;
+        public int edgeCount;
+        public int triangleCount;
+
+        public int simplexCount
+        {
+            get { return pointCount + edgeCount + triangleCount; }
+        }
+
+        public SimplexCounts(int pointCount, int edgeCount, int triangleCount)
+        {
+            this.pointCount = pointCount;
+            this.edgeCount = edgeCount;
+            this.triangleCount = triangleCount;
+        }
+
+        public int GetSimplexStartAndSize(int index, out int size)
+        {
+            if (index < pointCount)
+            {
+                size = 1;
+                return index;
+            }
+            else if (index < pointCount + edgeCount)
+            {
+                size = 2;
+                return pointCount + (index - pointCount) * 2;
+            }
+            else if (index < simplexCount)
+            {
+                size = 3;
+                int triStart = pointCount + edgeCount * 2;
+                return triStart + (index - pointCount - edgeCount) * 3;
+            }
+            size = 0;
+            return 0;
+        }
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/DataStructures/SimplexCounts.cs.meta b/Assets/Obi/Scripts/Common/DataStructures/SimplexCounts.cs.meta
new file mode 100644
index 000000000..f4cb67466
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/SimplexCounts.cs.meta
@@ -0,0 +1,11 @@
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+guid: 4a445a209f673411391c60adfe8b4766
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+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
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diff --git a/Assets/Obi/Scripts/Common/DataStructures/VInt4.cs b/Assets/Obi/Scripts/Common/DataStructures/VInt4.cs
new file mode 100644
index 000000000..49a11bdf7
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/VInt4.cs
@@ -0,0 +1,33 @@
+using UnityEngine;
+using System;
+using System.Collections;
+using System.Runtime.InteropServices;
+
+namespace Obi
+{
+    [Serializable]
+    [StructLayout(LayoutKind.Sequential)]
+    public struct VInt4
+    {
+        public int x;
+        public int y;
+        public int z;
+        public int w;
+
+        public VInt4(int x, int y, int z, int w)
+        {
+            this.x = x;
+            this.y = y;
+            this.z = z;
+            this.w = w;
+        }
+
+        public VInt4(int x)
+        {
+            this.x = x;
+            this.y = x;
+            this.z = x;
+            this.w = x;
+        }
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/DataStructures/VInt4.cs.meta b/Assets/Obi/Scripts/Common/DataStructures/VInt4.cs.meta
new file mode 100644
index 000000000..b30848186
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/VInt4.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/Common/DataStructures/Voxelization.meta b/Assets/Obi/Scripts/Common/DataStructures/Voxelization.meta
new file mode 100644
index 000000000..a9e8fd40b
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/Voxelization.meta
@@ -0,0 +1,8 @@
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+folderAsset: yes
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diff --git a/Assets/Obi/Scripts/Common/DataStructures/Voxelization/MeshVoxelizer.cs b/Assets/Obi/Scripts/Common/DataStructures/Voxelization/MeshVoxelizer.cs
new file mode 100644
index 000000000..c8224bfe9
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/Voxelization/MeshVoxelizer.cs
@@ -0,0 +1,429 @@
+
+using System;
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+namespace Obi
+{
+
+    /**
+     * Helper class that voxelizes a mesh.
+     */
+    [Serializable]
+    public class MeshVoxelizer
+    {
+        [Flags]
+        public enum Voxel
+        {
+            Empty = 0,
+            Inside = 1 << 0,
+            Boundary = 1 << 1,
+            Outside = 1 << 2,
+        }
+
+        public readonly static Vector3Int[] fullNeighborhood =
+        {
+            // face neighbors: 
+            new Vector3Int(-1,0,0),
+            new Vector3Int(1,0,0),
+            new Vector3Int(0,-1,0),
+            new Vector3Int(0,1,0),
+            new Vector3Int(0,0,-1),
+            new Vector3Int(0,0,1),
+
+            // edge neighbors:
+            new Vector3Int(-1,-1,0),
+            new Vector3Int(-1,0,-1),
+            new Vector3Int(-1,0,1),
+            new Vector3Int(-1,1,0),
+            new Vector3Int(0,-1,-1),
+            new Vector3Int(0,-1,1),
+            new Vector3Int(0,1,-1),
+            new Vector3Int(0,1,1),
+            new Vector3Int(1,-1,0),
+            new Vector3Int(1,0,-1),
+            new Vector3Int(1,0,1),
+            new Vector3Int(1,1,0),
+
+            // vertex neighbors:
+            new Vector3Int(-1,-1,-1),
+            new Vector3Int(-1,-1,1),
+            new Vector3Int(-1,1,-1),
+            new Vector3Int(-1,1,1),
+            new Vector3Int(1,-1,-1),
+            new Vector3Int(1,-1,1),
+            new Vector3Int(1,1,-1),
+            new Vector3Int(1,1,1)
+        };
+
+        public readonly static Vector3Int[] edgefaceNeighborhood =
+        {
+            new Vector3Int(-1,-1,0),
+            new Vector3Int(-1,0,-1),
+            new Vector3Int(-1,0,0),
+            new Vector3Int(-1,0,1),
+            new Vector3Int(-1,1,0),
+            new Vector3Int(0,-1,-1),
+            new Vector3Int(0,-1,0),
+            new Vector3Int(0,-1,1),
+            new Vector3Int(0,0,-1),
+            new Vector3Int(0,0,1),
+            new Vector3Int(0,1,-1),
+            new Vector3Int(0,1,0),
+            new Vector3Int(0,1,1),
+            new Vector3Int(1,-1,0),
+            new Vector3Int(1,0,-1),
+            new Vector3Int(1,0,0),
+            new Vector3Int(1,0,1),
+            new Vector3Int(1,1,0)
+        };
+
+        public readonly static Vector3Int[] faceNeighborhood =
+{
+            new Vector3Int(-1,0,0),
+            new Vector3Int(1,0,0),
+            new Vector3Int(0,-1,0),
+            new Vector3Int(0,1,0),
+            new Vector3Int(0,0,-1),
+            new Vector3Int(0,0,1)
+        };
+
+        public readonly static Vector3Int[] edgeNeighborhood =
+        {
+            new Vector3Int(-1,-1,0),
+            new Vector3Int(-1,0,-1),
+            new Vector3Int(-1,0,1),
+            new Vector3Int(-1,1,0),
+            new Vector3Int(0,-1,-1),
+            new Vector3Int(0,-1,1),
+            new Vector3Int(0,1,-1),
+            new Vector3Int(0,1,1),
+            new Vector3Int(1,-1,0),
+            new Vector3Int(1,0,-1),
+            new Vector3Int(1,0,1),
+            new Vector3Int(1,1,0)
+        };
+
+        public readonly static Vector3Int[] vertexNeighborhood =
+        {
+            new Vector3Int(-1,-1,-1),
+            new Vector3Int(-1,-1,1),
+            new Vector3Int(-1,1,-1),
+            new Vector3Int(-1,1,1),
+            new Vector3Int(1,-1,-1),
+            new Vector3Int(1,-1,1),
+            new Vector3Int(1,1,-1),
+            new Vector3Int(1,1,1)
+        };
+
+        [NonSerialized] public Mesh input;
+
+        [HideInInspector][SerializeField] private Voxel[] voxels;
+        public float voxelSize;
+        public Vector3Int resolution;
+
+        private List<int>[] triangleIndices; // temporary structure to hold triangles overlapping each voxel.
+        private Vector3Int origin;
+
+        public Vector3Int Origin
+        {
+            get { return origin; }
+        }
+
+        public int voxelCount
+        {
+            get { return resolution.x * resolution.y * resolution.z; }
+        }
+
+        public MeshVoxelizer(Mesh input, float voxelSize)
+        {
+            this.input = input;
+            this.voxelSize = voxelSize;
+        }
+
+        public Voxel this[int x, int y, int z]
+        {
+            get { return voxels[GetVoxelIndex(x, y, z)]; }
+            set { voxels[GetVoxelIndex(x, y, z)] = value; }
+        }
+
+        public float GetDistanceToNeighbor(int i)
+        {
+            if (i > 17) return ObiUtils.sqrt3 * voxelSize;
+            if (i > 5) return ObiUtils.sqrt2 * voxelSize;
+            return voxelSize;
+        }
+
+        public int GetVoxelIndex(int x, int y, int z)
+        {
+            return x + resolution.x * (y + resolution.y * z);
+        }
+
+        public Vector3 GetVoxelCenter(in Vector3Int coords)
+        {
+            return new Vector3(Origin.x + coords.x + 0.5f,
+                               Origin.y + coords.y + 0.5f,
+                               Origin.z + coords.z + 0.5f) * voxelSize;
+        }
+
+        private Bounds GetTriangleBounds(in Vector3 v1, in Vector3 v2, in Vector3 v3)
+        {
+            Bounds b = new Bounds(v1, Vector3.zero);
+            b.Encapsulate(v2);
+            b.Encapsulate(v3);
+            return b;
+        }
+
+        public List<int> GetTrianglesOverlappingVoxel(int voxelIndex)
+        {
+            if (voxelIndex >= 0 && voxelIndex < triangleIndices.Length)
+                return triangleIndices[voxelIndex];
+            return null;
+        }
+
+        public Vector3Int GetPointVoxel(in Vector3 point)
+        {
+            return new Vector3Int(Mathf.FloorToInt(point.x / voxelSize),
+                                  Mathf.FloorToInt(point.y / voxelSize),
+                                  Mathf.FloorToInt(point.z / voxelSize));
+        }
+
+        public bool VoxelExists(in Vector3Int coords)
+        {
+            return VoxelExists(coords.x, coords.y, coords.z);
+        }
+
+        public bool VoxelExists(int x, int y, int z)
+        {
+            return x >= 0 && y >= 0 && z >= 0 &&
+                   x < resolution.x &&
+                   y < resolution.y &&
+                   z < resolution.z;
+        }
+
+        private void AppendOverlappingVoxels(in Bounds bounds, in Vector3 v1, in Vector3 v2, in Vector3 v3, int triangleIndex)
+        {
+
+            Vector3Int min = GetPointVoxel(bounds.min);
+            Vector3Int max = GetPointVoxel(bounds.max);
+
+            for (int x = min.x; x <= max.x; ++x)
+                for (int y = min.y; y <= max.y; ++y)
+                    for (int z = min.z; z <= max.z; ++z)
+                    {
+                        Bounds voxel = new Bounds(new Vector3(x + 0.5f, y + 0.5f, z + 0.5f) * voxelSize, Vector3.one * voxelSize);
+
+                        if (IsIntersecting(voxel, v1, v2, v3))
+                        {
+                            int index = GetVoxelIndex(x - origin.x, y - origin.y, z - origin.z);
+                            voxels[index] = Voxel.Boundary;
+
+                            if (triangleIndices != null)
+                                triangleIndices[index].Add(triangleIndex);
+                        }
+                    }
+        }
+
+
+        public IEnumerator Voxelize(Matrix4x4 transform, 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); 
+
+            resolution = new Vector3Int(max.x - origin.x + 1, max.y - origin.y + 1, max.z - origin.z + 1);
+
+            // Allocate voxels array, and initialize them to "inside" the mesh:
+            voxels = new Voxel[resolution.x * resolution.y * resolution.z];
+
+            for (int x = 0; x < resolution.x; ++x)
+                for (int y = 0; y < resolution.y; ++y)
+                    for (int z = 0; z < resolution.z; ++z)
+                        this[x, y, z] = Voxel.Inside;
+
+            // Allocate triangle lists:
+            if (generateTriangleIndices)
+            {
+                triangleIndices = new List<int>[voxels.Length];
+                for (int i = 0; i < triangleIndices.Length; ++i)
+                    triangleIndices[i] = new List<int>(4);
+            }
+            else
+                triangleIndices = null;
+
+            // Get input triangles and vertices:
+            int[] triIndices = input.triangles;
+            Vector3[] vertices = input.vertices;
+
+            // 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]]);
+
+                Bounds triBounds = GetTriangleBounds(v1, v2, v3);
+
+                AppendOverlappingVoxels(triBounds, v1, v2, v3, i/3);
+
+                if (i % 150 == 0)
+                    yield return new CoroutineJob.ProgressInfo("Voxelizing mesh...", i / (float)triIndices.Length);
+            }
+
+            // Flood fill outside the mesh. This deals with multiple disjoint regions, and non-watertight models.
+            var fillCoroutine = FloodFill();
+            while (fillCoroutine.MoveNext())
+                yield return fillCoroutine.Current;
+        }
+
+        public void BoundaryThinning()
+        {
+            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 % faceNeighborhood.Length != 0 && this[x, y, z] == Voxel.Inside) 
+                            this[x, y, z] = Voxel.Boundary;
+                    }
+        }
+
+        private IEnumerator FloodFill()
+        {
+            Queue<Vector3Int> queue = new Queue<Vector3Int>();
+            queue.Enqueue(new Vector3Int(0, 0, 0));
+
+            this[0, 0, 0] = Voxel.Outside;
+
+            int i = 0;
+            while (queue.Count > 0)
+            {
+                Vector3Int c = queue.Dequeue();
+                Vector3Int v;
+
+                if (c.x < resolution.x - 1 && this[c.x + 1, c.y, c.z] == Voxel.Inside)
+                {
+                    v = new Vector3Int(c.x + 1, c.y, c.z);
+                    this[v.x, v.y, v.z] = Voxel.Outside;
+                    queue.Enqueue(v);
+                }
+                if (c.x > 0 && this[c.x - 1, c.y, c.z] == Voxel.Inside)
+                {
+                    v = new Vector3Int(c.x - 1, c.y, c.z);
+                    this[v.x, v.y, v.z] = Voxel.Outside;
+                    queue.Enqueue(v);
+                }
+                if (c.y < resolution.y - 1 && this[c.x, c.y + 1, c.z] == Voxel.Inside)
+                {
+                    v = new Vector3Int(c.x, c.y + 1, c.z);
+                    this[v.x, v.y, v.z] = Voxel.Outside;
+                    queue.Enqueue(v);
+                }
+                if (c.y > 0 && this[c.x, c.y - 1, c.z] == Voxel.Inside )
+                {
+                    v = new Vector3Int(c.x, c.y - 1, c.z);
+                    this[v.x, v.y, v.z] = Voxel.Outside;
+                    queue.Enqueue(v);
+                }
+
+                if (c.z < resolution.z - 1 && this[c.x, c.y, c.z + 1] == Voxel.Inside)
+                {
+                    v = new Vector3Int(c.x, c.y, c.z + 1);
+                    this[v.x, v.y, v.z] = Voxel.Outside;
+                    queue.Enqueue(v);
+                }
+                if (c.z > 0 && this[c.x, c.y, c.z - 1] == Voxel.Inside)
+                {
+                    v = new Vector3Int(c.x, c.y, c.z - 1);
+                    this[v.x, v.y, v.z] = Voxel.Outside;
+                    queue.Enqueue(v);
+                }
+
+                if (++i % 150 == 0)
+                    yield return new CoroutineJob.ProgressInfo("Filling mesh...", i / (float)voxels.Length);
+            }
+        }
+
+        public static bool IsIntersecting(in Bounds box, Vector3 v1, Vector3 v2, Vector3 v3)
+        {
+            v1 -= box.center;
+            v2 -= box.center;
+            v3 -= box.center;
+
+            var ab = v2 - v1;
+            var bc = v3 - v2;
+            var ca = v1 - v3;
+
+            //cross with (1, 0, 0)
+            var a00 = new Vector3(0, -ab.z, ab.y);
+            var a01 = new Vector3(0, -bc.z, bc.y);
+            var a02 = new Vector3(0, -ca.z, ca.y);
+
+            //cross with (0, 1, 0)
+            var a10 = new Vector3(ab.z, 0, -ab.x);
+            var a11 = new Vector3(bc.z, 0, -bc.x);
+            var a12 = new Vector3(ca.z, 0, -ca.x);
+
+            //cross with (0, 0, 1)
+            var a20 = new Vector3(-ab.y, ab.x, 0);
+            var a21 = new Vector3(-bc.y, bc.x, 0);
+            var a22 = new Vector3(-ca.y, ca.x, 0);
+
+            if (
+                !TriangleAabbSATTest(v1, v2, v3, box.extents, a00) ||
+                !TriangleAabbSATTest(v1, v2, v3, box.extents, a01) ||
+                !TriangleAabbSATTest(v1, v2, v3, box.extents, a02) ||
+                !TriangleAabbSATTest(v1, v2, v3, box.extents, a10) ||
+                !TriangleAabbSATTest(v1, v2, v3, box.extents, a11) ||
+                !TriangleAabbSATTest(v1, v2, v3, box.extents, a12) ||
+                !TriangleAabbSATTest(v1, v2, v3, box.extents, a20) ||
+                !TriangleAabbSATTest(v1, v2, v3, box.extents, a21) ||
+                !TriangleAabbSATTest(v1, v2, v3, box.extents, a22) ||
+                !TriangleAabbSATTest(v1, v2, v3, box.extents, Vector3.right) ||
+                !TriangleAabbSATTest(v1, v2, v3, box.extents, Vector3.up) ||
+                !TriangleAabbSATTest(v1, v2, v3, box.extents, Vector3.forward) ||
+                !TriangleAabbSATTest(v1, v2, v3, box.extents, Vector3.Cross(ab, bc))
+            )
+                return false;
+
+            return true;
+        }
+
+        static bool TriangleAabbSATTest(in Vector3 v0, in Vector3 v1, in Vector3 v2, in Vector3 aabbExtents, in Vector3 axis)
+        {
+            float p0 = Vector3.Dot(v0, axis);
+            float p1 = Vector3.Dot(v1, axis);
+            float p2 = Vector3.Dot(v2, axis);
+
+            float r = aabbExtents.x * Mathf.Abs(axis.x) +
+                      aabbExtents.y * Mathf.Abs(axis.y) +
+                      aabbExtents.z * Mathf.Abs(axis.z);
+
+            float maxP = Mathf.Max(p0, Mathf.Max(p1, p2));
+            float minP = Mathf.Min(p0, Mathf.Min(p1, p2));
+
+            return !(Mathf.Max(-maxP, minP) > r);
+        }
+
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/DataStructures/Voxelization/MeshVoxelizer.cs.meta b/Assets/Obi/Scripts/Common/DataStructures/Voxelization/MeshVoxelizer.cs.meta
new file mode 100644
index 000000000..3feb9ced1
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/Voxelization/MeshVoxelizer.cs.meta
@@ -0,0 +1,12 @@
+fileFormatVersion: 2
+guid: d719a609a88a842d8b4a10db447a627c
+timeCreated: 1521796043
+licenseType: Store
+MonoImporter:
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/DataStructures/Voxelization/PriorityQueue.cs b/Assets/Obi/Scripts/Common/DataStructures/Voxelization/PriorityQueue.cs
new file mode 100644
index 000000000..63c1b3dc6
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/Voxelization/PriorityQueue.cs
@@ -0,0 +1,101 @@
+using System;
+using System.Collections.Generic;
+
+namespace Obi
+{
+
+    // From https://visualstudiomagazine.com/articles/2012/11/01/priority-queues-with-c.aspx
+    public class PriorityQueue<T> where T : IComparable<T>
+    {
+        public List<T> data;
+
+        public PriorityQueue()
+        {
+            this.data = new List<T>();
+        }
+
+        public void Enqueue(T item)
+        {
+            data.Add(item);
+            int ci = data.Count - 1; // child index; start at end
+            while (ci > 0)
+            {
+                int pi = (ci - 1) / 2; // parent index
+                if (data[ci].CompareTo(data[pi]) >= 0) break; // child item is larger than (or equal) parent so we're done
+                T tmp = data[ci]; data[ci] = data[pi]; data[pi] = tmp;
+                ci = pi;
+            }
+        }
+
+        public T Dequeue()
+        {
+            // assumes pq is not empty; up to calling code
+            int li = data.Count - 1; // last index (before removal)
+            T frontItem = data[0];   // fetch the front
+            data[0] = data[li];
+            data.RemoveAt(li);
+
+            --li; // last index (after removal)
+            int pi = 0; // parent index. start at front of pq
+            while (true)
+            {
+                int ci = pi * 2 + 1; // left child index of parent
+                if (ci > li) break;  // no children so done
+                int rc = ci + 1;     // right child
+                if (rc <= li && data[rc].CompareTo(data[ci]) < 0) // if there is a rc (ci + 1), and it is smaller than left child, use the rc instead
+                    ci = rc;
+                if (data[pi].CompareTo(data[ci]) <= 0) break; // parent is smaller than (or equal to) smallest child so done
+                T tmp = data[pi]; data[pi] = data[ci]; data[ci] = tmp; // swap parent and child
+                pi = ci;
+            }
+            return frontItem;
+        }
+
+        public T Peek()
+        {
+            T frontItem = data[0];
+            return frontItem;
+        }
+
+        public IEnumerable<T> GetEnumerator()
+        {
+            for (int i = 0; i < data.Count; ++i)
+                yield return data[i];
+        }
+
+        public void Clear()
+        {
+            data.Clear();
+        }
+
+        public int Count()
+        {
+            return data.Count;
+        }
+
+        public override string ToString()
+        {
+            string s = "";
+            for (int i = 0; i < data.Count; ++i)
+                s += data[i].ToString() + " ";
+            s += "count = " + data.Count;
+            return s;
+        }
+
+        public bool IsConsistent()
+        {
+            // is the heap property true for all data?
+            if (data.Count == 0) return true;
+            int li = data.Count - 1; // last index
+            for (int pi = 0; pi < data.Count; ++pi) // each parent index
+            {
+                int lci = 2 * pi + 1; // left child index
+                int rci = 2 * pi + 2; // right child index
+
+                if (lci <= li && data[pi].CompareTo(data[lci]) > 0) return false; // if lc exists and it's greater than parent then bad.
+                if (rci <= li && data[pi].CompareTo(data[rci]) > 0) return false; // check the right child too.
+            }
+            return true; // passed all checks
+        } 
+    } 
+}
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/DataStructures/Voxelization/PriorityQueue.cs.meta b/Assets/Obi/Scripts/Common/DataStructures/Voxelization/PriorityQueue.cs.meta
new file mode 100644
index 000000000..5b691875d
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/Voxelization/PriorityQueue.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: df456c360bde341bca8e2bfd472e9bcb
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/DataStructures/Voxelization/VoxelDistanceField.cs b/Assets/Obi/Scripts/Common/DataStructures/Voxelization/VoxelDistanceField.cs
new file mode 100644
index 000000000..8484fbfd8
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/Voxelization/VoxelDistanceField.cs
@@ -0,0 +1,190 @@
+using System.Collections;
+using UnityEngine;
+
+namespace Obi
+{
+
+    /**
+     * Generates a sparse distance field from a voxel representation of a mesh.
+     */
+    public class VoxelDistanceField
+    {
+        public Vector3Int[,,] distanceField; // for each coordinate, stores coordinates of closest surface voxel.
+
+        private MeshVoxelizer voxelizer;
+
+        public VoxelDistanceField(MeshVoxelizer voxelizer)
+        {
+            this.voxelizer = voxelizer;
+        }
+
+        public float SampleUnfiltered(int x, int y, int z)
+        {
+            if (!voxelizer.VoxelExists(x, y, z)) return float.PositiveInfinity;
+
+            float dist = Vector3.Distance(voxelizer.GetVoxelCenter(distanceField[x, y, z]),
+                                          voxelizer.GetVoxelCenter(new Vector3Int(x, y, z)));
+
+            if (voxelizer[x, y, z] == MeshVoxelizer.Voxel.Inside)
+                return -dist;
+            return dist;
+        }
+
+        public Vector4 SampleFiltered(float x, float y, float z)
+        {
+            var pos = new Vector3(x, y, z);
+
+            // clamp position inside the distance field:
+            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;
+
+            var voxelCenter = voxelizer.GetVoxelCenter(voxel);
+            var norm = (pos - voxelCenter) / voxelizer.voxelSize;
+
+            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);
+
+            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);
+
+            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);
+
+            float Y1 = Mathf.Lerp(X1, X2, norm.z);
+            float Y2 = Mathf.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));
+        }
+
+        public IEnumerator JumpFlood()
+        {
+
+            // 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);
+                        else
+                            distanceField[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 step = (int)(size / 2.0f);
+
+            yield return new CoroutineJob.ProgressInfo("Generating voxel distance field...",0);
+
+            float numPasses = (int) Mathf.Log(size, 2);
+            int i = 0;
+
+            // jump flood passes:
+            while (step >= 1)
+            {
+                JumpFloodPass(step, distanceField, auxBuffer);
+
+                // halve step:
+                step /= 2;
+
+                // swap buffers:
+                Vector3Int[,,] temp = distanceField;
+                distanceField = auxBuffer;
+                auxBuffer = temp;
+
+                yield return new CoroutineJob.ProgressInfo("Generating voxel distance field...", ++i / numPasses);
+            }
+
+        }
+
+        private void JumpFloodPass(int stride, Vector3Int[,,] input, Vector3Int[,,] output)
+        {
+            // for each voxel:
+            for (int x = 0; x < input.GetLength(0); ++x)
+                for (int y = 0; y < input.GetLength(1); ++y)
+                    for (int z = 0; z < input.GetLength(2); ++z)
+                    {
+                        // our position:
+                        Vector3Int p = new Vector3Int(x, y, z);
+
+                        // our seed:
+                        Vector3Int s = input[x, y, z];
+
+                        // copy the closest seed to the output, in case we do not update it this pass:
+                        output[x, y, z] = s;
+
+                        // this voxel is a seed, skip it.
+                        if (s.x == x && s.y == y && s.z == z)
+                            continue;
+
+                        // distance to our closest seed:
+                        float dist = float.MaxValue;
+                        if (s.x >= 0)
+                            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)
+                                {
+                                    // neighbor's position:
+                                    int px = x + nx * stride;
+                                    int py = y + ny * stride;
+                                    int pz = z + nz * stride;
+
+                                    if (voxelizer.VoxelExists(px,py,pz))
+                                    {
+                                        // 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;
+                                            }
+                                        }
+                                    }
+                                }
+                    }
+
+        }
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/DataStructures/Voxelization/VoxelDistanceField.cs.meta b/Assets/Obi/Scripts/Common/DataStructures/Voxelization/VoxelDistanceField.cs.meta
new file mode 100644
index 000000000..84c75c21a
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/Voxelization/VoxelDistanceField.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: c65cc27d2e30248c5afce6392f782c11
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/DataStructures/Voxelization/VoxelPathFinder.cs b/Assets/Obi/Scripts/Common/DataStructures/Voxelization/VoxelPathFinder.cs
new file mode 100644
index 000000000..8ac2788b7
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/Voxelization/VoxelPathFinder.cs
@@ -0,0 +1,135 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    public class VoxelPathFinder
+    {
+        private MeshVoxelizer voxelizer = null;
+        private bool[,,] closed;
+        private PriorityQueue<TargetVoxel> open;
+
+        public struct TargetVoxel : IEquatable<TargetVoxel>, IComparable<TargetVoxel>
+        {
+            public Vector3Int coordinates;
+            public float distance;
+            public float heuristic;
+            //public TargetVoxel parent;
+
+            public float cost
+            {
+                get { return distance + heuristic; }
+            }
+
+            public TargetVoxel(Vector3Int coordinates, float distance, float heuristic)
+            {
+                this.coordinates = coordinates;
+                this.distance = distance;
+                this.heuristic = heuristic;
+            }
+
+            public bool Equals(TargetVoxel other)
+            {
+                return this.coordinates.Equals(other.coordinates);
+            }
+
+            public int CompareTo(TargetVoxel other)
+            {
+                return this.cost.CompareTo(other.cost);
+            }
+        }
+
+        public VoxelPathFinder(MeshVoxelizer voxelizer)
+        {
+            this.voxelizer = voxelizer;
+            closed = new bool[voxelizer.resolution.x, voxelizer.resolution.y, voxelizer.resolution.z];
+            open = new PriorityQueue<TargetVoxel>();
+        }
+
+        private TargetVoxel AStar(in Vector3Int start, Func<TargetVoxel,bool> termination, Func<Vector3Int, float> heuristic)
+        {
+            Array.Clear(closed, 0, closed.Length);
+
+            // A* algorithm:
+            open.Clear();
+            open.Enqueue(new TargetVoxel(start, 0, 0));
+
+            while (open.Count() != 0)
+            {
+                var current = open.Dequeue();
+
+                if (termination(current))
+                    return current;
+
+                closed[current.coordinates.x, current.coordinates.y, current.coordinates.z] = true;
+
+                for (int i = 0; i < MeshVoxelizer.fullNeighborhood.Length; ++i)
+                {
+                    var successorCoords = current.coordinates + MeshVoxelizer.fullNeighborhood[i];
+
+                    if (voxelizer.VoxelExists(successorCoords) &&
+                        voxelizer[successorCoords.x, successorCoords.y, successorCoords.z] != MeshVoxelizer.Voxel.Outside &&
+                        !closed[successorCoords.x, successorCoords.y, successorCoords.z])
+                    {
+                        var successor = new TargetVoxel(successorCoords, current.distance + voxelizer.GetDistanceToNeighbor(i),
+                                                        heuristic(successorCoords));
+                        //successor.parent = current;
+
+                        int index = -1;
+                        for (int j = 0; j < open.Count(); ++j)
+                            if (open.data[j].coordinates == successorCoords)
+                            { index = j; break; }
+
+                        if (index < 0)
+                            open.Enqueue(successor);
+                        else if (successor.distance < open.data[index].distance)
+                            open.data[index] = successor;
+                    }
+                }
+            }
+
+            return new TargetVoxel(Vector3Int.zero, -1, -1);
+        }
+
+        public TargetVoxel FindClosestNonEmptyVoxel(in Vector3Int start)
+        {
+            if (voxelizer == null) return new TargetVoxel(Vector3Int.zero, -1, -1);
+
+            if (!voxelizer.VoxelExists(start))
+                return new TargetVoxel(Vector3Int.zero, -1, -1);
+
+            if (voxelizer[start.x, start.y, start.z] != MeshVoxelizer.Voxel.Outside)
+                return new TargetVoxel(start, 0, 0);
+
+            Array.Clear(closed, 0, closed.Length);
+
+            return AStar(start,
+            (TargetVoxel v) => {
+                return voxelizer[v.coordinates.x, v.coordinates.y, v.coordinates.z] != MeshVoxelizer.Voxel.Outside;
+            },
+            (Vector3Int c) => {
+                return 0;
+            });
+        }
+
+        public TargetVoxel FindPath(in Vector3Int start, Vector3Int end)
+        {
+            if (voxelizer == null) return new TargetVoxel(Vector3Int.zero,-1, -1);
+
+            if (!voxelizer.VoxelExists(start) || !voxelizer.VoxelExists(end))
+                return new TargetVoxel(Vector3Int.zero, -1, -1);
+
+            if (voxelizer[start.x, start.y, start.z] == MeshVoxelizer.Voxel.Outside ||
+                voxelizer[end.x, end.y, end.z] == MeshVoxelizer.Voxel.Outside)
+                return new TargetVoxel(Vector3Int.zero, -1, -1);
+
+            return AStar(start,
+            (TargetVoxel v) => {
+                return v.coordinates == end;
+            },
+            (Vector3Int c) => {
+                return Vector3.Distance(c, end) * voxelizer.voxelSize;
+            });
+        }
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/DataStructures/Voxelization/VoxelPathFinder.cs.meta b/Assets/Obi/Scripts/Common/DataStructures/Voxelization/VoxelPathFinder.cs.meta
new file mode 100644
index 000000000..a41bf458c
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/DataStructures/Voxelization/VoxelPathFinder.cs.meta
@@ -0,0 +1,11 @@
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+guid: 2e4d304562b1140b8a161652aaf4f122
+MonoImporter:
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+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Rendering.meta b/Assets/Obi/Scripts/Common/Rendering.meta
new file mode 100644
index 000000000..750a354b2
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Rendering.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
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+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Rendering/ObiDistanceFieldRenderer.cs b/Assets/Obi/Scripts/Common/Rendering/ObiDistanceFieldRenderer.cs
new file mode 100644
index 000000000..8f39af505
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Rendering/ObiDistanceFieldRenderer.cs
@@ -0,0 +1,166 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    [AddComponentMenu("Physics/Obi/Obi Distance Field Renderer", 1003)]
+    [ExecuteInEditMode]
+    [RequireComponent(typeof(ObiCollider))]
+    public class ObiDistanceFieldRenderer : MonoBehaviour
+    {
+        public enum Axis
+        {
+            X = 0,
+            Y = 1,
+            Z = 2,
+        }
+
+        public Axis axis;
+        [Range(0, 1)]
+        public float slice = 0.25f;
+        public float maxDistance = 0.5f;
+
+        private ObiCollider unityCollider;
+        private Material material;
+        private Mesh planeMesh;
+        private Texture2D cutawayTexture;
+
+        private float sampleSize;
+        private int sampleCount;
+
+        private Color boundsColor = new Color(1, 1, 1, 0.5f);
+
+        public void Awake()
+        {
+            unityCollider = GetComponent<ObiCollider>();
+        }
+
+        public void OnEnable()
+        {
+            material = GameObject.Instantiate(Resources.Load<Material>("ObiMaterials/DistanceFieldRendering"));
+            material.hideFlags = HideFlags.HideAndDontSave;
+        }
+
+        public void OnDisable()
+        {
+            Cleanup();
+        }
+
+        private void Cleanup()
+        {
+            GameObject.DestroyImmediate(cutawayTexture);
+            GameObject.DestroyImmediate(planeMesh);
+            GameObject.DestroyImmediate(material);
+        }
+
+        private void ResizeTexture()
+        {
+
+            if (cutawayTexture == null)
+            {
+                cutawayTexture = new Texture2D(sampleCount, sampleCount, TextureFormat.RHalf, false);
+                cutawayTexture.wrapMode = TextureWrapMode.Clamp;
+                cutawayTexture.hideFlags = HideFlags.HideAndDontSave;
+            }
+            else
+                cutawayTexture.Reinitialize(sampleCount, sampleCount);
+        }
+
+        private void CreatePlaneMesh(ObiDistanceField field)
+        {
+
+            if (field != null && planeMesh == null)
+            {
+
+                float uvBorder = (1 - field.FieldBounds.size[0] / (sampleSize * sampleCount)) * 0.5f;
+
+                planeMesh = new Mesh();
+
+                planeMesh.vertices = new Vector3[]{new Vector3(-0.5f,-0.5f,0),
+                                                   new Vector3(0.5f,-0.5f,0),
+                                                   new Vector3(-0.5f,0.5f,0),
+                                                   new Vector3(0.5f,0.5f,0)};
+
+                planeMesh.uv = new Vector2[]{new Vector2(uvBorder,uvBorder),
+                                             new Vector2(1-uvBorder,uvBorder),
+                                             new Vector2(uvBorder,1-uvBorder),
+                                             new Vector2(1-uvBorder,1-uvBorder)};
+
+                planeMesh.normals = new Vector3[] { -Vector3.forward, -Vector3.forward, -Vector3.forward, -Vector3.forward };
+                planeMesh.triangles = new int[] { 0, 2, 1, 2, 3, 1 };
+            }
+        }
+
+        private void RefreshCutawayTexture(ObiDistanceField field)
+        {
+            if (field == null)
+                return;
+
+            Bounds b = field.FieldBounds;
+            sampleSize = field.EffectiveSampleSize;
+            sampleCount = (int)(b.size[0] / sampleSize) + 1;
+
+            CreatePlaneMesh(field);
+            ResizeTexture();
+
+            float sweep = (sampleCount * slice) * sampleSize;
+            Vector3 origin = b.center - b.extents;
+
+            for (int x = 0; x < sampleCount; ++x)
+                for (int y = 0; y < sampleCount; ++y)
+                {
+                    Vector3 offset = Vector3.zero;
+                    switch (axis)
+                    {
+                        case Axis.X: offset = new Vector3(sweep, y * sampleSize, x * sampleSize); break;
+                        case Axis.Y: offset = new Vector3(x * sampleSize, sweep, y * sampleSize); break;
+                        case Axis.Z: offset = new Vector3(x * sampleSize, y * sampleSize, sweep); break;
+                    }
+
+                    float distance = ASDF.Sample(field.nodes, origin + offset);
+
+                    float value = ObiUtils.Remap(distance, -maxDistance, maxDistance, 0, 1);
+
+                    cutawayTexture.SetPixel(x, y, new Color(value, 0, 0));
+                }
+            cutawayTexture.Apply();
+        }
+
+        private void DrawCutawayPlane(ObiDistanceField field, Matrix4x4 matrix)
+        {
+
+            if (field == null)
+                return;
+
+            RefreshCutawayTexture(field);
+
+            material.mainTexture = cutawayTexture;
+            material.SetPass(0);
+
+            Quaternion rotation = Quaternion.identity;
+            Vector3 offset = Vector3.zero;
+            offset[(int)axis] = field.FieldBounds.size[0];
+
+            if (axis == Axis.Y)
+                rotation = Quaternion.Euler(90, 0, 0);
+            else if (axis == Axis.X)
+                rotation = Quaternion.Euler(0, -90, 0);
+
+            Matrix4x4 sc = Matrix4x4.TRS(field.FieldBounds.center + offset * (slice - 0.5f), rotation, Vector3.one * field.FieldBounds.size[0]);
+            Graphics.DrawMeshNow(planeMesh, matrix * sc);
+
+        }
+
+        public void OnDrawGizmos()
+        {
+            if (unityCollider != null && unityCollider.distanceField != null && unityCollider.distanceField.Initialized && material != null)
+            {
+                DrawCutawayPlane(unityCollider.distanceField, transform.localToWorldMatrix);
+                Gizmos.color = boundsColor;
+                Gizmos.DrawWireCube(unityCollider.distanceField.FieldBounds.center, unityCollider.distanceField.FieldBounds.size);
+            }
+        }
+
+    }
+}
+
diff --git a/Assets/Obi/Scripts/Common/Rendering/ObiDistanceFieldRenderer.cs.meta b/Assets/Obi/Scripts/Common/Rendering/ObiDistanceFieldRenderer.cs.meta
new file mode 100644
index 000000000..daf2292b3
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Rendering/ObiDistanceFieldRenderer.cs.meta
@@ -0,0 +1,12 @@
+fileFormatVersion: 2
+guid: 382f1f06ad1a84a9f8fb3a60b50dd9b7
+timeCreated: 1516041863
+licenseType: Store
+MonoImporter:
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {fileID: 2800000, guid: 41cb9d55de5b24458b45e5465606249a, type: 3}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Rendering/ObiInstancedParticleRenderer.cs b/Assets/Obi/Scripts/Common/Rendering/ObiInstancedParticleRenderer.cs
new file mode 100644
index 000000000..90be3a496
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Rendering/ObiInstancedParticleRenderer.cs
@@ -0,0 +1,92 @@
+using UnityEngine;
+using Unity.Profiling;
+using System;
+using System.Threading;
+using System.Collections;
+using System.Collections.Generic;
+
+namespace Obi
+{
+
+    [AddComponentMenu("Physics/Obi/Obi Instanced Particle Renderer", 1001)]
+    [ExecuteInEditMode]
+    [RequireComponent(typeof(ObiActor))]
+    public class ObiInstancedParticleRenderer : MonoBehaviour
+    {
+        static ProfilerMarker m_DrawParticlesPerfMarker = new ProfilerMarker("DrawParticles");
+
+        public bool render = true;
+        public Mesh mesh;
+        public Material material;
+        public Vector3 instanceScale = Vector3.one;
+
+        private List<Matrix4x4> matrices = new List<Matrix4x4>();
+        private List<Vector4> colors = new List<Vector4>();
+        private MaterialPropertyBlock mpb;
+
+        int meshesPerBatch = 0;
+        int batchCount;
+
+        public void OnEnable()
+        {
+            GetComponent<ObiActor>().OnInterpolate += DrawParticles;
+        }
+
+        public void OnDisable()
+        {
+            GetComponent<ObiActor>().OnInterpolate -= DrawParticles;
+        }
+
+        void DrawParticles(ObiActor actor)
+        {
+            using (m_DrawParticlesPerfMarker.Auto())
+            {
+
+                if (mesh == null || material == null || !render || !isActiveAndEnabled || !actor.isActiveAndEnabled || actor.solver == null)
+                {
+                    return;
+                }
+
+                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);
+                }
+            }
+
+        }
+
+    }
+}
+
diff --git a/Assets/Obi/Scripts/Common/Rendering/ObiInstancedParticleRenderer.cs.meta b/Assets/Obi/Scripts/Common/Rendering/ObiInstancedParticleRenderer.cs.meta
new file mode 100644
index 000000000..028428626
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Rendering/ObiInstancedParticleRenderer.cs.meta
@@ -0,0 +1,13 @@
+fileFormatVersion: 2
+guid: 356b834afda224f73a26e39580b330f1
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences:
+  - mesh: {fileID: 10202, guid: 0000000000000000e000000000000000, type: 0}
+  - material: {fileID: 2100000, guid: 2b7dfa8ebb76247318ce5b7df4b97484, type: 2}
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+  icon: {fileID: 2800000, guid: f424a87c9f03240c2870a664731ac9aa, type: 3}
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diff --git a/Assets/Obi/Scripts/Common/Rendering/ObiParticleRenderer.cs b/Assets/Obi/Scripts/Common/Rendering/ObiParticleRenderer.cs
new file mode 100644
index 000000000..e85ed0f87
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Rendering/ObiParticleRenderer.cs
@@ -0,0 +1,110 @@
+using UnityEngine;
+using Unity.Profiling;
+using System;
+using System.Threading;
+using System.Collections;
+using System.Collections.Generic;
+
+namespace Obi
+{
+    [AddComponentMenu("Physics/Obi/Obi Particle Renderer", 1000)]
+    [ExecuteInEditMode]
+    [RequireComponent(typeof(ObiActor))]
+    public class ObiParticleRenderer : MonoBehaviour
+    {
+        static ProfilerMarker m_DrawParticlesPerfMarker = new ProfilerMarker("DrawParticles");
+
+        public bool render = true;
+        public Shader shader;
+        public Color particleColor = Color.white;
+        public float radiusScale = 1;
+        private ParticleImpostorRendering m_Impostors;
+
+        public IEnumerable<Mesh> ParticleMeshes
+        {
+            get { return impostors.Meshes; }
+        }
+
+        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;
+        }
+
+        public void OnDisable()
+        {
+            GetComponent<ObiActor>().OnInterpolate -= DrawParticles;
+
+            if (m_Impostors != null)
+                m_Impostors.ClearMeshes();
+
+            DestroyImmediate(ParticleMaterial);
+        }
+
+        void CreateMaterialIfNeeded()
+        {
+
+            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;
+                }
+            }
+        }
+
+        void DrawParticles(ObiActor actor)
+        {
+            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)
+            {
+
+                ParticleMaterial.SetFloat("_RadiusScale", radiusScale);
+                ParticleMaterial.SetColor("_Color", particleColor);
+
+                // Send the meshes to be drawn:
+                if (render)
+                {
+                    var meshes = ParticleMeshes;
+                    foreach (Mesh mesh in meshes)
+                        Graphics.DrawMesh(mesh, Matrix4x4.identity, ParticleMaterial, gameObject.layer);
+                }
+            }
+
+        }
+
+    }
+}
+
diff --git a/Assets/Obi/Scripts/Common/Rendering/ObiParticleRenderer.cs.meta b/Assets/Obi/Scripts/Common/Rendering/ObiParticleRenderer.cs.meta
new file mode 100644
index 000000000..3d6569971
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+++ b/Assets/Obi/Scripts/Common/Rendering/ObiParticleRenderer.cs.meta
@@ -0,0 +1,13 @@
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+guid: c8b45ebbf86be4df6b0e6cd933812af2
+timeCreated: 1521054123
+licenseType: Store
+MonoImporter:
+  serializedVersion: 2
+  defaultReferences:
+  - shader: {fileID: 4800000, guid: 801733041f66b49e1b3c2101471db877, type: 3}
+  executionOrder: 0
+  icon: {fileID: 2800000, guid: f424a87c9f03240c2870a664731ac9aa, type: 3}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Rendering/ParticleImpostorRendering.cs b/Assets/Obi/Scripts/Common/Rendering/ParticleImpostorRendering.cs
new file mode 100644
index 000000000..5a90e2774
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Rendering/ParticleImpostorRendering.cs
@@ -0,0 +1,164 @@
+using UnityEngine;
+using Unity.Profiling;
+using System.Collections;
+using System.Collections.Generic;
+
+namespace Obi
+{
+    public class ParticleImpostorRendering
+    {
+        static ProfilerMarker m_ParticlesToMeshPerfMarker = new ProfilerMarker("ParticlesToMesh");
+
+        private List<Mesh> meshes = new List<Mesh>();
+
+        private List<Vector3> vertices = new List<Vector3>(4000);
+        private List<Vector3> normals = new List<Vector3>(4000);
+        private List<Color> colors = new List<Color>(4000);
+        private List<int> triangles = new List<int>(6000);
+
+        private List<Vector4> anisotropy1 = new List<Vector4>(4000);
+        private List<Vector4> anisotropy2 = new List<Vector4>(4000);
+        private List<Vector4> anisotropy3 = new List<Vector4>(4000);
+
+        int particlesPerDrawcall = 0;
+        int drawcallCount;
+
+        private Vector3 particleOffset0 = new Vector3(1, 1, 0);
+        private Vector3 particleOffset1 = new Vector3(-1, 1, 0);
+        private Vector3 particleOffset2 = new Vector3(-1, -1, 0);
+        private Vector3 particleOffset3 = new Vector3(1, -1, 0);
+
+        public IEnumerable<Mesh> Meshes
+        {
+            get { return meshes.AsReadOnly(); }
+        }
+
+        private void Apply(Mesh mesh)
+        {
+            mesh.Clear();
+            mesh.SetVertices(vertices);
+            mesh.SetNormals(normals);
+            mesh.SetColors(colors);
+            mesh.SetUVs(0, anisotropy1);
+            mesh.SetUVs(1, anisotropy2);
+            mesh.SetUVs(2, anisotropy3);
+            mesh.SetTriangles(triangles, 0, true);
+        }
+
+        public void ClearMeshes()
+        {
+            foreach (Mesh mesh in meshes)
+                GameObject.DestroyImmediate(mesh);
+            meshes.Clear();
+        }
+
+        public void UpdateMeshes(IObiParticleCollection collection, bool[] visible = null, Color[] tint = null)
+        {
+            using (m_ParticlesToMeshPerfMarker.Auto())
+            {
+
+                // figure out the size of our drawcall arrays:
+                particlesPerDrawcall = Constants.maxVertsPerMesh / 4;
+                drawcallCount = collection.activeParticleCount / particlesPerDrawcall + 1;
+                particlesPerDrawcall = Mathf.Min(particlesPerDrawcall, collection.activeParticleCount);
+
+                // If the amount of meshes we need to draw the particles has changed:
+                if (drawcallCount != meshes.Count)
+                {
+
+                    // Re-generate meshes:
+                    ClearMeshes();
+                    for (int i = 0; i < drawcallCount; i++)
+                    {
+                        Mesh mesh = new Mesh();
+                        mesh.name = "Particle impostors";
+                        mesh.hideFlags = HideFlags.HideAndDontSave;
+                        meshes.Add(mesh);
+                    }
+
+                }
+
+                Vector3 position;
+                Vector4 basis1 = new Vector4(1, 0, 0, 0);
+                Vector4 basis2 = new Vector4(0, 1, 0, 0);
+                Vector4 basis3 = new Vector4(0, 0, 1, 0);
+                Color color;
+
+                int visibleLength = visible != null ? visible.Length : 0;
+                int tintLength = tint != null ? tint.Length : 0;
+
+                //Convert particle data to mesh geometry:
+                for (int i = 0; i < drawcallCount; i++)
+                {
+
+                    // Clear all arrays
+                    vertices.Clear();
+                    normals.Clear();
+                    colors.Clear();
+                    triangles.Clear();
+                    anisotropy1.Clear();
+                    anisotropy2.Clear();
+                    anisotropy3.Clear();
+
+                    int index = 0;
+                    int limit = Mathf.Min((i + 1) * particlesPerDrawcall, collection.activeParticleCount);
+
+                    for (int j = i * particlesPerDrawcall; j < limit; ++j)
+                    {
+                        if (j < visibleLength && !visible[j])
+                            continue;
+
+                        int runtimeIndex = collection.GetParticleRuntimeIndex(j);
+                        position = collection.GetParticlePosition(runtimeIndex);
+                        collection.GetParticleAnisotropy(runtimeIndex, ref basis1, ref basis2, ref basis3);
+                        color = collection.GetParticleColor(runtimeIndex);
+
+                        if (j < tintLength)
+                            color *= tint[j];
+
+                        vertices.Add(position);
+                        vertices.Add(position);
+                        vertices.Add(position);
+                        vertices.Add(position);
+
+                        normals.Add(particleOffset0);
+                        normals.Add(particleOffset1);
+                        normals.Add(particleOffset2);
+                        normals.Add(particleOffset3);
+
+                        colors.Add(color);
+                        colors.Add(color);
+                        colors.Add(color);
+                        colors.Add(color);
+
+                        anisotropy1.Add(basis1);
+                        anisotropy1.Add(basis1);
+                        anisotropy1.Add(basis1);
+                        anisotropy1.Add(basis1);
+
+                        anisotropy2.Add(basis2);
+                        anisotropy2.Add(basis2);
+                        anisotropy2.Add(basis2);
+                        anisotropy2.Add(basis2);
+
+                        anisotropy3.Add(basis3);
+                        anisotropy3.Add(basis3);
+                        anisotropy3.Add(basis3);
+                        anisotropy3.Add(basis3);
+
+                        triangles.Add(index + 2);
+                        triangles.Add(index + 1);
+                        triangles.Add(index);
+                        triangles.Add(index + 3);
+                        triangles.Add(index + 2);
+                        triangles.Add(index);
+
+                        index += 4;
+                    }
+
+                    Apply(meshes[i]);
+                }
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Rendering/ParticleImpostorRendering.cs.meta b/Assets/Obi/Scripts/Common/Rendering/ParticleImpostorRendering.cs.meta
new file mode 100644
index 000000000..2ee95bbf2
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Rendering/ParticleImpostorRendering.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: bf17f48345c0f42a9a419ec65398dcd8
+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
new file mode 100644
index 000000000..096b0dcc1
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Rendering/ShadowmapExposer.cs
@@ -0,0 +1,70 @@
+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
new file mode 100644
index 000000000..229f80dcb
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Rendering/ShadowmapExposer.cs.meta
@@ -0,0 +1,12 @@
+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.meta b/Assets/Obi/Scripts/Common/Solver.meta
new file mode 100644
index 000000000..be27f8436
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Solver.meta
@@ -0,0 +1,9 @@
+fileFormatVersion: 2
+guid: 9b70354c2a8424c0d85f24922c2fd48d
+folderAsset: yes
+timeCreated: 1448942583
+licenseType: Store
+DefaultImporter:
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Solver/ObiSolver.cs b/Assets/Obi/Scripts/Common/Solver/ObiSolver.cs
new file mode 100644
index 000000000..e1a5ff765
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Solver/ObiSolver.cs
@@ -0,0 +1,1834 @@
+/**
+\mainpage Obi documentation
+ 
+Introduction:
+------------- 
+
+Obi is a position-based dynamics framework for unity. It enables the simulation of cloth, ropes and fluid in realtime, complete with two-way
+rigidbody interaction.
+ 
+Features:
+-------------------
+
+- Particles can be pinned both in local space and to rigidbodies (kinematic or not).
+- Realistic wind forces.
+- Rigidbodies react to particle dynamics, and particles reach to each other and to rigidbodies too.
+- Easy prefab instantiation, particle-based actors can be translated, scaled and rotated.
+- Custom editor tools.
+
+*/
+
+using UnityEngine;
+using Unity.Profiling;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+
+namespace Obi
+{
+
+    /**
+     * ObiSolver simulates particles and constraints, provided by a list of ObiActor. Particles belonging to different solvers won't interact with each other in any way.
+     */
+    [AddComponentMenu("Physics/Obi/Obi Solver", 800)]
+    [ExecuteInEditMode]
+    [DisallowMultipleComponent]
+    public sealed class ObiSolver : MonoBehaviour
+    {
+        static ProfilerMarker m_StateInterpolationPerfMarker = new ProfilerMarker("ApplyStateInterpolation");
+        static ProfilerMarker m_UpdateVisibilityPerfMarker = new ProfilerMarker("UpdateVisibility");
+        static ProfilerMarker m_GetSolverBoundsPerfMarker = new ProfilerMarker("GetSolverBounds");
+        static ProfilerMarker m_TestBoundsPerfMarker = new ProfilerMarker("TestBoundsAgainstCameras");
+        static ProfilerMarker m_GetAllCamerasPerfMarker = new ProfilerMarker("GetAllCameras");
+
+        public enum BackendType
+        {
+            Oni,
+            Burst
+        }
+
+        public class ObiCollisionEventArgs : System.EventArgs
+        {
+            public ObiList<Oni.Contact> contacts = new ObiList<Oni.Contact>();  /**< collision contacts.*/
+        }
+
+        [Serializable]
+        public class ParticleInActor
+        {
+            public ObiActor actor;
+            public int indexInActor;
+
+            public ParticleInActor()
+            {
+                this.actor = null;
+                this.indexInActor = -1;
+            }
+
+            public ParticleInActor(ObiActor actor, int indexInActor)
+            {
+                this.actor = actor;
+                this.indexInActor = indexInActor;
+            }
+        }
+
+        public delegate void SolverCallback(ObiSolver solver);
+        public delegate void SolverStepCallback(ObiSolver solver, float stepTime);
+        public delegate void CollisionCallback(ObiSolver solver, ObiCollisionEventArgs contacts);
+
+        public event CollisionCallback OnCollision;
+        public event CollisionCallback OnParticleCollision;
+        public event SolverCallback OnUpdateParameters;
+
+        public event SolverCallback OnPrepareFrame;
+        public event SolverStepCallback OnPrepareStep;
+        public event SolverStepCallback OnBeginStep;
+        public event SolverStepCallback OnSubstep;
+        public event SolverCallback OnEndStep;
+        public event SolverCallback OnInterpolate;
+
+        [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;
+
+        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;
+
+        public Oni.SolverParameters parameters = new Oni.SolverParameters(Oni.SolverParameters.Interpolation.None,
+                                                                          new Vector4(0, -9.81f, 0, 0));
+
+        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.*/
+
+        [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.*/
+
+        [HideInInspector] [NonSerialized] public List<ObiActor> actors = new List<ObiActor>();
+        [HideInInspector] [NonSerialized] public ParticleInActor[] m_ParticleToActor;
+
+        private ObiNativeIntList freeList;
+
+        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;
+
+        [HideInInspector][NonSerialized] public bool dirtySimplices = true;
+        [HideInInspector][NonSerialized] public int dirtyConstraints = 0;
+
+        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 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];
+
+        // constraint parameters:
+        public Oni.ConstraintParameters distanceConstraintParameters = new Oni.ConstraintParameters(true, Oni.ConstraintParameters.EvaluationOrder.Sequential, 1);
+        public Oni.ConstraintParameters bendingConstraintParameters = new Oni.ConstraintParameters(true, Oni.ConstraintParameters.EvaluationOrder.Parallel, 1);
+        public Oni.ConstraintParameters particleCollisionConstraintParameters = new Oni.ConstraintParameters(true, Oni.ConstraintParameters.EvaluationOrder.Sequential, 1);
+        public Oni.ConstraintParameters particleFrictionConstraintParameters = new Oni.ConstraintParameters(true, Oni.ConstraintParameters.EvaluationOrder.Parallel, 1);
+        public Oni.ConstraintParameters collisionConstraintParameters = new Oni.ConstraintParameters(true, Oni.ConstraintParameters.EvaluationOrder.Sequential, 1);
+        public Oni.ConstraintParameters frictionConstraintParameters = new Oni.ConstraintParameters(true, Oni.ConstraintParameters.EvaluationOrder.Parallel, 1);
+        public Oni.ConstraintParameters skinConstraintParameters = new Oni.ConstraintParameters(true, Oni.ConstraintParameters.EvaluationOrder.Sequential, 1);
+        public Oni.ConstraintParameters volumeConstraintParameters = new Oni.ConstraintParameters(true, Oni.ConstraintParameters.EvaluationOrder.Parallel, 1);
+        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 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
+        ObiNativeVector4List m_RigidbodyLinearVelocities;
+        ObiNativeVector4List m_RigidbodyAngularVelocities;
+
+        // colors
+        [NonSerialized] private ObiNativeColorList m_Colors;
+
+        // cell indices
+        [NonSerialized] private ObiNativeInt4List m_CellCoords;
+
+        // status:
+        [NonSerialized] private ObiNativeIntList m_ActiveParticles;
+        [NonSerialized] private ObiNativeIntList m_Simplices;
+
+        // positions
+        [NonSerialized] private ObiNativeVector4List m_Positions;
+        [NonSerialized] private ObiNativeVector4List m_RestPositions;
+        [NonSerialized] private ObiNativeVector4List m_PrevPositions;
+        [NonSerialized] private ObiNativeVector4List m_StartPositions;
+        [NonSerialized] private ObiNativeVector4List m_RenderablePositions;
+
+        // 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.*/
+
+        // velocities
+        [NonSerialized] private ObiNativeVector4List m_Velocities;
+        [NonSerialized] private ObiNativeVector4List m_AngularVelocities;
+
+        // masses/inertia tensors
+        [NonSerialized] private ObiNativeFloatList m_InvMasses;
+        [NonSerialized] private ObiNativeFloatList m_InvRotationalMasses;
+        [NonSerialized] private ObiNativeVector4List m_InvInertiaTensors;
+
+        // external forces
+        [NonSerialized] private ObiNativeVector4List m_ExternalForces;
+        [NonSerialized] private ObiNativeVector4List m_ExternalTorques;
+        [NonSerialized] private ObiNativeVector4List m_Wind;
+
+        // deltas
+        [NonSerialized] private ObiNativeVector4List m_PositionDeltas;
+        [NonSerialized] private ObiNativeQuaternionList m_OrientationDeltas;
+        [NonSerialized] private ObiNativeIntList m_PositionConstraintCounts;
+        [NonSerialized] private ObiNativeIntList m_OrientationConstraintCounts;
+
+        // particle collisions:
+        [NonSerialized] private ObiNativeIntList m_CollisionMaterials;
+        [NonSerialized] private ObiNativeIntList m_Phases;
+        [NonSerialized] private ObiNativeIntList m_Filters;
+
+        // particle shape:
+        [NonSerialized] private ObiNativeVector4List m_Anisotropies;
+        [NonSerialized] private ObiNativeVector4List m_PrincipalRadii;
+        [NonSerialized] private ObiNativeVector4List m_Normals;
+
+        // fluids
+        [NonSerialized] private ObiNativeVector4List m_Vorticities;
+        [NonSerialized] private ObiNativeVector4List m_FluidData;
+        [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;
+
+        public ISolverImpl implementation
+        {
+            get { return m_SolverImpl; }
+        }
+
+        public bool initialized
+        {
+            get { return m_SolverImpl != null; }
+        }
+
+        public IObiBackend simulationBackend
+        {
+            get { return m_SimulationBackend; }
+        }
+
+        public BackendType backendType
+        {
+            set
+            {
+                if (m_Backend != value)
+                {
+                    m_Backend = value;
+                    UpdateBackend();
+                }
+            }
+            get { return m_Backend; }
+        }
+
+        public SimplexCounts simplexCounts
+        {
+            get { return m_SimplexCounts; }
+        }
+
+        public UnityEngine.Bounds Bounds
+        {
+            get { return bounds; }
+        }
+
+        public bool IsVisible
+        {
+            get { return isVisible; }
+        }
+
+        public float maxScale
+        {
+            get { return m_MaxScale; }
+        }
+
+        public int allocParticleCount
+        {
+            get { return particleToActor.Count(s => s != null && s.actor != null); }
+        }
+
+        public int contactCount
+        {
+            get { return m_contactCount; }
+        }
+
+        public int particleContactCount
+        {
+            get { return m_particleContactCount; }
+        }
+
+        public ParticleInActor[] particleToActor
+        {
+            get
+            {
+                if (m_ParticleToActor == null)
+                    m_ParticleToActor = new ParticleInActor[0];
+
+                return m_ParticleToActor;
+            }
+        }
+
+        public ObiNativeIntList activeParticles
+        {
+            get
+            {
+                if (m_ActiveParticles == null)
+                    m_ActiveParticles = new ObiNativeIntList();
+
+                return m_ActiveParticles;
+            }
+        }
+
+        public ObiNativeIntList simplices
+        {
+            get
+            {
+                if (m_Simplices == null)
+                    m_Simplices = new ObiNativeIntList();
+
+                return m_Simplices;
+            }
+        }
+
+        public ObiNativeVector4List rigidbodyLinearDeltas
+        {
+            get
+            {
+                if (m_RigidbodyLinearVelocities == null)
+                {
+                    m_RigidbodyLinearVelocities = new ObiNativeVector4List();
+                }
+                return m_RigidbodyLinearVelocities;
+            }
+        }
+
+        public ObiNativeVector4List rigidbodyAngularDeltas
+        {
+            get
+            {
+                if (m_RigidbodyAngularVelocities == null)
+                {
+                    m_RigidbodyAngularVelocities = new ObiNativeVector4List();
+                }
+                return m_RigidbodyAngularVelocities;
+            }
+        }
+
+        public ObiNativeColorList colors
+        {
+            get
+            {
+                if (m_Colors == null)
+                {
+                    m_Colors = new ObiNativeColorList();
+                }
+                return m_Colors;
+            }
+        }
+
+        public ObiNativeInt4List cellCoords
+        {
+            get
+            {
+                if (m_CellCoords == null)
+                {
+                    m_CellCoords = new ObiNativeInt4List(8, 16, new VInt4(int.MaxValue));
+                }
+                return m_CellCoords;
+            }
+        }
+
+        #region Position arrays
+
+        public ObiNativeVector4List positions
+        {
+            get
+            {
+                if (m_Positions == null)
+                    m_Positions = new ObiNativeVector4List();
+                return m_Positions;
+            }
+        }
+
+        public ObiNativeVector4List restPositions
+        {
+            get
+            {
+                if (m_RestPositions == null)
+                    m_RestPositions = new ObiNativeVector4List();
+                return m_RestPositions;
+            }
+        }
+
+        public ObiNativeVector4List prevPositions
+        {
+            get
+            {
+                if (m_PrevPositions == null)
+                    m_PrevPositions = new ObiNativeVector4List();
+                return m_PrevPositions;
+            }
+        }
+
+        public ObiNativeVector4List startPositions
+        {
+            get
+            {
+                if (m_StartPositions == null)
+                    m_StartPositions = new ObiNativeVector4List();
+                return m_StartPositions;
+            }
+        }
+
+        public ObiNativeVector4List renderablePositions
+        {
+            get
+            {
+                if (m_RenderablePositions == null)
+                    m_RenderablePositions = new ObiNativeVector4List();
+                return m_RenderablePositions;
+            }
+        }
+
+        #endregion
+
+        #region Orientation arrays
+
+        public ObiNativeQuaternionList orientations
+        {
+            get
+            {
+                if (m_Orientations == null)
+                    m_Orientations = new ObiNativeQuaternionList();
+                return m_Orientations;
+            }
+        }
+
+        public ObiNativeQuaternionList restOrientations
+        {
+            get
+            {
+                if (m_RestOrientations == null)
+                    m_RestOrientations = new ObiNativeQuaternionList();
+                return m_RestOrientations;
+            }
+        }
+
+        public ObiNativeQuaternionList prevOrientations
+        {
+            get
+            {
+                if (m_PrevOrientations == null)
+                    m_PrevOrientations = new ObiNativeQuaternionList();
+                return m_PrevOrientations;
+            }
+        }
+
+        public ObiNativeQuaternionList startOrientations
+        {
+            get
+            {
+                if (m_StartOrientations == null)
+                    m_StartOrientations = new ObiNativeQuaternionList();
+                return m_StartOrientations;
+            }
+        }
+
+        public ObiNativeQuaternionList renderableOrientations
+        {
+            get
+            {
+                if (m_RenderableOrientations == null)
+                    m_RenderableOrientations = new ObiNativeQuaternionList();
+                return m_RenderableOrientations;
+            }
+        }
+
+        #endregion
+
+        #region Velocity arrays
+
+        public ObiNativeVector4List velocities
+        {
+            get
+            {
+                if (m_Velocities == null)
+                    m_Velocities = new ObiNativeVector4List();
+                return m_Velocities;
+            }
+        }
+
+        public ObiNativeVector4List angularVelocities
+        {
+            get
+            {
+                if (m_AngularVelocities == null)
+                    m_AngularVelocities = new ObiNativeVector4List();
+                return m_AngularVelocities;
+            }
+        }
+
+        #endregion
+
+        #region Mass arrays
+
+        public ObiNativeFloatList invMasses
+        {
+            get
+            {
+                if (m_InvMasses == null)
+                    m_InvMasses = new ObiNativeFloatList();
+                return m_InvMasses;
+            }
+        }
+
+        public ObiNativeFloatList invRotationalMasses
+        {
+            get
+            {
+                if (m_InvRotationalMasses == null)
+                    m_InvRotationalMasses = new ObiNativeFloatList();
+                return m_InvRotationalMasses;
+            }
+        }
+
+        public ObiNativeVector4List invInertiaTensors
+        {
+            get
+            {
+                if (m_InvInertiaTensors == null)
+                    m_InvInertiaTensors = new ObiNativeVector4List();
+                return m_InvInertiaTensors;
+            }
+        }
+
+        #endregion
+
+        #region External forces
+
+        public ObiNativeVector4List externalForces
+        {
+            get
+            {
+                if (m_ExternalForces == null)
+                    m_ExternalForces = new ObiNativeVector4List();
+                return m_ExternalForces;
+            }
+        }
+
+        public ObiNativeVector4List externalTorques
+        {
+            get
+            {
+                if (m_ExternalTorques == null)
+                    m_ExternalTorques = new ObiNativeVector4List();
+                return m_ExternalTorques;
+            }
+        }
+
+        public ObiNativeVector4List wind
+        {
+            get
+            {
+                if (m_Wind == null)
+                    m_Wind = new ObiNativeVector4List();
+                return m_Wind;
+            }
+        }
+
+        #endregion
+
+        #region Deltas
+
+        public ObiNativeVector4List positionDeltas
+        {
+            get
+            {
+                if (m_PositionDeltas == null)
+                    m_PositionDeltas = new ObiNativeVector4List();
+                return m_PositionDeltas;
+            }
+        }
+
+        public ObiNativeQuaternionList orientationDeltas
+        {
+            get
+            {
+                if (m_OrientationDeltas == null)
+                    m_OrientationDeltas = new ObiNativeQuaternionList(8, 16, new Quaternion(0, 0, 0, 0));
+                return m_OrientationDeltas;
+            }
+        }
+
+        public ObiNativeIntList positionConstraintCounts
+        {
+            get
+            {
+                if (m_PositionConstraintCounts == null)
+                    m_PositionConstraintCounts = new ObiNativeIntList();
+                return m_PositionConstraintCounts;
+            }
+        }
+
+        public ObiNativeIntList orientationConstraintCounts
+        {
+            get
+            {
+                if (m_OrientationConstraintCounts == null)
+                    m_OrientationConstraintCounts = new ObiNativeIntList();
+                return m_OrientationConstraintCounts;
+            }
+        }
+
+        #endregion
+
+        #region Shape and phase
+
+        public ObiNativeIntList collisionMaterials
+        {
+            get
+            {
+                if (m_CollisionMaterials == null)
+                    m_CollisionMaterials = new ObiNativeIntList();
+                return m_CollisionMaterials;
+            }
+        }
+
+        public ObiNativeIntList phases
+        {
+            get
+            {
+                if (m_Phases == null)
+                    m_Phases = new ObiNativeIntList();
+                return m_Phases;
+            }
+        }
+
+        public ObiNativeIntList filters
+        {
+            get
+            {
+                if (m_Filters == null)
+                    m_Filters = new ObiNativeIntList();
+                return m_Filters;
+            }
+        }
+
+        public ObiNativeVector4List anisotropies
+        {
+            get
+            {
+                if (m_Anisotropies == null)
+                    m_Anisotropies = new ObiNativeVector4List();
+                return m_Anisotropies;
+            }
+        }
+
+        public ObiNativeVector4List principalRadii
+        {
+            get
+            {
+                if (m_PrincipalRadii == null)
+                    m_PrincipalRadii = new ObiNativeVector4List();
+                return m_PrincipalRadii;
+            }
+        }
+
+        public ObiNativeVector4List normals
+        {
+            get
+            {
+                if (m_Normals == null)
+                    m_Normals = new ObiNativeVector4List();
+                return m_Normals;
+            }
+        }
+
+        #endregion
+
+        #region Fluid properties
+
+        public ObiNativeVector4List vorticities
+        {
+            get
+            {
+                if (m_Vorticities == null)
+                    m_Vorticities = new ObiNativeVector4List();
+                return m_Vorticities;
+            }
+        }
+
+        public ObiNativeVector4List fluidData
+        {
+            get
+            {
+                if (m_FluidData == null)
+                    m_FluidData = new ObiNativeVector4List();
+                return m_FluidData;
+            }
+        }
+
+        public ObiNativeVector4List userData
+        {
+            get
+            {
+                if (m_UserData == null)
+                    m_UserData = new ObiNativeVector4List();
+                return m_UserData;
+            }
+        }
+
+        public ObiNativeFloatList smoothingRadii
+        {
+            get
+            {
+                if (m_SmoothingRadii == null)
+                    m_SmoothingRadii = new ObiNativeFloatList();
+                return m_SmoothingRadii;
+            }
+        }
+
+        public ObiNativeFloatList buoyancies
+        {
+            get
+            {
+                if (m_Buoyancies == null)
+                    m_Buoyancies = new ObiNativeFloatList();
+                return m_Buoyancies;
+            }
+        }
+
+        public ObiNativeFloatList restDensities
+        {
+            get
+            {
+                if (m_RestDensities == null)
+                    m_RestDensities = new ObiNativeFloatList();
+                return m_RestDensities;
+            }
+        }
+
+        public ObiNativeFloatList viscosities
+        {
+            get
+            {
+                if (m_Viscosities == null)
+                    m_Viscosities = new ObiNativeFloatList();
+                return m_Viscosities;
+            }
+        }
+
+        public ObiNativeFloatList surfaceTension
+        {
+            get
+            {
+                if (m_SurfaceTension == null)
+                    m_SurfaceTension = new ObiNativeFloatList();
+                return m_SurfaceTension;
+            }
+        }
+
+        public ObiNativeFloatList vortConfinement
+        {
+            get
+            {
+                if (m_VortConfinement == null)
+                    m_VortConfinement = new ObiNativeFloatList();
+                return m_VortConfinement;
+            }
+        }
+
+        public ObiNativeFloatList atmosphericDrag
+        {
+            get
+            {
+                if (m_AtmosphericDrag == null)
+                    m_AtmosphericDrag = new ObiNativeFloatList();
+                return m_AtmosphericDrag;
+            }
+        }
+
+        public ObiNativeFloatList atmosphericPressure
+        {
+            get
+            {
+                if (m_AtmosphericPressure == null)
+                    m_AtmosphericPressure = new ObiNativeFloatList();
+                return m_AtmosphericPressure;
+            }
+        }
+
+        public ObiNativeFloatList diffusion
+        {
+            get
+            {
+                if (m_Diffusion == null)
+                    m_Diffusion = new ObiNativeFloatList();
+                return m_Diffusion;
+            }
+        }
+
+        #endregion
+
+
+        void Update()
+        {
+            var scale = transform.lossyScale;
+            m_MaxScale = Mathf.Max(Mathf.Max(scale.x, scale.y), scale.z);
+        }
+
+        private void OnDestroy()
+        {
+            // Remove all actors from the solver. This will trigger Teardown() when the last actor is removed.
+            while (actors.Count > 0)
+                RemoveActor(actors[actors.Count - 1]);
+        }
+
+        private void CreateBackend()
+        {
+            switch (m_Backend)
+            {
+
+#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
+
+                default:
+#if (OBI_ONI_SUPPORTED)
+                    m_SimulationBackend = new OniBackend();
+#else
+                    m_SimulationBackend = new NullBackend();
+#endif
+                    break;
+            }
+        }
+
+        public void Initialize()
+        {
+            if (!initialized)
+            {
+                CreateBackend();
+
+                // Set up local actor and particle buffers:
+                actors = new List<ObiActor>();
+                freeList = new ObiNativeIntList();
+                m_ParticleToActor = new ParticleInActor[0];
+
+                // Create constraints:
+                m_Constraints[(int)Oni.ConstraintType.Distance] = new ObiDistanceConstraintsData();
+                m_Constraints[(int)Oni.ConstraintType.Bending] = new ObiBendConstraintsData();
+                m_Constraints[(int)Oni.ConstraintType.Aerodynamics] = new ObiAerodynamicConstraintsData();
+                m_Constraints[(int)Oni.ConstraintType.StretchShear] = new ObiStretchShearConstraintsData();
+                m_Constraints[(int)Oni.ConstraintType.BendTwist] = new ObiBendTwistConstraintsData();
+                m_Constraints[(int)Oni.ConstraintType.Chain] = new ObiChainConstraintsData();
+                m_Constraints[(int)Oni.ConstraintType.ShapeMatching] = new ObiShapeMatchingConstraintsData();
+                m_Constraints[(int)Oni.ConstraintType.Volume] = new ObiVolumeConstraintsData();
+                m_Constraints[(int)Oni.ConstraintType.Tether] = new ObiTetherConstraintsData();
+                m_Constraints[(int)Oni.ConstraintType.Skin] = new ObiSkinConstraintsData();
+                m_Constraints[(int)Oni.ConstraintType.Pin] = new ObiPinConstraintsData();
+
+                // Create the solver:
+                m_SolverImpl = m_SimulationBackend.CreateSolver(this, 0);
+
+                // Set data arrays:
+                m_SolverImpl.ParticleCountChanged(this);
+                m_SolverImpl.SetRigidbodyArrays(this);
+
+                // Initialize moving transform:
+                InitializeTransformFrame();
+
+                // Set initial parameter values:
+                PushSolverParameters();
+            }
+        }
+
+        public void Teardown()
+        {
+            if (initialized)
+            {
+                // Clear all constraints:
+                PushConstraints();
+
+                // Destroy the Oni solver:
+                m_SimulationBackend.DestroySolver(m_SolverImpl);
+                m_SolverImpl = null;
+
+                // Free particle / rigidbody memory:
+                FreeParticleArrays();
+                FreeRigidbodyArrays();
+
+                freeList.Dispose();
+            }
+        }
+
+        public void UpdateBackend()
+        {
+            // remove all actors, this will trigger a teardown:
+            List<ObiActor> temp = new List<ObiActor>(actors);
+            foreach (ObiActor actor in temp)
+                actor.RemoveFromSolver();
+
+            // re-add all actors.
+            foreach (ObiActor actor in temp)
+                actor.AddToSolver();
+        }
+
+        private void FreeRigidbodyArrays()
+        {
+            rigidbodyLinearDeltas.Dispose();
+            rigidbodyAngularDeltas.Dispose();
+
+            m_RigidbodyLinearVelocities = null;
+            m_RigidbodyAngularVelocities = null;
+        }
+
+        public void EnsureRigidbodyArraysCapacity(int count)
+        {
+            if (initialized && count >= rigidbodyLinearDeltas.count)
+            {
+                rigidbodyLinearDeltas.ResizeInitialized(count);
+                rigidbodyAngularDeltas.ResizeInitialized(count);
+
+                m_SolverImpl.SetRigidbodyArrays(this);
+            }
+        }
+
+        private void FreeParticleArrays()
+        {
+            activeParticles.Dispose();
+            simplices.Dispose();
+            colors.Dispose();
+            cellCoords.Dispose();
+            startPositions.Dispose();
+            startOrientations.Dispose();
+            positions.Dispose();
+            prevPositions.Dispose();
+            restPositions.Dispose();
+            velocities.Dispose();
+            orientations.Dispose();
+            prevOrientations.Dispose();
+            restOrientations.Dispose();
+            angularVelocities.Dispose();
+            invMasses.Dispose();
+            invRotationalMasses.Dispose();
+            principalRadii.Dispose();
+            collisionMaterials.Dispose();
+            phases.Dispose();
+            filters.Dispose();
+            renderablePositions.Dispose();
+            renderableOrientations.Dispose();
+            anisotropies.Dispose();
+            smoothingRadii.Dispose();
+            buoyancies.Dispose();
+            restDensities.Dispose();
+            viscosities.Dispose();
+            surfaceTension.Dispose();
+            vortConfinement.Dispose();
+            atmosphericDrag.Dispose();
+            atmosphericPressure.Dispose();
+            diffusion.Dispose();
+            vorticities.Dispose();
+            fluidData.Dispose();
+            userData.Dispose();
+            externalForces.Dispose();
+            externalTorques.Dispose();
+            wind.Dispose();
+            positionDeltas.Dispose();
+            orientationDeltas.Dispose();
+            positionConstraintCounts.Dispose();
+            orientationConstraintCounts.Dispose();
+            normals.Dispose();
+            invInertiaTensors.Dispose();
+
+            m_ActiveParticles = null;
+            m_Simplices = null;
+            m_Colors = null;
+            m_CellCoords = null;
+            m_Positions = null;
+            m_RestPositions = null;
+            m_PrevPositions = null;
+            m_StartPositions = null;
+            m_RenderablePositions = null;
+            m_Orientations = null;
+            m_RestOrientations = null;
+            m_PrevOrientations = null;
+            m_StartOrientations = 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;
+            m_PositionDeltas = null;
+            m_OrientationDeltas = null;
+            m_PositionConstraintCounts = null;
+            m_OrientationConstraintCounts = null;
+            m_CollisionMaterials = null;
+            m_Phases = null;
+            m_Filters = null;
+            m_Anisotropies = null;
+            m_PrincipalRadii = null;
+            m_Normals = null;
+            m_Vorticities = 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;
+        }
+
+        private void EnsureParticleArraysCapacity(int count)
+        {
+            // only resize if the count is larger than the current amount of particles:
+            if (count >= positions.count)
+            {
+                colors.ResizeInitialized(count);
+                startPositions.ResizeInitialized(count);
+                positions.ResizeInitialized(count);
+                prevPositions.ResizeInitialized(count);
+                restPositions.ResizeInitialized(count);
+                startOrientations.ResizeInitialized(count, Quaternion.identity);
+                orientations.ResizeInitialized(count, Quaternion.identity);
+                prevOrientations.ResizeInitialized(count, Quaternion.identity);
+                restOrientations.ResizeInitialized(count, Quaternion.identity);
+                renderablePositions.ResizeInitialized(count);
+                renderableOrientations.ResizeInitialized(count, Quaternion.identity);
+                velocities.ResizeInitialized(count);
+                angularVelocities.ResizeInitialized(count);
+                invMasses.ResizeInitialized(count);
+                invRotationalMasses.ResizeInitialized(count);
+                principalRadii.ResizeInitialized(count);
+                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);
+                fluidData.ResizeInitialized(count);
+                userData.ResizeInitialized(count);
+                externalForces.ResizeInitialized(count);
+                externalTorques.ResizeInitialized(count);
+                wind.ResizeInitialized(count);
+                positionDeltas.ResizeInitialized(count);
+                orientationDeltas.ResizeInitialized(count, new Quaternion(0, 0, 0, 0));
+                positionConstraintCounts.ResizeInitialized(count);
+                orientationConstraintCounts.ResizeInitialized(count);
+                normals.ResizeInitialized(count);
+                invInertiaTensors.ResizeInitialized(count);
+
+                m_SolverImpl.ParticleCountChanged(this);
+            }
+
+            if (count >= m_ParticleToActor.Length)
+            {
+                Array.Resize(ref m_ParticleToActor, count * 2);
+            }
+        }
+
+        private void AllocateParticles(int[] particleIndices)
+        {
+
+            // If attempting to allocate more particles than we have:
+            if (particleIndices.Length > freeList.count)
+            {
+                int grow = particleIndices.Length - 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);
+            }
+
+            // determine first particle in the free list to use:
+            int first = freeList.count - particleIndices.Length;
+
+            // copy free indices to the input array:
+            freeList.CopyTo(particleIndices, first, particleIndices.Length);
+
+            // shorten the free list:
+            freeList.ResizeUninitialized(first);
+
+        }
+
+        private void FreeParticles(int[] particleIndices)
+        {
+            freeList.AddRange(particleIndices);
+        }
+
+
+        /// <summary>
+        /// Adds an actor to the solver.
+        /// </summary> 
+        /// Attemps to add the actor to this solver returning whether this was successful or not. In case the actor was already added, or had no reference to a blueprint, this operation will return false.
+        /// If this was the first actor added to the solver, will attempt to initialize the solver.
+        /// While in play mode, if the actor is sucessfully added to the solver, will also call actor.LoadBlueprint().
+        /// <param name="actor"> An actor.</param>  
+        /// <returns>
+        /// Whether the actor was sucessfully added.
+        /// </returns> 
+        public bool AddActor(ObiActor actor)
+        {
+            if (actor == null)
+                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);
+            }
+
+            return true;
+
+        }
+
+        /// <summary>  
+        /// Attempts to remove an actor from this solver, and returns  whether this was sucessful or not. 
+        /// </summary>
+        /// Will only reurn true if the actor had been previously added successfully to this solver. 
+        /// If the actor is sucessfully removed from the solver, will also call actor.UnloadBlueprint(). Once the last actor is removed from the solver,
+        /// this method will attempt to tear down the solver.
+        /// <param name="actor"> An actor.</param>  
+        /// <returns>
+        /// Whether the actor was sucessfully removed.
+        /// </returns> 
+        public bool RemoveActor(ObiActor actor)
+        {
+
+            if (actor == null)
+                return false;
+
+            // 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);
+
+                for (int i = 0; i < actor.solverIndices.Length; ++i)
+                    particleToActor[actor.solverIndices[i]] = null;
+
+                FreeParticles(actor.solverIndices);
+
+                actors.RemoveAt(index);
+
+                actor.solverIndices = null;
+
+                // If this was the last actor in the solver, tear it down:
+                if (actors.Count == 0)
+                    Teardown();
+
+                return true;
+            }
+
+            return false;
+        }
+
+        /// <summary>  
+        /// Updates solver parameters. 
+        /// </summary>
+        /// Call this after modifying solver or constraint parameters.
+        public void PushSolverParameters()
+        {
+            if (!initialized)
+                return;
+
+            m_SolverImpl.SetParameters(parameters);
+
+            m_SolverImpl.SetConstraintGroupParameters(Oni.ConstraintType.Distance, ref distanceConstraintParameters);
+
+            m_SolverImpl.SetConstraintGroupParameters(Oni.ConstraintType.Bending, ref bendingConstraintParameters);
+
+            m_SolverImpl.SetConstraintGroupParameters(Oni.ConstraintType.ParticleCollision, ref particleCollisionConstraintParameters);
+
+            m_SolverImpl.SetConstraintGroupParameters(Oni.ConstraintType.ParticleFriction, ref particleFrictionConstraintParameters);
+
+            m_SolverImpl.SetConstraintGroupParameters(Oni.ConstraintType.Collision, ref collisionConstraintParameters);
+
+            m_SolverImpl.SetConstraintGroupParameters(Oni.ConstraintType.Friction, ref frictionConstraintParameters);
+
+            m_SolverImpl.SetConstraintGroupParameters(Oni.ConstraintType.Density, ref densityConstraintParameters);
+
+            m_SolverImpl.SetConstraintGroupParameters(Oni.ConstraintType.Skin, ref skinConstraintParameters);
+
+            m_SolverImpl.SetConstraintGroupParameters(Oni.ConstraintType.Volume, ref volumeConstraintParameters);
+
+            m_SolverImpl.SetConstraintGroupParameters(Oni.ConstraintType.ShapeMatching, ref shapeMatchingConstraintParameters);
+
+            m_SolverImpl.SetConstraintGroupParameters(Oni.ConstraintType.Tether, ref tetherConstraintParameters);
+
+            m_SolverImpl.SetConstraintGroupParameters(Oni.ConstraintType.Pin, ref pinConstraintParameters);
+
+            m_SolverImpl.SetConstraintGroupParameters(Oni.ConstraintType.Stitch, ref stitchConstraintParameters);
+
+            m_SolverImpl.SetConstraintGroupParameters(Oni.ConstraintType.StretchShear, ref stretchShearConstraintParameters);
+
+            m_SolverImpl.SetConstraintGroupParameters(Oni.ConstraintType.BendTwist, ref bendTwistConstraintParameters);
+
+            m_SolverImpl.SetConstraintGroupParameters(Oni.ConstraintType.Chain, ref chainConstraintParameters);
+
+            if (OnUpdateParameters != null)
+                OnUpdateParameters(this);
+
+        }
+
+        /// <summary>  
+        /// Returns the parameters used by a given constraint type. 
+        /// </summary>
+        /// If you know the type of the constraints at runtime,
+        /// this is the same as directly accessing the appropiate public Oni.ConstraintParameters struct in the solver.
+        /// <param name="constraintType"> Type of the constraints whose parameters will be returned by this method.</param>  
+        /// <returns>
+        /// Parameters for the constraints of the specified type.
+        /// </returns> 
+        public Oni.ConstraintParameters GetConstraintParameters(Oni.ConstraintType constraintType)
+        {
+            switch (constraintType)
+            {
+                case Oni.ConstraintType.Distance: return distanceConstraintParameters;
+                case Oni.ConstraintType.Bending: return bendingConstraintParameters;
+                case Oni.ConstraintType.ParticleCollision: return particleCollisionConstraintParameters;
+                case Oni.ConstraintType.ParticleFriction: return particleFrictionConstraintParameters;
+                case Oni.ConstraintType.Collision: return collisionConstraintParameters;
+                case Oni.ConstraintType.Friction: return frictionConstraintParameters;
+                case Oni.ConstraintType.Skin: return skinConstraintParameters;
+                case Oni.ConstraintType.Volume: return volumeConstraintParameters;
+                case Oni.ConstraintType.ShapeMatching: return shapeMatchingConstraintParameters;
+                case Oni.ConstraintType.Tether: return tetherConstraintParameters;
+                case Oni.ConstraintType.Pin: return pinConstraintParameters;
+                case Oni.ConstraintType.Stitch: return stitchConstraintParameters;
+                case Oni.ConstraintType.Density: return densityConstraintParameters;
+                case Oni.ConstraintType.StretchShear: return stretchShearConstraintParameters;
+                case Oni.ConstraintType.BendTwist: return bendTwistConstraintParameters;
+                case Oni.ConstraintType.Chain: return chainConstraintParameters;
+
+                default: return new Oni.ConstraintParameters(true, Oni.ConstraintParameters.EvaluationOrder.Sequential, 1);
+            }
+        }
+
+        /// <summary>  
+        /// Returns the runtime representation of constraints of a given type being simulated by this solver.
+        /// </summary>  
+        /// <param name="type"> Type of the constraints that will be returned by this method.</param>  
+        /// <returns>
+        /// The runtime constraints of the type speficied.
+        /// </returns> 
+        public IObiConstraints GetConstraintsByType(Oni.ConstraintType type)
+        {
+            int index = (int)type;
+            if (m_Constraints != null && index >= 0 && index < m_Constraints.Length)
+                return m_Constraints[index];
+            return null;
+        }
+
+        private void PushActiveParticles()
+        {
+            activeParticles.Clear();
+            for (int i = 0; i < actors.Count; ++i)
+            {
+                ObiActor currentActor = actors[i];
+
+                if (currentActor.isActiveAndEnabled)
+                {
+                    for (int j = 0; j < currentActor.activeParticleCount; ++j)
+                        activeParticles.Add(currentActor.solverIndices[j]);
+                }
+            }
+
+            implementation.SetActiveParticles(activeParticles);
+            dirtyActiveParticles = false;
+        }
+
+        private void PushSimplices()
+        {
+            simplices.Clear();
+            points.Clear();
+            edges.Clear();
+            triangles.Clear();
+
+            for (int i = 0; i < actors.Count; ++i)
+            {
+                ObiActor currentActor = actors[i];
+
+                if (currentActor.isActiveAndEnabled && currentActor.isLoaded)
+                {
+                    //simplex based contacts
+                    if (currentActor.surfaceCollisions)
+                    {
+                        if (currentActor.blueprint.points != null)
+                            for (int j = 0; j < currentActor.blueprint.points.Length; ++j)
+                            {
+                                int actorIndex = currentActor.blueprint.points[j];
+
+                                if (actorIndex < currentActor.activeParticleCount)
+                                    points.Add(currentActor.solverIndices[actorIndex]);
+                            }
+
+                        if (currentActor.blueprint.edges != null)
+                            for (int j = 0; j < currentActor.blueprint.edges.Length / 2; ++j)
+                            {
+                                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]);
+                                }
+                            }
+                    }
+                    // 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.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 (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;
+        }
+
+        /**
+         * Checks if any particle in the solver is 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);
+                }
+
+                if (bounds.AreValid())
+                {
+                    using (m_TestBoundsPerfMarker.Auto())
+                    {
+                        // transform bounds to world space:
+                        bounds = bounds.Transform(transform.localToWorldMatrix);
+
+                        using (m_GetAllCamerasPerfMarker.Auto())
+                        {
+                            Array.Resize(ref sceneCameras, Camera.allCamerasCount);
+                            Camera.GetAllCameras(sceneCameras);
+                        }
+
+                        foreach (Camera cam in sceneCameras)
+                        {
+                            GeometryUtility.CalculateFrustumPlanes(cam, planes);
+                            if (GeometryUtility.TestPlanesAABB(planes, bounds))
+                            {
+                                if (!isVisible)
+                                {
+                                    isVisible = true;
+                                    foreach (ObiActor actor in actors)
+                                        actor.OnSolverVisibilityChanged(isVisible);
+                                }
+                                return;
+                            }
+                        }
+                    }
+                }
+
+                if (isVisible)
+                {
+                    isVisible = false;
+                    foreach (ObiActor actor in actors)
+                        actor.OnSolverVisibilityChanged(isVisible);
+                }
+            }
+        }
+
+        private void InitializeTransformFrame()
+        {
+            Vector4 translation = transform.position;
+            Vector4 scale = transform.lossyScale;
+            Quaternion rotation = transform.rotation;
+
+            m_SolverImpl.InitializeFrame(translation, scale, rotation);
+        }
+
+        private void 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);
+        }
+
+        public void PrepareFrame()
+        {
+            if (OnPrepareFrame != null)
+                OnPrepareFrame(this);
+
+            foreach (ObiActor actor in actors)
+                actor.PrepareFrame();
+        }
+
+        /// <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.
+        /// </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>
+        /// <returns>
+        /// An array that contains the query results.
+        /// </returns>
+        public QueryResult[] SpatialQuery(QueryShape shape, AffineTransform transform)
+        {
+            if (!initialized)
+                return null;
+
+            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;
+        }
+
+        /// <summary>
+        /// Performs a single raycast  against all simplices in the solver, and returns the result.
+        /// </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.
+        /// </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)
+        {
+            if (!initialized)
+                return null;
+
+            var queries = new ObiNativeQueryShapeList();
+            var transforms = new ObiNativeAffineTransformList();
+            var results = new ObiNativeQueryResultList();
+            var resultArray = new QueryResult[rays.Count];
+
+            for (int i = 0; i < rays.Count; ++i)
+            {
+                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
+                });
+
+                transforms.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;
+        }
+    }
+
+}
diff --git a/Assets/Obi/Scripts/Common/Solver/ObiSolver.cs.meta b/Assets/Obi/Scripts/Common/Solver/ObiSolver.cs.meta
new file mode 100644
index 000000000..3ba5ee78f
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Solver/ObiSolver.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 9d174fab52f0c4b8399f25d5c3ea524c
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {fileID: 2800000, guid: 4bb17fa3a0a95413a817e60391d26010, type: 3}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Updaters.meta b/Assets/Obi/Scripts/Common/Updaters.meta
new file mode 100644
index 000000000..3f65456b0
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Updaters.meta
@@ -0,0 +1,8 @@
+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
new file mode 100644
index 000000000..35cb5f99d
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Updaters/ObiFixedUpdater.cs
@@ -0,0 +1,70 @@
+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/ObiFixedUpdater.cs.meta b/Assets/Obi/Scripts/Common/Updaters/ObiFixedUpdater.cs.meta
new file mode 100644
index 000000000..cac670221
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Updaters/ObiFixedUpdater.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 1d9704d540ac448439a425526f6b2986
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {fileID: 2800000, guid: 4e2c952f509ae40bdaf836136058d487, type: 3}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Updaters/ObiLateFixedUpdater.cs b/Assets/Obi/Scripts/Common/Updaters/ObiLateFixedUpdater.cs
new file mode 100644
index 000000000..1a482cb96
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Updaters/ObiLateFixedUpdater.cs
@@ -0,0 +1,84 @@
+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/ObiLateFixedUpdater.cs.meta b/Assets/Obi/Scripts/Common/Updaters/ObiLateFixedUpdater.cs.meta
new file mode 100644
index 000000000..3982fd1ef
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Updaters/ObiLateFixedUpdater.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 434ec3c1822e84ae79a7f64f950b1bf9
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {fileID: 2800000, guid: 4e2c952f509ae40bdaf836136058d487, type: 3}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Updaters/ObiLateUpdater.cs b/Assets/Obi/Scripts/Common/Updaters/ObiLateUpdater.cs
new file mode 100644
index 000000000..71d42a1a7
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Updaters/ObiLateUpdater.cs
@@ -0,0 +1,72 @@
+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/ObiLateUpdater.cs.meta b/Assets/Obi/Scripts/Common/Updaters/ObiLateUpdater.cs.meta
new file mode 100644
index 000000000..41bbce652
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Updaters/ObiLateUpdater.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 434d88f9b3534406382ff56c0e74bd9a
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {fileID: 2800000, guid: 4e2c952f509ae40bdaf836136058d487, type: 3}
+  userData: 
+  assetBundleName: 
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diff --git a/Assets/Obi/Scripts/Common/Updaters/ObiUpdater.cs b/Assets/Obi/Scripts/Common/Updaters/ObiUpdater.cs
new file mode 100644
index 000000000..0fa3c60d0
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Updaters/ObiUpdater.cs
@@ -0,0 +1,136 @@
+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
new file mode 100644
index 000000000..14db883fd
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Updaters/ObiUpdater.cs.meta
@@ -0,0 +1,11 @@
+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.meta b/Assets/Obi/Scripts/Common/Utils.meta
new file mode 100644
index 000000000..7aa03e408
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Utils.meta
@@ -0,0 +1,9 @@
+fileFormatVersion: 2
+guid: 8114c2ae03b5c4118a326bc9805a3362
+folderAsset: yes
+timeCreated: 1454882590
+licenseType: Store
+DefaultImporter:
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Utils/Attributes.meta b/Assets/Obi/Scripts/Common/Utils/Attributes.meta
new file mode 100644
index 000000000..6222b7a09
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Utils/Attributes.meta
@@ -0,0 +1,9 @@
+fileFormatVersion: 2
+guid: b8154151b8aa747e3870dae448f70d4b
+folderAsset: yes
+timeCreated: 1511453393
+licenseType: Store
+DefaultImporter:
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Utils/Attributes/ChildrenOnly.cs b/Assets/Obi/Scripts/Common/Utils/Attributes/ChildrenOnly.cs
new file mode 100644
index 000000000..e8cecb044
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Utils/Attributes/ChildrenOnly.cs
@@ -0,0 +1,45 @@
+using UnityEngine;
+#if UNITY_EDITOR
+using UnityEditor;
+#endif
+
+namespace Obi{
+
+
+	[System.AttributeUsage(System.AttributeTargets.Field)]
+	public class ChildrenOnly : MultiPropertyAttribute
+	{
+		#if UNITY_EDITOR
+		public override void OnGUI(Rect position, SerializedProperty property, GUIContent label)
+	    {
+
+			float height = 0;
+			SerializedProperty it = property;
+			int depth = it.depth;
+			it.NextVisible(true);
+			do 
+			{
+				EditorGUI.PropertyField(new Rect(position.x,position.y+height,position.width,EditorGUIUtility.singleLineHeight),it,true);
+				height += EditorGUIUtility.singleLineHeight + EditorGUIUtility.standardVerticalSpacing;
+			}while (it.NextVisible(false) && it.depth != depth);
+
+	    }
+	 
+	    internal override float? GetPropertyHeight(SerializedProperty property, GUIContent label)
+	    {
+
+			float height = -EditorGUIUtility.standardVerticalSpacing;
+			SerializedProperty it = property;
+			int depth = it.depth;
+			it.NextVisible(true);
+			do 
+			{
+			    height += EditorGUI.GetPropertyHeight(it, label) + EditorGUIUtility.standardVerticalSpacing;
+			}while (it.NextVisible(false) && it.depth != depth);
+			return height;
+
+	    }
+		#endif
+	}
+
+}
diff --git a/Assets/Obi/Scripts/Common/Utils/Attributes/ChildrenOnly.cs.meta b/Assets/Obi/Scripts/Common/Utils/Attributes/ChildrenOnly.cs.meta
new file mode 100644
index 000000000..4217d036a
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Utils/Attributes/ChildrenOnly.cs.meta
@@ -0,0 +1,12 @@
+fileFormatVersion: 2
+guid: 37995b0258e3041208a4b13bd6feb31c
+timeCreated: 1511965883
+licenseType: Store
+MonoImporter:
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Utils/Attributes/DisplayAs.cs b/Assets/Obi/Scripts/Common/Utils/Attributes/DisplayAs.cs
new file mode 100644
index 000000000..113dfa1f3
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Utils/Attributes/DisplayAs.cs
@@ -0,0 +1,26 @@
+using System;
+using UnityEngine;
+#if UNITY_EDITOR
+using UnityEditor;
+#endif
+
+namespace Obi{
+
+	#if UNITY_EDITOR
+	[System.AttributeUsage(System.AttributeTargets.Field)]
+	public class DisplayAs : MultiPropertyAttribute
+	{
+	    string name;
+	    public DisplayAs(string name)
+	    {
+	        this.name = name;
+	    }
+
+	    public override void OnGUI(Rect position, SerializedProperty property, GUIContent label)
+	    {
+			EditorGUI.PropertyField(position,property,new GUIContent(name),true);
+	    }
+	}
+	#endif
+}
+
diff --git a/Assets/Obi/Scripts/Common/Utils/Attributes/DisplayAs.cs.meta b/Assets/Obi/Scripts/Common/Utils/Attributes/DisplayAs.cs.meta
new file mode 100644
index 000000000..4d1363d5f
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Utils/Attributes/DisplayAs.cs.meta
@@ -0,0 +1,12 @@
+fileFormatVersion: 2
+guid: dd2e6690a4e514f0b93596b416ea6e1a
+timeCreated: 1515069828
+licenseType: Store
+MonoImporter:
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Utils/Attributes/Indent.cs b/Assets/Obi/Scripts/Common/Utils/Attributes/Indent.cs
new file mode 100644
index 000000000..6454939d4
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Utils/Attributes/Indent.cs
@@ -0,0 +1,25 @@
+using UnityEngine;
+#if UNITY_EDITOR
+using UnityEditor;
+#endif
+
+namespace Obi{
+
+
+	[System.AttributeUsage(System.AttributeTargets.Field)]
+	public class Indent : MultiPropertyAttribute
+	{
+		#if UNITY_EDITOR
+		internal override void OnPreGUI(Rect position, SerializedProperty property)
+		{
+			EditorGUI.indentLevel++;
+		}
+		internal override void OnPostGUI(Rect position, SerializedProperty property)
+		{
+			EditorGUI.indentLevel--;
+		}
+		#endif
+	}
+
+}
+
diff --git a/Assets/Obi/Scripts/Common/Utils/Attributes/Indent.cs.meta b/Assets/Obi/Scripts/Common/Utils/Attributes/Indent.cs.meta
new file mode 100644
index 000000000..ccaf4a244
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Utils/Attributes/Indent.cs.meta
@@ -0,0 +1,12 @@
+fileFormatVersion: 2
+guid: a02d36b0684b3461fad08bed56e9798c
+timeCreated: 1511529530
+licenseType: Store
+MonoImporter:
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Utils/Attributes/InspectorButtonAttribute.cs b/Assets/Obi/Scripts/Common/Utils/Attributes/InspectorButtonAttribute.cs
new file mode 100644
index 000000000..9378ce37f
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Utils/Attributes/InspectorButtonAttribute.cs
@@ -0,0 +1,56 @@
+using UnityEngine;
+#if UNITY_EDITOR
+using UnityEditor;
+#endif
+using System.Reflection;
+
+namespace Obi{
+
+[System.AttributeUsage(System.AttributeTargets.Field)]
+public class InspectorButtonAttribute : PropertyAttribute
+{
+	public static float kDefaultButtonWidth = 80;
+	
+	public readonly string MethodName;
+	
+	private float _buttonWidth = kDefaultButtonWidth;
+	public float ButtonWidth
+	{
+		get { return _buttonWidth; }
+		set { _buttonWidth = value; }
+	}
+	
+	public InspectorButtonAttribute(string MethodName)
+	{
+		this.MethodName = MethodName;
+	}
+}
+
+#if UNITY_EDITOR
+[CustomPropertyDrawer(typeof(InspectorButtonAttribute))]
+public class InspectorButtonPropertyDrawer : PropertyDrawer
+{
+	private MethodInfo _eventMethodInfo = null;
+	
+	public override void OnGUI(Rect position, SerializedProperty prop, GUIContent label)
+	{
+		InspectorButtonAttribute inspectorButtonAttribute = (InspectorButtonAttribute)attribute;
+		Rect buttonRect = new Rect(position.x + (position.width - inspectorButtonAttribute.ButtonWidth) * 0.5f, position.y, inspectorButtonAttribute.ButtonWidth, position.height);
+		if (GUI.Button(buttonRect, label.text))
+		{
+			System.Type eventOwnerType = prop.serializedObject.targetObject.GetType();
+			string eventName = inspectorButtonAttribute.MethodName;
+			
+			if (_eventMethodInfo == null)
+				_eventMethodInfo = eventOwnerType.GetMethod(eventName, BindingFlags.Instance | BindingFlags.Static | BindingFlags.Public | BindingFlags.NonPublic);
+			
+			if (_eventMethodInfo != null)
+				_eventMethodInfo.Invoke(prop.serializedObject.targetObject, null);
+			else
+				Debug.LogWarning(string.Format("InspectorButton: Unable to find method {0} in {1}", eventName, eventOwnerType));
+		}
+	}
+}
+#endif
+
+}
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Utils/Attributes/InspectorButtonAttribute.cs.meta b/Assets/Obi/Scripts/Common/Utils/Attributes/InspectorButtonAttribute.cs.meta
new file mode 100644
index 000000000..cc768a2eb
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Utils/Attributes/InspectorButtonAttribute.cs.meta
@@ -0,0 +1,12 @@
+fileFormatVersion: 2
+guid: bada34fec41c44b4b90af1fe27ca7a95
+timeCreated: 1440029519
+licenseType: Store
+MonoImporter:
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Utils/Attributes/MinMaxAttribute.cs b/Assets/Obi/Scripts/Common/Utils/Attributes/MinMaxAttribute.cs
new file mode 100644
index 000000000..1de1f01b6
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Utils/Attributes/MinMaxAttribute.cs
@@ -0,0 +1,41 @@
+using System;
+using UnityEngine;
+#if UNITY_EDITOR
+using UnityEditor;
+#endif
+
+namespace Obi{
+
+	[System.AttributeUsage(System.AttributeTargets.Field)]
+	public class MinMaxAttribute : MultiPropertyAttribute
+	{
+	    float min;
+	    float max;
+	    public MinMaxAttribute(float min, float max)
+	    {
+	        this.min = min;
+	        this.max = max;
+	    }
+		#if UNITY_EDITOR
+	    public override void OnGUI(Rect position, SerializedProperty property, GUIContent label)
+	    {
+	        if (property.propertyType == SerializedPropertyType.Vector2){
+				float minValue = property.vector2Value.x; 
+            	float maxValue = property.vector2Value.y;
+
+	            EditorGUI.MinMaxSlider(position, label, ref minValue, ref maxValue, min, max);
+
+				var vec = Vector2.zero;
+	            vec.x = minValue;
+	            vec.y = maxValue;
+	
+	            property.vector2Value = vec;
+			}else{
+            	EditorGUI.LabelField(position, label.text, "Use MinMaxAttribute with Vector2.");
+			}
+	    }
+		#endif
+	}
+
+}
+
diff --git a/Assets/Obi/Scripts/Common/Utils/Attributes/MinMaxAttribute.cs.meta b/Assets/Obi/Scripts/Common/Utils/Attributes/MinMaxAttribute.cs.meta
new file mode 100644
index 000000000..9fce93301
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Utils/Attributes/MinMaxAttribute.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 1ac8601bd46d146168b508598e8a4f8c
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Utils/Attributes/MultiDelayed.cs b/Assets/Obi/Scripts/Common/Utils/Attributes/MultiDelayed.cs
new file mode 100644
index 000000000..8942696d6
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Utils/Attributes/MultiDelayed.cs
@@ -0,0 +1,29 @@
+using System;
+using UnityEngine;
+#if UNITY_EDITOR
+using UnityEditor;
+#endif
+
+namespace Obi{
+
+	[System.AttributeUsage(System.AttributeTargets.Field)]
+	public class MultiDelayed : MultiPropertyAttribute
+	{
+		#if UNITY_EDITOR
+	    public override void OnGUI(Rect position, SerializedProperty property, GUIContent label)
+	    {
+	        // Now draw the property as a Slider or an IntSlider based on whether it's a float or integer.
+	        if (property.propertyType == SerializedPropertyType.Float)
+	            EditorGUI.DelayedFloatField(position, property, label);
+	        else if (property.propertyType == SerializedPropertyType.Integer)
+	            EditorGUI.DelayedIntField(position, property, label);
+			else if (property.propertyType == SerializedPropertyType.String)
+	            EditorGUI.DelayedTextField(position, property, label);
+	        else
+	            EditorGUI.LabelField(position, label.text, "Use MultiRange with float or int.");
+	    }
+		#endif
+	}
+
+}
+
diff --git a/Assets/Obi/Scripts/Common/Utils/Attributes/MultiDelayed.cs.meta b/Assets/Obi/Scripts/Common/Utils/Attributes/MultiDelayed.cs.meta
new file mode 100644
index 000000000..7c1281814
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Utils/Attributes/MultiDelayed.cs.meta
@@ -0,0 +1,12 @@
+fileFormatVersion: 2
+guid: 17d0e7e43f7f844aba84497d6385c920
+timeCreated: 1511969575
+licenseType: Store
+MonoImporter:
+  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
new file mode 100644
index 000000000..f1face328
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Utils/Attributes/MultiPropertyAttribute.cs
@@ -0,0 +1,96 @@
+using System.Collections;
+using System.Collections.Generic;
+using System.Linq;
+using UnityEngine;
+#if UNITY_EDITOR
+using UnityEditor;
+#endif
+
+namespace Obi{
+
+	[System.AttributeUsage(System.AttributeTargets.Field)]
+	public abstract class MultiPropertyAttribute : PropertyAttribute
+	{
+		#if UNITY_EDITOR
+		public IOrderedEnumerable<object> stored = null;
+
+	    public virtual void OnGUI(Rect position, SerializedProperty property, GUIContent label)
+		{
+			EditorGUI.PropertyField(position,property,label);
+		}
+	 
+		internal virtual void OnPreGUI(Rect position, SerializedProperty property){}
+		internal virtual void OnPostGUI(Rect position, SerializedProperty property){}
+
+		internal virtual bool IsVisible(SerializedProperty property){return true;}
+	    internal virtual float? GetPropertyHeight( SerializedProperty property, GUIContent label){return null;}
+		#endif
+	}
+
+	#if UNITY_EDITOR
+	[CustomPropertyDrawer(typeof(MultiPropertyAttribute),true)]
+	public class MultiPropertyDrawer : PropertyDrawer
+	{
+		private MultiPropertyAttribute RetrieveAttributes()
+		{
+			MultiPropertyAttribute mAttribute = attribute as MultiPropertyAttribute;
+
+			// Get the attribute list, sorted by "order".
+	        if (mAttribute.stored == null)
+	        {
+	            mAttribute.stored = fieldInfo.GetCustomAttributes(typeof(MultiPropertyAttribute), false).OrderBy(s => ((PropertyAttribute)s).order);
+	        }
+
+			return mAttribute;
+		}
+
+	    public override float GetPropertyHeight(SerializedProperty property, GUIContent label)
+	    {
+	        MultiPropertyAttribute mAttribute = RetrieveAttributes();
+
+			// If the attribute is invisible, regain the standard vertical spacing.
+			foreach (MultiPropertyAttribute attr in mAttribute.stored)
+				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);
+
+			// Check if any of the attributes wants to modify height:
+	        foreach (object atr in mAttribute.stored)
+	        {
+	            if (atr as MultiPropertyAttribute != null)
+	            {
+	                var tempheight = ((MultiPropertyAttribute)atr).GetPropertyHeight(property, label);
+	                if (tempheight.HasValue)
+	                {
+	                    height = tempheight.Value;
+	                    break;
+	                }
+	            }
+	        }
+	        return height;
+	    }
+
+	    public override void OnGUI(Rect position, SerializedProperty property, GUIContent label)
+	    {
+	        MultiPropertyAttribute mAttribute = RetrieveAttributes();
+
+			// Calls to IsVisible. If it returns false for any attribute, the property will not be rendered.
+			foreach (MultiPropertyAttribute attr in mAttribute.stored)
+				if (!attr.IsVisible(property)) return;
+
+			// Calls to OnPreRender before the last attribute draws the UI. 
+	        foreach (MultiPropertyAttribute attr in mAttribute.stored)
+				attr.OnPreGUI(position,property);
+
+			// The last attribute is in charge of actually drawing something:
+			((MultiPropertyAttribute)mAttribute.stored.Last()).OnGUI(position,property,label);
+
+			// Calls to OnPostRender after the last attribute draws the UI. These are called in inverse order.
+	        foreach (MultiPropertyAttribute attr in mAttribute.stored.Reverse())
+				attr.OnPostGUI(position,property);
+	    }
+	}
+	#endif
+}
diff --git a/Assets/Obi/Scripts/Common/Utils/Attributes/MultiPropertyAttribute.cs.meta b/Assets/Obi/Scripts/Common/Utils/Attributes/MultiPropertyAttribute.cs.meta
new file mode 100644
index 000000000..9bda2a26b
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Utils/Attributes/MultiPropertyAttribute.cs.meta
@@ -0,0 +1,12 @@
+fileFormatVersion: 2
+guid: 71f4de68ec5de40edbf3e4f24c49ba18
+timeCreated: 1511952779
+licenseType: Store
+MonoImporter:
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Utils/Attributes/MultiRange.cs b/Assets/Obi/Scripts/Common/Utils/Attributes/MultiRange.cs
new file mode 100644
index 000000000..dfb5a4c11
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Utils/Attributes/MultiRange.cs
@@ -0,0 +1,34 @@
+using System;
+using UnityEngine;
+#if UNITY_EDITOR
+using UnityEditor;
+#endif
+
+namespace Obi{
+
+	[System.AttributeUsage(System.AttributeTargets.Field)]
+	public class MultiRange : MultiPropertyAttribute
+	{
+	    float min;
+	    float max;
+	    public MultiRange(float min, float max)
+	    {
+	        this.min = min;
+	        this.max = max;
+	    }
+		#if UNITY_EDITOR
+	    public override void OnGUI(Rect position, SerializedProperty property, GUIContent label)
+	    {
+	        // Now draw the property as a Slider or an IntSlider based on whether it's a float or integer.
+	        if (property.propertyType == SerializedPropertyType.Float)
+	            EditorGUI.Slider(position, property, min, max, label);
+	        else if (property.propertyType == SerializedPropertyType.Integer)
+	            EditorGUI.IntSlider(position, property, (int)min, (int)max, label);
+	        else
+	            EditorGUI.LabelField(position, label.text, "Use MultiRange with float or int.");
+	    }
+		#endif
+	}
+
+}
+
diff --git a/Assets/Obi/Scripts/Common/Utils/Attributes/MultiRange.cs.meta b/Assets/Obi/Scripts/Common/Utils/Attributes/MultiRange.cs.meta
new file mode 100644
index 000000000..946d7f260
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Utils/Attributes/MultiRange.cs.meta
@@ -0,0 +1,12 @@
+fileFormatVersion: 2
+guid: ab2178abf0a6343e19742febdd9784e3
+timeCreated: 1511954360
+licenseType: Store
+MonoImporter:
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Utils/Attributes/SerializeProperty.cs b/Assets/Obi/Scripts/Common/Utils/Attributes/SerializeProperty.cs
new file mode 100644
index 000000000..ad7ffae98
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Utils/Attributes/SerializeProperty.cs
@@ -0,0 +1,126 @@
+using System;
+using System.Reflection;
+using UnityEngine;
+#if UNITY_EDITOR
+using UnityEditor;
+#endif
+ 
+namespace Obi{
+
+	[System.AttributeUsage(System.AttributeTargets.Field)]
+    public class SerializeProperty : PropertyAttribute
+    {
+        public string PropertyName { get; private set; }
+ 
+        public SerializeProperty(string propertyName)
+        {
+            PropertyName = propertyName;
+        }
+    }
+ 
+    #if UNITY_EDITOR
+    [CustomPropertyDrawer(typeof(SerializeProperty))]
+    public class SerializePropertyAttributeDrawer : PropertyDrawer
+    {
+        private PropertyInfo propertyFieldInfo = null;
+		private object target = null;
+ 
+        public override void OnGUI(Rect position, SerializedProperty property, GUIContent label)
+        {
+			if (target == null)
+            	target = GetSource(property);
+ 
+            // Find the property field using reflection, in order to get access to its getter/setter.
+            if (propertyFieldInfo == null)
+                propertyFieldInfo = target.GetType().GetProperty(((SerializeProperty)attribute).PropertyName,
+                                                     BindingFlags.Instance | BindingFlags.Public | BindingFlags.NonPublic);
+ 
+            if (propertyFieldInfo != null)
+            {
+  				// Retrieve the value using the property getter:
+                object value = propertyFieldInfo.GetValue(target,null);
+ 
+	            // Draw the property:
+				EditorGUI.BeginProperty(position,label,property);
+	            EditorGUI.BeginChangeCheck();
+	            value = DrawProperty(position,property.propertyType,propertyFieldInfo.PropertyType,value,label);
+	 
+	            // 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);
+
+                    // Record prefab modification:
+                    PrefabUtility.RecordPrefabInstancePropertyModifications(property.serializedObject.targetObject);
+                }
+				EditorGUI.EndProperty();
+
+			}else
+            {
+				EditorGUI.LabelField(position,"Error: could not retrieve property.");
+			}
+        }
+
+		private object GetSource(SerializedProperty property)
+        {
+			object target = property.serializedObject.targetObject;
+			string[] data = property.propertyPath.Split('.');
+			
+			if (data.Length == 1) 
+				return target;
+			else{
+				for (int i = 0; i < data.Length-1;++i){
+					target = target.GetType().GetField(data[i]).GetValue(target);
+				}
+			}
+			
+			return target;
+		} 
+ 
+        private object DrawProperty(Rect position, SerializedPropertyType propertyType, Type type, object value, GUIContent label)
+        {
+            switch (propertyType)
+            {
+                case SerializedPropertyType.Integer:
+                    return EditorGUI.IntField(position,label,(int)value);
+                case SerializedPropertyType.Boolean:
+                    return EditorGUI.Toggle(position,label,(bool)value);
+                case SerializedPropertyType.Float:
+                    return EditorGUI.FloatField(position,label,(float)value);
+                case SerializedPropertyType.String:
+                    return EditorGUI.TextField(position,label,(string)value);
+                case SerializedPropertyType.Color:
+                    return EditorGUI.ColorField(position,label,(Color)value);
+                case SerializedPropertyType.ObjectReference:
+                    return EditorGUI.ObjectField(position,label,(UnityEngine.Object)value,type,true);
+                case SerializedPropertyType.ExposedReference:
+                    return EditorGUI.ObjectField(position,label,(UnityEngine.Object)value,type,true);
+                case SerializedPropertyType.LayerMask:
+                    return EditorGUI.LayerField(position,label,(int)value);
+                case SerializedPropertyType.Enum:
+                    return EditorGUI.EnumPopup(position,label,(Enum)value);
+                case SerializedPropertyType.Vector2:
+                    return EditorGUI.Vector2Field(position,label,(Vector2)value);
+                case SerializedPropertyType.Vector3:
+                    return EditorGUI.Vector3Field(position,label,(Vector3)value);
+                case SerializedPropertyType.Vector4:
+                    return EditorGUI.Vector4Field(position,label,(Vector4)value);
+                case SerializedPropertyType.Rect:
+                    return EditorGUI.RectField(position,label,(Rect)value);
+                case SerializedPropertyType.AnimationCurve:
+                    return EditorGUI.CurveField(position,label,(AnimationCurve)value);
+                case SerializedPropertyType.Bounds:
+                    return EditorGUI.BoundsField(position,label,(Bounds)value);
+                default:
+                    throw new NotImplementedException("Unimplemented propertyType "+propertyType+".");
+            }
+        }
+ 
+    }
+    #endif
+}
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Utils/Attributes/SerializeProperty.cs.meta b/Assets/Obi/Scripts/Common/Utils/Attributes/SerializeProperty.cs.meta
new file mode 100644
index 000000000..ce59fb050
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Utils/Attributes/SerializeProperty.cs.meta
@@ -0,0 +1,12 @@
+fileFormatVersion: 2
+guid: 9b22b3eff389444b1b4ab3bc2d6402b6
+timeCreated: 1511456560
+licenseType: Store
+MonoImporter:
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Utils/Attributes/VisibleIf.cs b/Assets/Obi/Scripts/Common/Utils/Attributes/VisibleIf.cs
new file mode 100644
index 000000000..1d0244b87
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Utils/Attributes/VisibleIf.cs
@@ -0,0 +1,56 @@
+using UnityEngine;
+#if UNITY_EDITOR
+using UnityEditor;
+#endif
+using System.Reflection;
+ 
+namespace Obi{
+
+	[System.AttributeUsage(System.AttributeTargets.Field)]
+	public class VisibleIf : MultiPropertyAttribute
+	{
+	    public string MethodName { get; private set; }
+		public bool Negate {get; private set;}
+
+		private MethodInfo eventMethodInfo = null;
+		private FieldInfo fieldInfo = null;
+
+		public VisibleIf(string methodName, bool negate = false)
+	    {
+	        this.MethodName = methodName;
+			this.Negate = negate;
+	    } 
+
+		#if UNITY_EDITOR
+	    internal override bool IsVisible(SerializedProperty property)
+	    {
+	        return Visibility(property) == !Negate;
+	    }
+
+		private bool Visibility(SerializedProperty property)
+	    {
+			System.Type eventOwnerType = property.serializedObject.targetObject.GetType();
+			string eventName = MethodName;
+			
+			// Try finding a method with the name provided:
+			if (eventMethodInfo == null)
+				eventMethodInfo = eventOwnerType.GetMethod(eventName, BindingFlags.Instance | BindingFlags.Static | BindingFlags.Public | BindingFlags.NonPublic);
+
+			// 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)
+				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));
+
+			return true;
+	    }
+		#endif
+	}
+	
+
+}
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Utils/Attributes/VisibleIf.cs.meta b/Assets/Obi/Scripts/Common/Utils/Attributes/VisibleIf.cs.meta
new file mode 100644
index 000000000..c89b2e179
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Utils/Attributes/VisibleIf.cs.meta
@@ -0,0 +1,12 @@
+fileFormatVersion: 2
+guid: e52da649989a94da8b1a5d1e1fe5ff8a
+timeCreated: 1511456085
+licenseType: Store
+MonoImporter:
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Utils/Coroutines.meta b/Assets/Obi/Scripts/Common/Utils/Coroutines.meta
new file mode 100644
index 000000000..3ceb9d3e4
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Utils/Coroutines.meta
@@ -0,0 +1,9 @@
+fileFormatVersion: 2
+guid: 232dbc8dfe1624cc3ac35594884d0edd
+folderAsset: yes
+timeCreated: 1438097540
+licenseType: Store
+DefaultImporter:
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Utils/Coroutines/CoroutineJob.cs b/Assets/Obi/Scripts/Common/Utils/Coroutines/CoroutineJob.cs
new file mode 100644
index 000000000..c4c5aa21d
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Utils/Coroutines/CoroutineJob.cs
@@ -0,0 +1,130 @@
+using UnityEngine;
+using System;
+using System.Diagnostics;
+using System.Collections;
+using System.Collections.Generic;
+
+namespace Obi{
+
+/**
+ * Implementation of asynchronous jobs that can return data, throw exceptions, and have a duration threshold 
+ * below which they are run synchronously.
+ */
+public class CoroutineJob{
+
+	public class ProgressInfo{
+		public string userReadableInfo;
+		public float progress;
+		public ProgressInfo(string userReadableInfo,float progress){
+			this.userReadableInfo = userReadableInfo;
+			this.progress = progress;
+		}
+	}
+
+	public object Result {
+		get{
+			if(e != null){
+				throw e;
+			}
+			return result;
+		}
+	}
+
+	public bool IsDone{
+		get{
+			return isDone;
+		}
+	}
+
+	public bool RaisedException{
+		get{
+			return raisedException;
+		}
+	}
+
+	private object result;
+	private bool isDone;
+	private bool raisedException;
+	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.
+
+	private void Init(){
+		isDone = false;
+		raisedException = false;
+		stop = false;
+        result = null;
+	}
+
+	/**
+	 * Runs the provided coroutine in a completely syncrhonous way, just like it would if it wasn't a coroutine, and 
+	 * returns a list of all coroutine results, in the order they were yielded. Will immediately rethrow any exceptions thrown by the coroutine.
+	 */
+	public static object RunSynchronously(IEnumerator coroutine){
+
+		List<object> results = new List<object>();
+
+		if (coroutine == null){
+            return results;
+		}
+
+		try{
+			while(coroutine.MoveNext()){
+				results.Add(coroutine.Current);
+			}
+		}catch(Exception e){
+			throw e;
+        }
+
+		return results;
+
+	}
+
+	public IEnumerator Start(IEnumerator coroutine){
+
+		Init();
+
+		if (coroutine == null){
+			isDone = true;
+			yield break;
+		}
+
+		Stopwatch sw = new Stopwatch();
+		sw.Start();
+
+		while(!stop){
+
+			try{
+				if(!coroutine.MoveNext()){
+					isDone = true;
+					sw.Stop();
+					yield break;
+				}
+			}
+			catch(Exception e){
+				this.e = e;
+				raisedException = true;
+				UnityEngine.Debug.LogException(e);
+				isDone = true;
+				sw.Stop();
+				yield break;
+			}
+
+			result = coroutine.Current;
+
+			//If too much time has passed sine job start, switch to async mode:
+			if (sw.ElapsedMilliseconds > asyncThreshold){
+				yield return result;
+			}
+		}
+
+	}
+
+	public void Stop(){
+		stop = true; 
+	}
+
+}
+}
+
diff --git a/Assets/Obi/Scripts/Common/Utils/Coroutines/CoroutineJob.cs.meta b/Assets/Obi/Scripts/Common/Utils/Coroutines/CoroutineJob.cs.meta
new file mode 100644
index 000000000..ec16b06f3
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Utils/Coroutines/CoroutineJob.cs.meta
@@ -0,0 +1,12 @@
+fileFormatVersion: 2
+guid: b34adb10b4f264b629f464bfc872d515
+timeCreated: 1438097545
+licenseType: Store
+MonoImporter:
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Utils/Coroutines/EditorCoroutine.cs b/Assets/Obi/Scripts/Common/Utils/Coroutines/EditorCoroutine.cs
new file mode 100644
index 000000000..b000bcd80
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Utils/Coroutines/EditorCoroutine.cs
@@ -0,0 +1,43 @@
+using UnityEngine;
+#if (UNITY_EDITOR)
+	using UnityEditor;
+#endif
+using System.Collections;
+
+namespace Obi
+{
+
+public class EditorCoroutine
+{
+
+	public static void ShowCoroutineProgressBar(string title, ref IEnumerator coroutine){
+		
+		#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/Coroutines/EditorCoroutine.cs.meta b/Assets/Obi/Scripts/Common/Utils/Coroutines/EditorCoroutine.cs.meta
new file mode 100644
index 000000000..023fca34b
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Utils/Coroutines/EditorCoroutine.cs.meta
@@ -0,0 +1,12 @@
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diff --git a/Assets/Obi/Scripts/Common/Utils/Forces.meta b/Assets/Obi/Scripts/Common/Utils/Forces.meta
new file mode 100644
index 000000000..bce277fbc
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Utils/Forces.meta
@@ -0,0 +1,9 @@
+fileFormatVersion: 2
+guid: 57e51b62adcc84dc19a301be9ebf0e51
+folderAsset: yes
+timeCreated: 1480348631
+licenseType: Store
+DefaultImporter:
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Utils/Forces/ObiAmbientForceZone.cs b/Assets/Obi/Scripts/Common/Utils/Forces/ObiAmbientForceZone.cs
new file mode 100644
index 000000000..6a9dbde3d
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Utils/Forces/ObiAmbientForceZone.cs
@@ -0,0 +1,39 @@
+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/ObiAmbientForceZone.cs.meta b/Assets/Obi/Scripts/Common/Utils/Forces/ObiAmbientForceZone.cs.meta
new file mode 100644
index 000000000..32645ed8d
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Utils/Forces/ObiAmbientForceZone.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 8f33b658b41e945e0bae1d3f0af0830e
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+  serializedVersion: 2
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+  userData: 
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diff --git a/Assets/Obi/Scripts/Common/Utils/Forces/ObiExternalForce.cs b/Assets/Obi/Scripts/Common/Utils/Forces/ObiExternalForce.cs
new file mode 100644
index 000000000..41089fd0c
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Utils/Forces/ObiExternalForce.cs
@@ -0,0 +1,50 @@
+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
new file mode 100644
index 000000000..adabe4f4f
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Utils/Forces/ObiExternalForce.cs.meta
@@ -0,0 +1,12 @@
+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/ObiSphericalForceZone.cs b/Assets/Obi/Scripts/Common/Utils/Forces/ObiSphericalForceZone.cs
new file mode 100644
index 000000000..7e7bb03bd
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Utils/Forces/ObiSphericalForceZone.cs
@@ -0,0 +1,63 @@
+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/Forces/ObiSphericalForceZone.cs.meta b/Assets/Obi/Scripts/Common/Utils/Forces/ObiSphericalForceZone.cs.meta
new file mode 100644
index 000000000..56ae827cd
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Utils/Forces/ObiSphericalForceZone.cs.meta
@@ -0,0 +1,11 @@
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+  userData: 
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diff --git a/Assets/Obi/Scripts/Common/Utils/ObiContactEventDispatcher.cs b/Assets/Obi/Scripts/Common/Utils/ObiContactEventDispatcher.cs
new file mode 100644
index 000000000..c8c1315ef
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Utils/ObiContactEventDispatcher.cs
@@ -0,0 +1,154 @@
+using UnityEngine;
+using UnityEngine.Events;
+using System;
+using System.Collections.Generic;
+
+namespace Obi
+{
+    [RequireComponent(typeof(ObiSolver))]
+    public class ObiContactEventDispatcher : MonoBehaviour
+    {
+        private ObiSolver solver;
+        private Oni.Contact[] prevData;
+        private int prevCount;
+        private ContactComparer comparer;
+
+        private class ContactComparer : IComparer<Oni.Contact>
+        {
+            ObiSolver solver;
+
+            public ContactComparer(ObiSolver solver)
+            {
+                this.solver = solver;
+            }
+
+            public int Compare(Oni.Contact x, Oni.Contact y)
+            {
+                return CompareByRef(ref x, ref y, solver);
+            }
+        }
+
+        private static int CompareByRef(ref Oni.Contact a, ref Oni.Contact b, ObiSolver solver)
+        {
+            if (a.bodyB == b.bodyB)
+            {
+                int hashA = solver.particleToActor[a.bodyA].actor.GetInstanceID();
+                int hashB = solver.particleToActor[b.bodyA].actor.GetInstanceID();
+                return hashA.CompareTo(hashB);
+            }
+            return a.bodyB.CompareTo(b.bodyB);
+        }
+
+        [System.Serializable]
+        public class ContactCallback : UnityEvent<ObiSolver, Oni.Contact> { }
+
+        public float distanceThreshold = 0.01f;
+        public ContactCallback onContactEnter = new ContactCallback();
+        public ContactCallback onContactStay = new ContactCallback();
+        public ContactCallback onContactExit = new ContactCallback();
+
+        void Awake()
+        {
+            solver = GetComponent<ObiSolver>();
+            comparer = new ContactComparer(solver);
+            prevData = new Oni.Contact[0];
+        }
+
+        void OnEnable()
+        {
+            solver.OnCollision += Solver_OnCollision;
+        }
+
+        void OnDisable()
+        {
+            solver.OnCollision -= Solver_OnCollision;
+        }
+
+        private int FilterOutDistantContacts(Oni.Contact[] data, int count)
+        {
+            int filteredCount = count;
+
+            // simply iterate trough all contacts,
+            // 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]);
+
+            return filteredCount;
+        }
+
+        private int RemoveDuplicates(Oni.Contact[] data, int count)
+        {
+            if (count == 0)
+                return 0;
+
+            // assuming the array is sorted, iterate trough the array
+            // 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)
+                    data[r] = data[i];
+
+            return ++r;
+        }
+
+        private void InvokeCallbacks(Oni.Contact[] data, int count)
+        {
+            int a = 0, b = 0;
+            int lengthA = count, lengthB = prevCount;
+
+            // while we haven't reached the end of either array:
+            while (a < lengthA && b < lengthB)
+            {
+                // compare both contacts: 
+                int compare = CompareByRef(ref data[a], ref prevData[b], solver);
+
+                // call the appropiate event depending on the comparison result:
+                if (compare < 0)
+                    onContactEnter.Invoke(solver, data[a++]);
+                else if (compare > 0)
+                    onContactExit.Invoke(solver, prevData[b++]);
+                else
+                {
+                    onContactStay.Invoke(solver, data[a++]); b++;
+                }
+            }
+
+            // finish iterating trough both lists:
+            while (a < lengthA)
+                onContactEnter.Invoke(solver, data[a++]);
+
+            while (b < lengthB)
+                onContactExit.Invoke(solver, prevData[b++]);
+        }
+
+        void Solver_OnCollision(object sender, ObiSolver.ObiCollisionEventArgs args)
+        {
+            // 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);
+
+            // sort the remaining contacts by collider, then by actor:
+            Array.Sort(args.contacts.Data, 0, filteredCount, comparer);
+
+            // remove duplicates:
+            filteredCount = RemoveDuplicates(args.contacts.Data, filteredCount);
+
+            // zip trough the current and previous contact lists once, invoking events when appropiate.
+            InvokeCallbacks(args.contacts.Data, 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);
+
+            prevCount = filteredCount;
+        }
+
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Utils/ObiContactEventDispatcher.cs.meta b/Assets/Obi/Scripts/Common/Utils/ObiContactEventDispatcher.cs.meta
new file mode 100644
index 000000000..35dc302ef
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Utils/ObiContactEventDispatcher.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: e94f08d8fe9ed4bdcbc71dde235e0ac1
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
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diff --git a/Assets/Obi/Scripts/Common/Utils/ObiContactGrabber.cs b/Assets/Obi/Scripts/Common/Utils/ObiContactGrabber.cs
new file mode 100644
index 000000000..bdd58b078
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Utils/ObiContactGrabber.cs
@@ -0,0 +1,178 @@
+using UnityEngine;
+using System.Collections.Generic;
+using Obi;
+
+/**
+ * Sample component that makes a collider "grab" any particle it touches (regardless of which Actor it belongs to).
+ */
+[RequireComponent(typeof(ObiCollider))]
+public class ObiContactGrabber : MonoBehaviour
+{
+
+    public ObiSolver[] solvers = { };
+
+    public bool grabbed
+    {
+        get { return grabbedActors.Count > 0; }
+    }
+
+    /**
+     * Helper class that stores the index of a particle in the solver, its position in the grabber's local space, and its inverse mass previous to being grabbed.
+     * This makes it easy to tell if a particle has been grabbed, update its position while grabbing, and restore its mass after being released.
+     */
+    private class GrabbedParticle : IEqualityComparer<GrabbedParticle>
+    {
+        public int index;
+        public float invMass;
+        public Vector3 localPosition;
+        public ObiSolver solver;
+
+        public GrabbedParticle(ObiSolver solver, int index, float invMass)
+        {
+            this.solver = solver;
+            this.index = index;
+            this.invMass = invMass;
+        }
+
+        public bool Equals(GrabbedParticle x, GrabbedParticle y)
+        {
+            return x.index == y.index;
+        }
+
+        public int GetHashCode(GrabbedParticle obj)
+        {
+            return index;
+        }
+    }
+
+    private Dictionary<ObiSolver, ObiSolver.ObiCollisionEventArgs> collisionEvents = new Dictionary<ObiSolver, ObiSolver.ObiCollisionEventArgs>();                                 /**< 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.*/
+
+    private void Awake()
+    {
+        localCollider = GetComponent<ObiCollider>();
+    }
+
+    private void OnEnable()
+    {
+        if (solvers != null)
+            foreach (ObiSolver solver in solvers)
+                solver.OnCollision += Solver_OnCollision;
+    }
+
+    private void OnDisable()
+    {
+        if (solvers != null)
+            foreach (ObiSolver solver in solvers)
+                solver.OnCollision -= Solver_OnCollision;
+    }
+
+    private void Solver_OnCollision(object sender, Obi.ObiSolver.ObiCollisionEventArgs e)
+    {
+        collisionEvents[(ObiSolver)sender] = e;
+    }
+
+    private void UpdateParticleProperties()
+    {
+        // Update rest shape matching of all grabbed softbodies:
+        foreach (ObiActor actor in grabbedActors)
+        {
+            actor.UpdateParticleProperties();
+        }
+    }
+
+    /**
+     * Creates and stores a GrabbedParticle from the particle at the given index.
+     * Returns true if we sucessfully grabbed a particle, false if the particle was already grabbed.
+     */
+    private bool GrabParticle(ObiSolver solver, int index)
+    {
+        GrabbedParticle p = new GrabbedParticle(solver, index, solver.invMasses[index]);
+
+        // in case this particle has not been grabbed yet:
+        if (!grabbedParticles.Contains(p))
+        {
+            Matrix4x4 solver2Grabber = transform.worldToLocalMatrix * solver.transform.localToWorldMatrix;
+
+            // record the particle's position relative to the grabber, and store it.
+            p.localPosition = solver2Grabber.MultiplyPoint3x4(solver.positions[index]);
+            grabbedParticles.Add(p);
+
+            // Set inv mass and velocity to zero:
+            solver.invMasses[index] = 0;
+            solver.velocities[index] = Vector4.zero;
+
+            return true;
+        }
+        return false;
+    }
+
+    /**
+     * Grabs all particles currently touching the grabber.
+     */
+    public void Grab()
+    {
+        Release();
+
+        var world = ObiColliderWorld.GetInstance();
+
+        if (solvers != null && collisionEvents != null)
+        {
+            foreach (ObiSolver solver in solvers)
+            {
+                ObiSolver.ObiCollisionEventArgs collisionEvent;
+                if (collisionEvents.TryGetValue(solver, out collisionEvent))
+                {
+                    foreach (Oni.Contact contact in collisionEvent.contacts)
+                    {
+                        // this one is an actual collision:
+                        if (contact.distance < 0.01f)
+                        {
+                            var contactCollider = world.colliderHandles[contact.bodyB].owner;
+                            int particleIndex = solver.simplices[contact.bodyA];
+
+                            // if the current contact references our collider, proceed to grab the particle.
+                            if (contactCollider == localCollider)
+                            {
+                                // try to grab the particle, if not already grabbed.
+                                if (GrabParticle(solver, particleIndex))
+                                    grabbedActors.Add(solver.particleToActor[particleIndex].actor);
+                            }
+
+                        }
+                    }
+                }
+            }
+        }
+
+        UpdateParticleProperties();
+    }
+
+    /**
+     * Releases all currently grabbed particles. This boils down to simply resetting their invMass.
+     */
+    public void Release()
+    {
+        // Restore the inverse mass of all grabbed particles, so dynamics affect them.
+        foreach (GrabbedParticle p in grabbedParticles)
+            p.solver.invMasses[p.index] = p.invMass;
+
+        UpdateParticleProperties();
+        grabbedActors.Clear();
+        grabbedParticles.Clear();
+    }
+
+    /**
+     * Updates the position of the grabbed particles.
+     */
+    private void FixedUpdate()
+    {
+        foreach (GrabbedParticle p in grabbedParticles)
+        {
+            Matrix4x4 grabber2Solver = p.solver.transform.worldToLocalMatrix * transform.localToWorldMatrix;
+            p.solver.positions[p.index] = grabber2Solver.MultiplyPoint3x4(p.localPosition);
+        }
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Utils/ObiContactGrabber.cs.meta b/Assets/Obi/Scripts/Common/Utils/ObiContactGrabber.cs.meta
new file mode 100644
index 000000000..d3efd9752
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Utils/ObiContactGrabber.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 4aa46c433c6d64b07bdfa8b2e40b03b9
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
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+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Utils/ObiParticleAttachment.cs b/Assets/Obi/Scripts/Common/Utils/ObiParticleAttachment.cs
new file mode 100644
index 000000000..9fbff25fe
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Utils/ObiParticleAttachment.cs
@@ -0,0 +1,508 @@
+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;
+
+        // 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 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 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>  
+        /// Whether this attachment is currently bound or not.
+        /// </summary> 
+        public bool isBound
+        {
+            get { return m_Target != null && m_SolverIndices != null && m_PositionOffsets != null; }
+        }
+
+        /// <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 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.
+        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>();
+
+            // do not re-bind: simply disable and re-enable the attachment.
+            DisableAttachment(AttachmentType.Static);
+            DisableAttachment(AttachmentType.Dynamic);
+            EnableAttachment(m_AttachmentType);
+        }
+
+        void Actor_OnBlueprintLoaded(ObiActor act, ObiActorBlueprint blueprint)
+        {
+            Bind();
+        }
+
+        void Actor_OnPrepareStep(ObiActor act, float stepTime)
+        {
+            // 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()
+        {
+            // 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)
+                        {
+                            // 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++;
+                            }
+
+                            // 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:
+
+                        // 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;
+
+                        // 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)
+            {
+
+                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++)
+                        {
+                            // 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) * 4 + 3] / sqrTime > pinBatch.breakThresholds[i])
+                            {
+                                pinBatch.DeactivateConstraint(i);
+                                dirty = true;
+                            }
+                        }
+                    }
+                }
+
+                // constraints are recreated at the start of a step.
+                if (dirty)
+                    m_Actor.SetConstraintsDirty(Oni.ConstraintType.Pin);
+            }
+        }
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Utils/ObiParticleAttachment.cs.meta b/Assets/Obi/Scripts/Common/Utils/ObiParticleAttachment.cs.meta
new file mode 100644
index 000000000..8ba6d24ea
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Utils/ObiParticleAttachment.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 4d03c9194b7ab4aaba4dfa5afec22c69
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {fileID: 2800000, guid: 528d201bc10084452b24974deb16a423, type: 3}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Utils/ObiParticleDragger.cs b/Assets/Obi/Scripts/Common/Utils/ObiParticleDragger.cs
new file mode 100644
index 000000000..90f193dec
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Utils/ObiParticleDragger.cs
@@ -0,0 +1,84 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+    [RequireComponent(typeof(LineRenderer))]
+    [RequireComponent(typeof(ObiParticlePicker))]
+    public class ObiParticleDragger : MonoBehaviour
+    {
+        public float springStiffness = 500;
+        public float springDamping = 50;
+        public bool drawSpring = true;
+
+        private LineRenderer lineRenderer;
+        private ObiParticlePicker picker;
+        private ObiParticlePicker.ParticlePickEventArgs pickArgs;
+
+        void OnEnable()
+        {
+            lineRenderer = GetComponent<LineRenderer>();
+            picker = GetComponent<ObiParticlePicker>();
+            picker.OnParticlePicked.AddListener(Picker_OnParticleDragged);
+            picker.OnParticleDragged.AddListener(Picker_OnParticleDragged);
+            picker.OnParticleReleased.AddListener(Picker_OnParticleReleased);
+        }
+
+        void OnDisable()
+        {
+            picker.OnParticlePicked.RemoveListener(Picker_OnParticleDragged);
+            picker.OnParticleDragged.RemoveListener(Picker_OnParticleDragged);
+            picker.OnParticleReleased.RemoveListener(Picker_OnParticleReleased);
+            lineRenderer.positionCount = 0;
+        }
+
+        void FixedUpdate()
+        {
+            ObiSolver solver = picker.solver;
+
+            if (solver != null && pickArgs != null)
+            {
+
+                // Calculate picking position in solver space:
+                Vector4 targetPosition = solver.transform.InverseTransformPoint(pickArgs.worldPosition);
+
+                // Calculate effective inverse mass:
+                float invMass = solver.invMasses[pickArgs.particleIndex];
+
+                if (invMass > 0)
+                {
+                    // Calculate and apply spring force:
+                    Vector4 position = solver.positions[pickArgs.particleIndex];
+                    Vector4 velocity = solver.velocities[pickArgs.particleIndex];
+                    solver.externalForces[pickArgs.particleIndex] = ((targetPosition - position) * springStiffness - velocity * springDamping) / invMass;
+
+
+                    if (drawSpring)
+                    {
+                        lineRenderer.positionCount = 2;
+                        lineRenderer.SetPosition(0, pickArgs.worldPosition);
+                        lineRenderer.SetPosition(1, solver.transform.TransformPoint(position));
+                    }
+                    else
+                    {
+                        lineRenderer.positionCount = 0;
+                    }
+                }
+
+            }
+        }
+
+        void Picker_OnParticleDragged(ObiParticlePicker.ParticlePickEventArgs e)
+        {
+            pickArgs = e;
+        }
+
+        void Picker_OnParticleReleased(ObiParticlePicker.ParticlePickEventArgs e)
+        {
+            pickArgs = null;
+            lineRenderer.positionCount = 0;
+        }
+
+    }
+}
+
diff --git a/Assets/Obi/Scripts/Common/Utils/ObiParticleDragger.cs.meta b/Assets/Obi/Scripts/Common/Utils/ObiParticleDragger.cs.meta
new file mode 100644
index 000000000..a950385e8
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Utils/ObiParticleDragger.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 30e140e2334fb4e2f9430c6ed936e4ca
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Utils/ObiParticleGridDebugger.cs b/Assets/Obi/Scripts/Common/Utils/ObiParticleGridDebugger.cs
new file mode 100644
index 000000000..4a2a827b4
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Utils/ObiParticleGridDebugger.cs
@@ -0,0 +1,45 @@
+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
new file mode 100644
index 000000000..f787114ba
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Utils/ObiParticleGridDebugger.cs.meta
@@ -0,0 +1,12 @@
+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
new file mode 100644
index 000000000..9c5d4a474
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Utils/ObiParticlePicker.cs
@@ -0,0 +1,140 @@
+using System;
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+using UnityEngine.Events;
+
+namespace Obi
+{
+
+    public class ObiParticlePicker : MonoBehaviour
+    {
+
+        public class ParticlePickEventArgs : EventArgs
+        {
+
+            public int particleIndex;
+            public Vector3 worldPosition;
+
+            public ParticlePickEventArgs(int particleIndex, Vector3 worldPosition)
+            {
+                this.particleIndex = particleIndex;
+                this.worldPosition = worldPosition;
+            }
+        }
+
+        [Serializable]
+        public class ParticlePickUnityEvent : UnityEvent<ParticlePickEventArgs> { }
+
+        public ObiSolver solver;
+        public float radiusScale = 1;
+
+        public ParticlePickUnityEvent OnParticlePicked;
+        public ParticlePickUnityEvent OnParticleHeld;
+        public ParticlePickUnityEvent OnParticleDragged;
+        public ParticlePickUnityEvent OnParticleReleased;
+
+        private Vector3 lastMousePos = Vector3.zero;
+        private int pickedParticleIndex = -1;
+        private float pickedParticleDepth = 0;
+
+        void Awake()
+        {
+            lastMousePos = Input.mousePosition;
+        }
+
+        void LateUpdate()
+        {
+
+            if (solver != null)
+            {
+
+                // Click:
+                if (Input.GetMouseButtonDown(0))
+                {
+
+                    pickedParticleIndex = -1;
+
+                    Ray ray = Camera.main.ScreenPointToRay(Input.mousePosition);
+
+                    float closestMu = float.MaxValue;
+                    float closestDistance = float.MaxValue;
+
+                    Matrix4x4 solver2World = solver.transform.localToWorldMatrix;
+
+                    // Find the closest particle hit by the ray:
+                    for (int i = 0; i < solver.renderablePositions.count; ++i)
+                    {
+
+                        Vector3 worldPos = solver2World.MultiplyPoint3x4(solver.renderablePositions[i]);
+
+                        float mu;
+                        Vector3 projected = ObiUtils.ProjectPointLine(worldPos, ray.origin, ray.origin + ray.direction, out mu, false);
+                        float distanceToRay = Vector3.SqrMagnitude(worldPos - projected);
+
+                        // Disregard particles behind the camera:
+                        mu = Mathf.Max(0, mu);
+
+                        float radius = solver.principalRadii[i][0] * radiusScale;
+
+                        if (distanceToRay <= radius * radius && distanceToRay < closestDistance && mu < closestMu)
+                        {
+                            closestMu = mu;
+                            closestDistance = distanceToRay;
+                            pickedParticleIndex = i;
+                        }
+                    }
+
+                    if (pickedParticleIndex >= 0)
+                    {
+
+                        pickedParticleDepth = Camera.main.transform.InverseTransformVector(solver2World.MultiplyPoint3x4(solver.renderablePositions[pickedParticleIndex]) - Camera.main.transform.position).z;
+
+                        if (OnParticlePicked != null)
+                        {
+                            Vector3 worldPosition = Camera.main.ScreenToWorldPoint(new Vector3(Input.mousePosition.x, Input.mousePosition.y, pickedParticleDepth));
+                            OnParticlePicked.Invoke(new ParticlePickEventArgs(pickedParticleIndex, worldPosition));
+                        }
+                    }
+
+                }
+                else if (pickedParticleIndex >= 0)
+                {
+
+                    // Drag:
+                    Vector3 mouseDelta = Input.mousePosition - lastMousePos;
+                    if (mouseDelta.magnitude > 0.01f && OnParticleDragged != null)
+                    {
+
+                        Vector3 worldPosition = Camera.main.ScreenToWorldPoint(new Vector3(Input.mousePosition.x, Input.mousePosition.y, pickedParticleDepth));
+                        OnParticleDragged.Invoke(new ParticlePickEventArgs(pickedParticleIndex, worldPosition));
+
+                    }
+                    else if (OnParticleHeld != null)
+                    {
+
+                        Vector3 worldPosition = Camera.main.ScreenToWorldPoint(new Vector3(Input.mousePosition.x, Input.mousePosition.y, pickedParticleDepth));
+                        OnParticleHeld.Invoke(new ParticlePickEventArgs(pickedParticleIndex, worldPosition));
+
+                    }
+
+                    // Release:				
+                    if (Input.GetMouseButtonUp(0))
+                    {
+
+                        if (OnParticleReleased != null)
+                        {
+                            Vector3 worldPosition = Camera.main.ScreenToWorldPoint(new Vector3(Input.mousePosition.x, Input.mousePosition.y, pickedParticleDepth));
+                            OnParticleReleased.Invoke(new ParticlePickEventArgs(pickedParticleIndex, worldPosition));
+                        }
+
+                        pickedParticleIndex = -1;
+
+                    }
+                }
+            }
+
+            lastMousePos = Input.mousePosition;
+        }
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Utils/ObiParticlePicker.cs.meta b/Assets/Obi/Scripts/Common/Utils/ObiParticlePicker.cs.meta
new file mode 100644
index 000000000..286f8912f
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Utils/ObiParticlePicker.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: db4318b9b044a420ba02ad5138d542e0
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {fileID: 2800000, guid: 0f9d020f7c659443a93327a34ede18b4, type: 3}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Utils/ObiProfiler.cs b/Assets/Obi/Scripts/Common/Utils/ObiProfiler.cs
new file mode 100644
index 000000000..32e62596f
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Utils/ObiProfiler.cs
@@ -0,0 +1,215 @@
+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
new file mode 100644
index 000000000..d26c93d7c
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Utils/ObiProfiler.cs.meta
@@ -0,0 +1,13 @@
+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
new file mode 100644
index 000000000..86c1f76bd
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Utils/ObiStitcher.cs
@@ -0,0 +1,233 @@
+using UnityEngine;
+using System;
+using System.Collections;
+using System.Collections.Generic;
+using System.Runtime.InteropServices;
+
+namespace Obi
+{
+    /**
+     * ObiStitcher will create stitch constraints between 2 actors. All actors must be assigned to the same solver.
+     * - Add the constraint batch to the solver once all actors have been added.
+     * - If any of the actors is removed from the solver, remove the stitcher too.
+     * - Stitch constraints can keep n particles together, respecting their masses.
+     * - In edit mode, select the actors to be stitched and then select groups of particles and click "stitch". Or, create stitches by closeness.
+     */
+    [ExecuteInEditMode]
+    public class ObiStitcher : MonoBehaviour
+    {
+        [Serializable]
+        public class Stitch
+        {
+            public int particleIndex1;
+            public int particleIndex2;
+
+            public Stitch(int particleIndex1, int particleIndex2)
+            {
+                this.particleIndex1 = particleIndex1;
+                this.particleIndex2 = particleIndex2;
+            }
+        }
+
+        [SerializeField] [HideInInspector] private List<Stitch> stitches = new List<Stitch>();
+
+        [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();
+
+        //private IntPtr batch;
+        private IStitchConstraintsBatchImpl m_BatchImpl;
+        private bool inSolver = false;
+
+        public ObiActor Actor1
+        {
+            set
+            {
+                if (actor1 != value)
+                {
+                    UnregisterActor(actor1);
+                    actor1 = value;
+                    RegisterActor(actor1);
+                }
+            }
+            get { return actor1; }
+        }
+
+        public ObiActor Actor2
+        {
+            set
+            {
+                if (actor2 != value)
+                {
+                    UnregisterActor(actor2);
+                    actor2 = value;
+                    RegisterActor(actor2);
+                }
+            }
+            get { return actor2; }
+        }
+
+        public int StitchCount
+        {
+            get { return stitches.Count; }
+        }
+
+        public IEnumerable<Stitch> Stitches
+        {
+            get { return stitches.AsReadOnly(); }
+        }
+
+        private void RegisterActor(ObiActor actor)
+        {
+            if (actor != null)
+            {
+                actor.OnBlueprintLoaded += Actor_OnBlueprintLoaded;
+                actor.OnBlueprintUnloaded += Actor_OnBlueprintUnloaded;
+
+                if (actor.solver != null)
+                    Actor_OnBlueprintLoaded(actor, actor.sourceBlueprint);
+
+            }
+        }
+
+        private void UnregisterActor(ObiActor actor)
+        {
+            if (actor != null)
+            {
+                actor.OnBlueprintLoaded -= Actor_OnBlueprintLoaded;
+                actor.OnBlueprintUnloaded -= Actor_OnBlueprintUnloaded;
+
+                if (actor.solver != null)
+                    Actor_OnBlueprintUnloaded(actor, actor.sourceBlueprint);
+            }
+        }
+
+        public void OnEnable()
+        {
+            RegisterActor(actor1);
+            RegisterActor(actor2);
+        }
+
+        public void OnDisable()
+        {
+            UnregisterActor(actor1);
+            UnregisterActor(actor2);
+        }
+
+        /**
+         * Adds a new stitch to the stitcher. Note that unlike calling Clear(), AddStitch does not automatically perform a
+         * PushDataToSolver(). You should manually call it once you're done adding multiple stitches.
+         * @param index of a particle in the first actor. 
+         * @param index of a particle in the second actor.
+         * @return constrant index, that can be used to remove it with a call to RemoveStitch.
+         */
+        public int AddStitch(int particle1, int particle2)
+        {
+            stitches.Add(new Stitch(particle1, particle2));
+            return stitches.Count - 1;
+        }
+
+        /**
+         * Removes. Note that unlike calling Clear(), AddStitch does not automatically perform a
+         * PushDataToSolver(). You should manually call it once you're done adding multiple stitches.
+         * @param constraint index.
+         */
+        public void RemoveStitch(int index)
+        {
+            if (index >= 0 && index < stitches.Count)
+                stitches.RemoveAt(index);
+        }
+
+        public void Clear()
+        {
+            stitches.Clear();
+            PushDataToSolver();
+        }
+
+        void Actor_OnBlueprintUnloaded(ObiActor actor, ObiActorBlueprint blueprint)
+        {
+            // when any actor is removed from solver, remove stitches.
+            this.RemoveFromSolver(actor.solver);
+        }
+
+        void Actor_OnBlueprintLoaded(ObiActor actor, ObiActorBlueprint blueprint)
+        {
+            // when both actors are in the same solver, add stitches.
+            if (actor1 != null && actor2 != null && actor1.isLoaded && actor2.isLoaded)
+            {
+
+                if (actor1.solver != actor2.solver)
+                {
+                    Debug.LogError("ObiStitcher cannot handle actors in different solvers.");
+                    return;
+                }
+
+                AddToSolver(actor1.solver);
+            }
+        }
+
+        private void AddToSolver(ObiSolver solver)
+        {
+            if (!inSolver)
+            {
+
+                inSolver = true;
+
+                // create a constraint batch (CreateStitchConstraints() in burst returns a singleton):
+                m_BatchImpl = solver.implementation.CreateConstraintsBatch(Oni.ConstraintType.Stitch) as IStitchConstraintsBatchImpl;
+
+                // push current data to solver:
+                PushDataToSolver();
+
+                // enable/disable the batch:
+                m_BatchImpl.enabled = isActiveAndEnabled;
+            }
+
+        }
+
+        private void RemoveFromSolver(ObiSolver solver)
+        {
+            // remove the constraint batch from the solver 
+            // (no need to destroy it as its destruction is managed by the solver)
+            // Oni.RemoveBatch(actor1.solver.OniSolver, batch);
+            if (inSolver && m_BatchImpl != null)
+            {
+                solver.implementation.DestroyConstraintsBatch(m_BatchImpl as IStitchConstraintsBatchImpl);
+                m_BatchImpl.Destroy();
+                m_BatchImpl = null;
+
+                inSolver = false;
+            }
+
+        }
+
+        public void PushDataToSolver()
+        {
+
+            if (!inSolver)
+                return;
+
+            // set solver constraint data:
+            lambdas.Clear();
+            particleIndices.ResizeUninitialized(stitches.Count * 2);
+            stiffnesses.ResizeUninitialized(stitches.Count);
+            lambdas.ResizeUninitialized(stitches.Count);
+
+            for (int i = 0; i < stitches.Count; i++)
+            {
+                particleIndices[i * 2] = actor1.solverIndices[stitches[i].particleIndex1];
+                particleIndices[i * 2 + 1] = actor2.solverIndices[stitches[i].particleIndex2];
+                stiffnesses[i] = 0;
+                lambdas[i] = 0;
+            }
+
+            m_BatchImpl.SetStitchConstraints(particleIndices, stiffnesses, lambdas, stitches.Count);
+
+        }
+
+    }
+}
+
diff --git a/Assets/Obi/Scripts/Common/Utils/ObiStitcher.cs.meta b/Assets/Obi/Scripts/Common/Utils/ObiStitcher.cs.meta
new file mode 100644
index 000000000..64a1aa9c2
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Utils/ObiStitcher.cs.meta
@@ -0,0 +1,12 @@
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+guid: cdace116829344344988718be4fb70ab
+timeCreated: 1489589304
+licenseType: Store
+MonoImporter:
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {fileID: 2800000, guid: ec05a2c75bb4a4ce5a3a1baa76b4c8d5, type: 3}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Utils/ObiUtils.cs b/Assets/Obi/Scripts/Common/Utils/ObiUtils.cs
new file mode 100644
index 000000000..fcf48adf2
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Utils/ObiUtils.cs
@@ -0,0 +1,888 @@
+using UnityEngine;
+using System;
+using System.Collections.Generic;
+using System.Runtime.CompilerServices;
+
+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
+        }
+
+        // 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"
+        };
+
+        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 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);
+        }
+
+        [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++;
+            }
+        }
+
+        [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);
+        }
+
+        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;
+        }
+    }
+}
+
diff --git a/Assets/Obi/Scripts/Common/Utils/ObiUtils.cs.meta b/Assets/Obi/Scripts/Common/Utils/ObiUtils.cs.meta
new file mode 100644
index 000000000..455098f6e
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Utils/ObiUtils.cs.meta
@@ -0,0 +1,12 @@
+fileFormatVersion: 2
+guid: 8ac31071459b040f39f1d86300525ed4
+timeCreated: 1435569421
+licenseType: Store
+MonoImporter:
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Utils/ObiVectorMath.cs b/Assets/Obi/Scripts/Common/Utils/ObiVectorMath.cs
new file mode 100644
index 000000000..5be0c7eae
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Utils/ObiVectorMath.cs
@@ -0,0 +1,48 @@
+using UnityEngine;
+using System.Collections;
+
+
+namespace Obi
+{
+    public static class ObiVectorMath
+    {
+        public static void Cross(Vector3 a, Vector3 b, ref float x, ref float y, ref float z)
+        {
+            x = a.y * b.z - a.z * b.y;
+            y = a.z * b.x - a.x * b.z;
+            z = a.x * b.y - a.y * b.x;
+        }
+
+        public static void Cross(Vector3 a, Vector3 b, ref Vector3 res)
+        {
+            res.x = a.y * b.z - a.z * b.y;
+            res.y = a.z * b.x - a.x * b.z;
+            res.z = a.x * b.y - a.y * b.x;
+        }
+
+        public static void Cross(float ax, float ay, float az, float bx, float by, float bz, ref float x, ref float y, ref float z)
+        {
+            x = ay * bz - az * by;
+            y = az * bx - ax * bz;
+            z = ax * by - ay * bx;
+        }
+
+        /**
+         * res = b - a
+         */
+        public static void Subtract(Vector3 a, Vector3 b, ref Vector3 res)
+        {
+            res.x = b.x - a.x;
+            res.y = b.y - a.y;
+            res.z = b.z - a.z;
+        }
+
+        public static void BarycentricInterpolation(Vector3 p1, Vector3 p2, Vector3 p3, Vector3 n1, Vector3 n2, Vector3 n3, Vector3 coords, float height, ref Vector3 res)
+        {
+            res.x = coords.x * p1.x + coords.y * p2.x + coords.z * p3.x + (coords.x * n1.x + coords.y * n2.x + coords.z * n3.x) * height;
+            res.y = coords.x * p1.y + coords.y * p2.y + coords.z * p3.y + (coords.x * n1.y + coords.y * n2.y + coords.z * n3.y) * height;
+            res.z = coords.x * p1.z + coords.y * p2.z + coords.z * p3.z + (coords.x * n1.z + coords.y * n2.z + coords.z * n3.z) * height;
+        }
+
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Common/Utils/ObiVectorMath.cs.meta b/Assets/Obi/Scripts/Common/Utils/ObiVectorMath.cs.meta
new file mode 100644
index 000000000..fee9b11e9
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Utils/ObiVectorMath.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 6e41ed0a6b70c4f6bae2b72f0a3f89e4
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Common/Utils/SetCategory.cs b/Assets/Obi/Scripts/Common/Utils/SetCategory.cs
new file mode 100644
index 000000000..55ce6ceaf
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Utils/SetCategory.cs
@@ -0,0 +1,38 @@
+using UnityEngine;
+
+namespace Obi
+{
+    [RequireComponent(typeof(ObiActor))]
+    public class SetCategory : MonoBehaviour
+    {
+        public int category;
+        private ObiActor act;
+
+        private void Awake()
+        {
+            act = GetComponent<ObiActor>();
+            act.OnBlueprintLoaded += OnLoad;
+
+            if (act.isLoaded)
+				act.SetFilterCategory(category);
+		}
+
+        private void OnDestroy()
+        {
+            act.OnBlueprintLoaded -= OnLoad;
+        }
+
+        private void OnValidate()
+        {
+            category = Mathf.Clamp(category, ObiUtils.MinCategory, ObiUtils.MaxCategory);
+
+            if (act != null && act.isLoaded)
+				act.SetFilterCategory(category);
+		}
+
+        private void OnLoad(ObiActor actor, ObiActorBlueprint blueprint)
+        {
+            actor.SetFilterCategory(category);
+        }
+    }
+}
diff --git a/Assets/Obi/Scripts/Common/Utils/SetCategory.cs.meta b/Assets/Obi/Scripts/Common/Utils/SetCategory.cs.meta
new file mode 100644
index 000000000..e9c9e89a2
--- /dev/null
+++ b/Assets/Obi/Scripts/Common/Utils/SetCategory.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 011ecd7e601cf4613b5b59bfd9d70895
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Obi.asmdef b/Assets/Obi/Scripts/Obi.asmdef
new file mode 100644
index 000000000..abde79cbb
--- /dev/null
+++ b/Assets/Obi/Scripts/Obi.asmdef
@@ -0,0 +1,42 @@
+{
+    "name": "Obi",
+    "references": [
+        "GUID:15fc0a57446b3144c949da3e2b9737a9",
+        "GUID:c579267770062bf448e75eb160330b7f",
+        "GUID:df380645f10b7bc4b97d4f5eb6303d95",
+        "GUID:3eae0364be2026648bf74846acb8a731",
+        "GUID:d8b63aba1907145bea998dd612889d6b",
+        "GUID:2665a8d13d1b3f18800f46e256720795",
+        "GUID:e0cd26848372d4e5c891c569017e11f1"
+    ],
+    "includePlatforms": [],
+    "excludePlatforms": [],
+    "allowUnsafeCode": true,
+    "overrideReferences": false,
+    "precompiledReferences": [],
+    "autoReferenced": true,
+    "defineConstraints": [],
+    "versionDefines": [
+        {
+            "name": "com.unity.render-pipelines.universal",
+            "expression": "7.4.1",
+            "define": "SRP_UNIVERSAL"
+        },
+        {
+            "name": "com.unity.collections",
+            "expression": "0.8.0-preview.5",
+            "define": "OBI_COLLECTIONS"
+        },
+        {
+            "name": "com.unity.burst",
+            "expression": "1.2.3-verified",
+            "define": "OBI_BURST"
+        },
+        {
+            "name": "com.unity.mathematics",
+            "expression": "1.0.1",
+            "define": "OBI_MATHEMATICS"
+        }
+    ],
+    "noEngineReferences": false
+}
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/Obi.asmdef.meta b/Assets/Obi/Scripts/Obi.asmdef.meta
new file mode 100644
index 000000000..dba7c0b6c
--- /dev/null
+++ b/Assets/Obi/Scripts/Obi.asmdef.meta
@@ -0,0 +1,7 @@
+fileFormatVersion: 2
+guid: da7abd44cdeea48609605c1c2c9609c0
+AssemblyDefinitionImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/Oni.cs b/Assets/Obi/Scripts/Oni.cs
new file mode 100644
index 000000000..43c01674d
--- /dev/null
+++ b/Assets/Obi/Scripts/Oni.cs
@@ -0,0 +1,653 @@
+using UnityEngine;
+using System;
+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 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
+    };
+
+    public enum ShapeType
+    {
+        Sphere = 0,
+        Box = 1,
+        Capsule = 2,
+        Heightmap = 3,
+        TriangleMesh = 4,
+        EdgeMesh = 5,
+        SignedDistanceField = 6
+    }
+
+    public enum MaterialCombineMode
+    {
+        Average = 0,
+        Minimum = 1,
+        Multiply = 2,
+        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]
+    public struct SolverParameters
+    {
+
+        public enum Interpolation
+        {
+            None,
+            Interpolate,
+        };
+
+        public enum Mode
+        {
+            Mode3D,
+            Mode2D,
+        };
+
+        [Tooltip("In 2D mode, particles are simulated on the XY plane only. For use in conjunction with Unity's 2D mode.")]
+        public Mode mode;
+
+        [Tooltip("Same as Rigidbody.interpolation. Set to INTERPOLATE for cloth that is applied on a main character or closely followed by a camera. NONE for everything else.")]
+        public Interpolation interpolation;
+
+        [Tooltip("Simulation gravity expressed in local space.")]
+        public Vector3 gravity;
+
+        [Tooltip("Percentage of velocity lost per second, between 0% (0) and 100% (1).")]
+        [Range(0, 1)]
+        public float damping;
+
+        [Tooltip("Max ratio between a particle's longest and shortest axis. Use 1 for isotropic (completely round) particles.")]
+        [Range(1, 5)]
+        public float maxAnisotropy;
+
+        [Tooltip("Mass-normalized kinetic energy threshold below which particle positions aren't updated.")]
+        public float sleepThreshold;
+
+        [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 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;
+
+        [Tooltip("Percentage of shock propagation applied to particle-particle collisions. Useful for particle stacking.")]
+        [Range(0, 1)]
+        public float shockPropagation;
+
+        [Tooltip("Amount of iterations spent on convex optimization for surface collisions.")]
+        [Range(1, 32)]
+        public int surfaceCollisionIterations;
+
+        [Tooltip("Error threshold at which to stop convex optimization for surface collisions.")]
+        public float surfaceCollisionTolerance;
+
+
+        public SolverParameters(Interpolation interpolation, Vector4 gravity)
+        {
+            this.mode = Mode.Mode3D;
+            this.gravity = gravity;
+            this.interpolation = interpolation;
+            damping = 0;
+            shockPropagation = 0;
+            surfaceCollisionIterations = 8;
+            surfaceCollisionTolerance = 0.005f;
+            maxAnisotropy = 3;
+            maxDepenetration = 10;
+            sleepThreshold = 0.0005f;
+            collisionMargin = 0.02f;
+            continuousCollisionDetection = 1;
+        }
+
+    }
+
+    [Serializable]
+    public struct ConstraintParameters
+    {
+
+        public enum EvaluationOrder
+        {
+            Sequential,
+            Parallel
+        };
+
+        [Tooltip("Order in which constraints are evaluated. SEQUENTIAL converges faster but is not very stable. PARALLEL is very stable but converges slowly, requiring more iterations to achieve the same result.")]
+        public EvaluationOrder evaluationOrder;                             /**< Constraint evaluation order.*/
+
+        [Tooltip("Number of relaxation iterations performed by the constraint solver. A low number of iterations will perform better, but be less accurate.")]
+        public int iterations;                                              /**< Amount of solver iterations per step for this constraint group.*/
+
+        [Tooltip("Over (or under if < 1) relaxation factor used. At 1, no overrelaxation is performed. At 2, constraints double their relaxation rate. High values reduce stability but improve convergence.")]
+        [Range(0.1f, 2)]
+        public float SORFactor;                                             /**< Sucessive over-relaxation factor for parallel evaluation order.*/
+
+        [Tooltip("Whether this constraint group is solved or not.")]
+        [MarshalAs(UnmanagedType.I1)]
+        public bool enabled;
+
+        public ConstraintParameters(bool enabled, EvaluationOrder order, int iterations)
+        {
+            this.enabled = enabled;
+            this.iterations = iterations;
+            this.evaluationOrder = order;
+            this.SORFactor = 1;
+        }
+
+    }
+
+    // In this particular case, size is forced to 144 bytes to ensure 16 byte memory alignment needed by Oni.
+    [StructLayout(LayoutKind.Sequential, Size = 144)]
+    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.*/
+
+        public float normalImpulse;
+        public float tangentImpulse;
+        public float bitangentImpulse;
+        public float stickImpulse;
+        public float rollingFrictionImpulse;
+
+        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/Oni.cs.meta b/Assets/Obi/Scripts/Oni.cs.meta
new file mode 100644
index 000000000..e878c1370
--- /dev/null
+++ b/Assets/Obi/Scripts/Oni.cs.meta
@@ -0,0 +1,12 @@
+fileFormatVersion: 2
+guid: df1db1289f87d47fb934d1fdb2ed9965
+timeCreated: 1442803224
+licenseType: Store
+MonoImporter:
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/RopeAndRod.meta b/Assets/Obi/Scripts/RopeAndRod.meta
new file mode 100644
index 000000000..b70af415b
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod.meta
@@ -0,0 +1,10 @@
+fileFormatVersion: 2
+guid: a5d5467b3dbba47dab7f72d43fcd6ebe
+labels:
+- ObiRope
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/RopeAndRod/Actors.meta b/Assets/Obi/Scripts/RopeAndRod/Actors.meta
new file mode 100644
index 000000000..225b63599
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/Actors.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: abc784de05f944701a4dff27d147b35f
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/RopeAndRod/Actors/ObiBone.cs b/Assets/Obi/Scripts/RopeAndRod/Actors/ObiBone.cs
new file mode 100644
index 000000000..1f87271a1
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/Actors/ObiBone.cs
@@ -0,0 +1,553 @@
+using UnityEngine;
+using System;
+using System.Collections.Generic;
+
+namespace Obi
+{
+    [AddComponentMenu("Physics/Obi/Obi Bone", 882)]
+    [ExecuteInEditMode]
+    [DisallowMultipleComponent]
+    public class ObiBone : ObiActor, IStretchShearConstraintsUser, IBendTwistConstraintsUser, ISkinConstraintsUser
+    {
+        [Serializable]
+        public class BonePropertyCurve
+        {
+            [Min(0)]
+            public float multiplier;
+            public AnimationCurve curve;
+
+            public BonePropertyCurve(float multiplier, float curveValue)
+            {
+                this.multiplier = multiplier;
+                this.curve = new AnimationCurve(new Keyframe(0, curveValue), new Keyframe(1, curveValue));
+            }
+
+            public float Evaluate(float time)
+            {
+                return curve.Evaluate(time) * multiplier;
+            }
+        }
+
+        [Serializable]
+        public class IgnoredBone
+        {
+            public Transform bone; 
+            public bool ignoreChildren;
+        }
+
+        [NonSerialized] protected ObiBoneBlueprint m_BoneBlueprint;
+
+        [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);
+
+        // skin constraints:
+        [SerializeField] protected bool _skinConstraintsEnabled = true;
+        [SerializeField] protected BonePropertyCurve _skinCompliance = new BonePropertyCurve(0.01f, 1);
+        [SerializeField] protected BonePropertyCurve _skinRadius = new BonePropertyCurve(0.1f, 1);
+
+        // distance constraints:
+        [SerializeField] protected bool _stretchShearConstraintsEnabled = true;
+        [SerializeField] protected BonePropertyCurve _stretchCompliance = new BonePropertyCurve(0, 1);
+        [SerializeField] protected BonePropertyCurve _shear1Compliance = new BonePropertyCurve(0, 1);
+        [SerializeField] protected BonePropertyCurve _shear2Compliance = new BonePropertyCurve(0, 1);
+
+        // bend constraints:
+        [SerializeField] protected bool _bendTwistConstraintsEnabled = true;
+        [SerializeField] protected BonePropertyCurve _torsionCompliance = new BonePropertyCurve(0, 1);
+        [SerializeField] protected BonePropertyCurve _bend1Compliance = new BonePropertyCurve(0, 1);
+        [SerializeField] protected BonePropertyCurve _bend2Compliance = new BonePropertyCurve(0, 1);
+        [SerializeField] protected BonePropertyCurve _plasticYield = new BonePropertyCurve(0, 1);
+        [SerializeField] protected BonePropertyCurve _plasticCreep = new BonePropertyCurve(0, 1);
+
+        [Tooltip("Filter used for collision detection.")]
+        [SerializeField] private int filter = ObiUtils.MakeFilter(ObiUtils.CollideWithEverything, 1);
+
+        public bool fixRoot = true;
+        public bool stretchBones = true;
+        public List<IgnoredBone> ignored = new List<IgnoredBone>();
+
+        /// <summary>  
+        /// Collision filter value used by fluid particles.
+        /// </summary>
+        public int Filter
+        {
+            set
+            {
+                if (filter != value)
+                {
+                    filter = value;
+                    UpdateFilter();
+                }
+            }
+            get { return filter; }
+        }
+
+        /// <summary>  
+        /// Whether particles in this actor colide with particles using the same phase value.
+        /// </summary>
+        public bool selfCollisions
+        {
+            get { return m_SelfCollisions; }
+            set { if (value != m_SelfCollisions) { m_SelfCollisions = value; SetSelfCollisions(m_SelfCollisions); } }
+        }
+
+        /// <summary>  
+        /// Particle radius distribution over this bone hierarchy length.
+        /// </summary>
+        public BonePropertyCurve radius
+        {
+            get { return _radius; }
+            set { _radius = value; UpdateRadius(); }
+        }
+
+        /// <summary>  
+        /// Mass distribution over this bone hierarchy length.
+        /// </summary>
+        public BonePropertyCurve mass
+        {
+            get { return _mass; }
+            set { _mass = value; UpdateMasses(); }
+        }
+
+        /// <summary>  
+        /// Rotational mass distribution over this bone hierarchy length.
+        /// </summary>
+        public BonePropertyCurve rotationalMass
+        {
+            get { return _rotationalMass; }
+            set { _rotationalMass = value; UpdateMasses(); }
+        }
+
+        /// <summary>  
+        /// Whether this actor's skin constraints are enabled.
+        /// </summary>
+        public bool skinConstraintsEnabled
+        {
+            get { return _skinConstraintsEnabled; }
+            set { if (value != _skinConstraintsEnabled) { _skinConstraintsEnabled = value; SetConstraintsDirty(Oni.ConstraintType.Skin); } }
+        }
+
+        /// <summary>  
+        /// Compliance of this actor's skin constraints.
+        /// </summary>
+        public BonePropertyCurve skinCompliance
+        {
+            get { return _skinCompliance; }
+            set { _skinCompliance = value; SetConstraintsDirty(Oni.ConstraintType.Skin); }
+        }
+
+        /// <summary>  
+        /// Compliance of this actor's skin radius
+        /// </summary>
+        public BonePropertyCurve skinRadius
+        {
+            get { return _skinRadius; }
+            set { _skinRadius = value; SetConstraintsDirty(Oni.ConstraintType.Skin); }
+        }
+
+        /// <summary>  
+        /// Whether this actor's stretch/shear constraints are enabled.
+        /// </summary>
+        public bool stretchShearConstraintsEnabled
+        {
+            get { return _stretchShearConstraintsEnabled; }
+            set { if (value != _stretchShearConstraintsEnabled) { _stretchShearConstraintsEnabled = value; SetConstraintsDirty(Oni.ConstraintType.StretchShear); } }
+        }
+
+        /// <summary>  
+        /// Compliance of this actor's stretch/shear constraints, along their length.
+        /// </summary>
+        public BonePropertyCurve stretchCompliance
+        {
+            get { return _stretchCompliance; }
+            set { _stretchCompliance = value; SetConstraintsDirty(Oni.ConstraintType.StretchShear); }
+        }
+
+        /// <summary>  
+        /// Shearing compliance of this actor's stretch/shear constraints, along the first axis orthogonal to their length.
+        /// </summary>
+        public BonePropertyCurve shear1Compliance
+        {
+            get { return _shear1Compliance; }
+            set { _shear1Compliance = value; SetConstraintsDirty(Oni.ConstraintType.StretchShear); }
+        }
+
+        /// <summary>  
+        /// Shearing compliance of this actor's stretch/shear constraints, along the second axis orthogonal to their length.
+        /// </summary>
+        public BonePropertyCurve shear2Compliance
+        {
+            get { return _shear2Compliance; }
+            set { _shear2Compliance = value; SetConstraintsDirty(Oni.ConstraintType.StretchShear); }
+        }
+
+        /// <summary>  
+        /// Whether this actor's bend/twist constraints are enabled.
+        /// </summary>
+        public bool bendTwistConstraintsEnabled
+        {
+            get { return _bendTwistConstraintsEnabled; }
+            set { if (value != _bendTwistConstraintsEnabled) { _bendTwistConstraintsEnabled = value; SetConstraintsDirty(Oni.ConstraintType.BendTwist); } }
+        }
+
+        /// <summary>  
+        /// Torsional compliance of this actor's bend/twist constraints along their length.
+        /// </summary>
+        public BonePropertyCurve torsionCompliance
+        {
+            get { return _torsionCompliance; }
+            set { _torsionCompliance = value; SetConstraintsDirty(Oni.ConstraintType.BendTwist); }
+        }
+
+        /// <summary>  
+        /// Bending compliance of this actor's bend/twist constraints along the first axis orthogonal to their length.
+        /// </summary>
+        public BonePropertyCurve bend1Compliance
+        {
+            get { return _bend1Compliance; }
+            set { _bend1Compliance = value; SetConstraintsDirty(Oni.ConstraintType.BendTwist); }
+        }
+
+        /// <summary>  
+        /// Bending compliance of this actor's bend/twist constraints along the second axis orthogonal to their length.
+        /// </summary>
+        public BonePropertyCurve bend2Compliance
+        {
+            get { return _bend2Compliance; }
+            set { _bend2Compliance = value; 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 BonePropertyCurve plasticYield
+        {
+            get { return _plasticYield; }
+            set { _plasticYield = value; 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 BonePropertyCurve plasticCreep
+        {
+            get { return _plasticCreep; }
+            set { _plasticCreep = value; SetConstraintsDirty(Oni.ConstraintType.BendTwist); } 
+        }
+
+
+        public override ObiActorBlueprint sourceBlueprint
+        {
+            get { return m_BoneBlueprint; }
+        }
+
+        public ObiBoneBlueprint boneBlueprint
+        {
+            get { return m_BoneBlueprint; }
+            set
+            {
+                if (m_BoneBlueprint != value)
+                {
+                    RemoveFromSolver();
+                    ClearState();
+                    m_BoneBlueprint = value;
+                    AddToSolver();
+                }
+            }
+        }
+
+        protected override void Awake()
+        {
+            m_BoneBlueprint = ScriptableObject.CreateInstance<ObiBoneBlueprint>();
+            UpdateBlueprint();
+            base.Awake();
+        }
+
+        protected override void OnDestroy()
+        {
+            if (m_BoneBlueprint != null)
+                DestroyImmediate(m_BoneBlueprint);
+
+            base.OnDestroy();
+        }
+
+        protected override void OnValidate()
+        {
+            base.OnValidate();
+            UpdateFilter();
+            UpdateRadius();
+            UpdateMasses();
+            SetupRuntimeConstraints();
+        }
+
+        public void UpdateBlueprint()
+        {
+            if (m_BoneBlueprint != null)
+            {
+                m_BoneBlueprint.root = transform;
+                m_BoneBlueprint.ignored = ignored;
+                m_BoneBlueprint.mass = mass;
+                m_BoneBlueprint.rotationalMass = rotationalMass;
+                m_BoneBlueprint.radius = radius;
+                m_BoneBlueprint.GenerateImmediate();
+            }
+        }
+
+        public override void LoadBlueprint(ObiSolver solver)
+        {
+            base.LoadBlueprint(solver);
+            SetupRuntimeConstraints();
+            ResetToCurrentShape();
+        }
+
+        public override void UnloadBlueprint(ObiSolver solver)
+        {
+            ResetParticles();
+            CopyParticleDataToTransforms();
+            base.UnloadBlueprint(solver);
+        }
+
+        private void SetupRuntimeConstraints()
+        {
+            SetConstraintsDirty(Oni.ConstraintType.Skin);
+            SetConstraintsDirty(Oni.ConstraintType.StretchShear);
+            SetConstraintsDirty(Oni.ConstraintType.BendTwist);
+            SetSelfCollisions(selfCollisions);
+            SetSimplicesDirty();
+            UpdateFilter();
+            UpdateCollisionMaterials();
+        }
+
+        private void FixRoot()
+        {
+            if (isLoaded)
+            {
+                int rootIndex = solverIndices[0];
+
+                var actor2Solver = actorLocalToSolverMatrix;
+                var actor2SolverR = actor2Solver.rotation;
+
+                solver.invMasses[rootIndex] = 0;
+                solver.invRotationalMasses[rootIndex] = 0;
+                solver.velocities[rootIndex] = Vector4.zero;
+                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);
+
+                // take particle rest orientation in actor space, and convert to solver space:
+                solver.renderableOrientations[rootIndex] = solver.orientations[rootIndex] = actor2SolverR * boneBlueprint.orientations[0];
+            }
+        }
+
+        private void UpdateFilter()
+        {
+            for (int i = 0; i < particleCount; i++)
+            {
+                boneBlueprint.filters[i] = filter;
+                if (isLoaded)
+                    solver.filters[solverIndices[i]] = filter;
+            }
+        }
+
+        public void UpdateRadius()
+        {
+            for (int i = 0; i < particleCount; ++i)
+            {
+                var normalizedCoord = boneBlueprint.normalizedLengths[i];
+                var radii = Vector3.one * radius.Evaluate(normalizedCoord);
+                boneBlueprint.principalRadii[i] = radii;
+
+                if (isLoaded)
+                    solver.principalRadii[solverIndices[i]] = radii;
+            }
+        }
+
+        public void UpdateMasses()
+        {
+            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));
+
+                boneBlueprint.invMasses[i] = invMass;
+                boneBlueprint.invRotationalMasses[i] = invRotMass;
+
+                if (isLoaded)
+                {
+                    solver.invMasses[solverIndices[i]] = invMass;
+                    solver.invRotationalMasses[solverIndices[i]] = invRotMass;
+                }
+            }
+        }
+
+        public Vector3 GetSkinRadiiBackstop(ObiSkinConstraintsBatch batch, int constraintIndex)
+        {
+            float normalizedCoord = boneBlueprint.normalizedLengths[batch.particleIndices[constraintIndex]];
+            return new Vector3(skinRadius.Evaluate(normalizedCoord),0,0);
+        }
+
+        public float GetSkinCompliance(ObiSkinConstraintsBatch batch, int constraintIndex)
+        {
+            float normalizedCoord = boneBlueprint.normalizedLengths[batch.particleIndices[constraintIndex]];
+            return skinCompliance.Evaluate(normalizedCoord);
+        }
+
+
+        public Vector3 GetBendTwistCompliance(ObiBendTwistConstraintsBatch batch, int constraintIndex)
+        {
+            float normalizedCoord = boneBlueprint.normalizedLengths[batch.particleIndices[constraintIndex * 2]];
+            return new Vector3(bend1Compliance.Evaluate(normalizedCoord),
+                               bend2Compliance.Evaluate(normalizedCoord),
+                               torsionCompliance.Evaluate(normalizedCoord));
+        }
+
+        public Vector2 GetBendTwistPlasticity(ObiBendTwistConstraintsBatch batch, int constraintIndex)
+        {
+            float normalizedCoord = boneBlueprint.normalizedLengths[batch.particleIndices[constraintIndex * 2]];
+            return new Vector2(plasticYield.Evaluate(normalizedCoord),
+                               plasticCreep.Evaluate(normalizedCoord));
+        }
+
+        public Vector3 GetStretchShearCompliance(ObiStretchShearConstraintsBatch batch, int constraintIndex)
+        {
+            float normalizedCoord = boneBlueprint.normalizedLengths[batch.particleIndices[constraintIndex * 2]];
+            return new Vector3(shear1Compliance.Evaluate(normalizedCoord),
+                               shear2Compliance.Evaluate(normalizedCoord),
+                               stretchCompliance.Evaluate(normalizedCoord));
+        }
+
+        public override void BeginStep(float stepTime)
+        {
+            base.BeginStep(stepTime);
+
+            if (fixRoot)
+                FixRoot();
+
+            UpdateRestShape();
+        }
+
+        public override void PrepareFrame()
+        {
+            ResetReferenceOrientations();
+            base.PrepareFrame();
+        }
+
+        public override void Interpolate()
+        {
+            if (Application.isPlaying && isActiveAndEnabled)
+                CopyParticleDataToTransforms();
+
+            base.Interpolate();
+        }
+
+        /// <summary>
+        /// Resets particle orientations/positions to match the current pose of the bone hierarchy, and sets all their velocities to zero.
+        /// </summary>
+        public void ResetToCurrentShape()
+        {
+            if (!isLoaded) return;
+
+            var world2Solver = solver.transform.worldToLocalMatrix;
+
+            for (int i = 0; i < particleCount; ++i)
+            {
+                var trfm = boneBlueprint.transforms[i];
+                int solverIndex = solverIndices[i];
+
+                solver.velocities[solverIndex] = Vector4.zero;
+                solver.angularVelocities[solverIndex] = Vector4.zero;
+
+                solver.renderablePositions[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];
+            }
+        }
+
+        private void ResetReferenceOrientations()
+        {
+            if (boneBlueprint != null)
+                for (int i = 1; i < boneBlueprint.restTransformOrientations.Count; ++i)
+                    boneBlueprint.transforms[i].localRotation = boneBlueprint.restTransformOrientations[i];
+        }
+
+        private void UpdateRestShape()
+        {
+            // use current bone transforms as rest state for the simulation:
+            var bc = GetConstraintsByType(Oni.ConstraintType.BendTwist) as ObiConstraints<ObiBendTwistConstraintsBatch>;
+            var sbc = solver.GetConstraintsByType(Oni.ConstraintType.BendTwist) as ObiConstraints<ObiBendTwistConstraintsBatch>;
+
+            if (bendTwistConstraintsEnabled && bc != null && sbc != null)
+                for (int j = 0; j < bc.GetBatchCount(); ++j)
+                {
+                    var batch = bc.GetBatch(j) as ObiBendTwistConstraintsBatch;
+                    var solverBatch = sbc.batches[j] as ObiBendTwistConstraintsBatch;
+                    int offset = solverBatchOffsets[(int)solverBatch.constraintType][j];
+
+                    if (solverBatch.restDarbouxVectors.isCreated)
+                    {
+                        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];
+
+                            solverBatch.restDarbouxVectors[offset + i] = ObiUtils.RestDarboux(orientationA, orientationB);
+                        }
+                    }
+                }
+
+            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)
+                {
+                    var batch = sc.GetBatch(j) as ObiSkinConstraintsBatch;
+                    var solverBatch = ssc.batches[j] as ObiSkinConstraintsBatch;
+                    int offset = solverBatchOffsets[(int)solverBatch.constraintType][j];
+
+                    if (solverBatch.skinPoints.isCreated)
+                    {
+                        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);
+                        }
+                    }
+                }
+        }
+
+        private void CopyParticleDataToTransforms()
+        {
+
+            if (boneBlueprint != null)
+            {
+                // copy current particle transforms to bones:
+                for (int i = 1; i < particleCount; ++i)
+                {
+                    var trfm = boneBlueprint.transforms[i];
+
+                    if (stretchBones)
+                        trfm.position = GetParticlePosition(solverIndices[i]);
+
+                    var delta = GetParticleOrientation(solverIndices[i]) * Quaternion.Inverse(boneBlueprint.root2WorldR * boneBlueprint.orientations[i]);
+                    trfm.rotation = delta * boneBlueprint.restOrientations[i];
+                }
+            }
+        }
+    }
+}
diff --git a/Assets/Obi/Scripts/RopeAndRod/Actors/ObiBone.cs.meta b/Assets/Obi/Scripts/RopeAndRod/Actors/ObiBone.cs.meta
new file mode 100644
index 000000000..10400fd35
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/Actors/ObiBone.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 7be315bc5964b4fbca6cf0a978ff76a1
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  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
new file mode 100644
index 000000000..fec820e8c
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/Actors/ObiRod.cs
@@ -0,0 +1,253 @@
+using UnityEngine;
+using System.Collections;
+using System.Collections.Generic;
+
+namespace Obi
+{
+    [AddComponentMenu("Physics/Obi/Obi Rod", 881)]
+    [ExecuteInEditMode]
+    [DisallowMultipleComponent]
+    public class ObiRod : ObiRopeBase, IStretchShearConstraintsUser, IBendTwistConstraintsUser, IChainConstraintsUser
+    {
+        [SerializeField] protected ObiRodBlueprint m_RodBlueprint;
+
+        // distance constraints:
+        [SerializeField] protected bool _stretchShearConstraintsEnabled = true;
+        [SerializeField] protected float _stretchCompliance = 0;
+        [SerializeField] protected float _shear1Compliance = 0;
+        [SerializeField] protected float _shear2Compliance = 0;
+
+        // bend constraints:
+        [SerializeField] protected bool _bendTwistConstraintsEnabled = true;
+        [SerializeField] protected float _torsionCompliance = 0;
+        [SerializeField] protected float _bend1Compliance = 0;
+        [SerializeField] protected float _bend2Compliance = 0;
+        [SerializeField] [Range(0, 0.1f)] protected float _plasticYield = 0;
+        [SerializeField] protected float _plasticCreep = 0;
+
+        // chain constraints:
+        [SerializeField] protected bool _chainConstraintsEnabled = true;
+        [SerializeField] [Range(0, 1)] protected float _tightness = 1;
+
+        /// <summary>  
+        /// Whether particles in this actor colide with particles using the same phase value.
+        /// </summary>
+        public bool selfCollisions
+        {
+            get { return m_SelfCollisions; }
+            set { if (value != m_SelfCollisions) { m_SelfCollisions = value; SetSelfCollisions(m_SelfCollisions); } }
+        }
+
+        /// <summary>  
+        /// Whether this actor's stretch/shear constraints are enabled.
+        /// </summary>
+        public bool stretchShearConstraintsEnabled
+        {
+            get { return _stretchShearConstraintsEnabled; }
+            set { if (value != _stretchShearConstraintsEnabled) { _stretchShearConstraintsEnabled = value; SetConstraintsDirty(Oni.ConstraintType.StretchShear); } }
+        }
+
+        /// <summary>  
+        /// Compliance of this actor's stretch/shear constraints, along their length.
+        /// </summary>
+        public float stretchCompliance
+        {
+            get { return _stretchCompliance; }
+            set { _stretchCompliance = value; SetConstraintsDirty(Oni.ConstraintType.StretchShear); }
+        }
+
+        /// <summary>  
+        /// Shearing compliance of this actor's stretch/shear constraints, along the first axis orthogonal to their length.
+        /// </summary>
+        public float shear1Compliance
+        {
+            get { return _shear1Compliance; }
+            set { _shear1Compliance = value; SetConstraintsDirty(Oni.ConstraintType.StretchShear); }
+        }
+
+        /// <summary>  
+        /// Shearing compliance of this actor's stretch/shear constraints, along the second axis orthogonal to their length.
+        /// </summary>
+        public float shear2Compliance
+        {
+            get { return _shear2Compliance; }
+            set { _shear2Compliance = value; SetConstraintsDirty(Oni.ConstraintType.StretchShear); }
+        }
+
+        /// <summary>  
+        /// Whether this actor's bend/twist constraints are enabled.
+        /// </summary>
+        public bool bendTwistConstraintsEnabled
+        {
+            get { return _bendTwistConstraintsEnabled; }
+            set { if (value != _bendTwistConstraintsEnabled) { _bendTwistConstraintsEnabled = value; SetConstraintsDirty(Oni.ConstraintType.BendTwist); } }
+        }
+
+        /// <summary>  
+        /// Torsional compliance of this actor's bend/twist constraints along their length.
+        /// </summary>
+        public float torsionCompliance
+        {
+            get { return _torsionCompliance; }
+            set { _torsionCompliance = value; SetConstraintsDirty(Oni.ConstraintType.BendTwist); }
+        }
+
+        /// <summary>  
+        /// Bending compliance of this actor's bend/twist constraints along the first axis orthogonal to their length.
+        /// </summary>
+        public float bend1Compliance
+        {
+            get { return _bend1Compliance; }
+            set { _bend1Compliance = value; SetConstraintsDirty(Oni.ConstraintType.BendTwist); }
+        }
+
+        /// <summary>  
+        /// Bending compliance of this actor's bend/twist constraints along the second axis orthogonal to their length.
+        /// </summary>
+        public float bend2Compliance
+        {
+            get { return _bend2Compliance; }
+            set { _bend2Compliance = value; 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 float plasticYield
+        {
+            get { return _plasticYield; }
+            set { _plasticYield = value; 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 float plasticCreep
+        {
+            get { return _plasticCreep; }
+            set { _plasticCreep = value; SetConstraintsDirty(Oni.ConstraintType.BendTwist); }
+        }
+
+        /// <summary>  
+        /// Whether this actor's chain constraints are enabled.
+        /// </summary>
+        public bool chainConstraintsEnabled
+        {
+            get { return _chainConstraintsEnabled; }
+            set { if (value != _chainConstraintsEnabled) { _chainConstraintsEnabled = value; SetConstraintsDirty(Oni.ConstraintType.BendTwist); } }
+        }
+
+        /// <summary>  
+        /// Tightness of this actor's chain constraints.
+        /// </summary>
+        /// Controls how much chain constraints are allowed to compress.
+        public float tightness
+        {
+            get { return _tightness; }
+            set { _tightness = value; SetConstraintsDirty(Oni.ConstraintType.Chain); }
+        }
+
+        /// <summary>  
+        /// Average distance between consecutive particle centers in this rod.
+        /// </summary>
+        public float interParticleDistance
+        {
+            get { return m_RodBlueprint.interParticleDistance; }
+        }
+
+        public override ObiActorBlueprint sourceBlueprint
+        {
+            get { return m_RodBlueprint; }
+        }
+
+        public ObiRodBlueprint rodBlueprint
+        {
+            get { return m_RodBlueprint; }
+            set
+            {
+                if (m_RodBlueprint != value)
+                {
+                    RemoveFromSolver();
+                    ClearState();
+                    m_RodBlueprint = value;
+                    AddToSolver();
+                }
+            }
+        }
+
+        protected override void OnValidate()
+        {
+            base.OnValidate();
+            SetConstraintsDirty(Oni.ConstraintType.BendTwist);
+            SetupRuntimeConstraints();
+        }
+
+        public override void LoadBlueprint(ObiSolver solver)
+        {
+            base.LoadBlueprint(solver);
+            RebuildElementsFromConstraints();
+            SetupRuntimeConstraints();
+        }
+
+        private void SetupRuntimeConstraints()
+        {
+            SetConstraintsDirty(Oni.ConstraintType.StretchShear);
+            //SetConstraintsDirty(Oni.ConstraintType.BendTwist);
+            SetConstraintsDirty(Oni.ConstraintType.Chain);
+            SetSelfCollisions(selfCollisions);
+            RecalculateRestLength();
+            SetSimplicesDirty();
+            UpdateCollisionMaterials();
+        }
+
+        public Vector3 GetBendTwistCompliance(ObiBendTwistConstraintsBatch batch, int constraintIndex)
+        {
+            return new Vector3(bend1Compliance, bend2Compliance, torsionCompliance);
+        }
+
+        public Vector2 GetBendTwistPlasticity(ObiBendTwistConstraintsBatch batch, int constraintIndex)
+        {
+            return new Vector2(plasticYield, plasticCreep);
+        }
+
+        public Vector3 GetStretchShearCompliance(ObiStretchShearConstraintsBatch batch, int constraintIndex)
+        {
+            return new Vector3(shear1Compliance, shear2Compliance, stretchCompliance);
+        }
+
+        protected override void RebuildElementsFromConstraintsInternal()
+        {
+            var dc = GetConstraintsByType(Oni.ConstraintType.StretchShear) as ObiConstraints<ObiStretchShearConstraintsBatch>;
+            if (dc == null || dc.GetBatchCount() < 2)
+                return;
+
+            int constraintCount = dc.batches[0].activeConstraintCount + dc.batches[1].activeConstraintCount;
+
+            elements = new List<ObiStructuralElement>(constraintCount);
+
+            for (int i = 0; i < constraintCount; ++i)
+            {
+                var batch = dc.batches[i % 2] as ObiStretchShearConstraintsBatch;
+                int constraintIndex = i / 2;
+
+                var e = new ObiStructuralElement();
+                e.particle1 = solverIndices[batch.particleIndices[constraintIndex * 2]];
+                e.particle2 = solverIndices[batch.particleIndices[constraintIndex * 2 + 1]];
+                e.restLength = batch.restLengths[constraintIndex];
+                elements.Add(e);
+            }
+
+            if (dc.batches.Count > 2)
+            {
+                var batch = dc.batches[2];
+                var e = new ObiStructuralElement();
+                e.particle1 = solverIndices[batch.particleIndices[0]];
+                e.particle2 = solverIndices[batch.particleIndices[1]];
+                e.restLength = batch.restLengths[0];
+                elements.Add(e);
+            }
+        }
+
+    }
+}
diff --git a/Assets/Obi/Scripts/RopeAndRod/Actors/ObiRod.cs.meta b/Assets/Obi/Scripts/RopeAndRod/Actors/ObiRod.cs.meta
new file mode 100644
index 000000000..4a9bd4922
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/Actors/ObiRod.cs.meta
@@ -0,0 +1,11 @@
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+guid: 8f2bc32c4faf04f039a86a6e3cea12a1
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {fileID: 2800000, guid: 7125c3eebd3cc4f86aac51cca3ee1592, type: 3}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/RopeAndRod/Actors/ObiRope.cs b/Assets/Obi/Scripts/RopeAndRod/Actors/ObiRope.cs
new file mode 100644
index 000000000..50be7dc5a
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/Actors/ObiRope.cs
@@ -0,0 +1,446 @@
+using UnityEngine;
+using System.Collections;
+using System.Collections.Generic;
+
+namespace Obi
+{
+    [AddComponentMenu("Physics/Obi/Obi Rope", 880)]
+    [ExecuteInEditMode]
+    [DisallowMultipleComponent]
+    public class ObiRope : ObiRopeBase, IDistanceConstraintsUser, IBendConstraintsUser
+    {
+        [SerializeField] protected ObiRopeBlueprint m_RopeBlueprint;
+        private ObiRopeBlueprint m_RopeBlueprintInstance;
+
+        // rope has a list of structural elements.
+        // each structural element is equivalent to 1 distance constraint and 2 bend constraints (with previous, and following element).
+        // a structural element has force and rest length.
+        // a function re-generates constraints from structural elements when needed, placing them in the appropiate batches.
+
+        public bool tearingEnabled = false;
+        public float tearResistanceMultiplier = 1000;                   /**< Factor that controls how much a structural cloth spring can stretch before breaking.*/
+        public int tearRate = 1;
+
+        // distance constraints:
+        [SerializeField] protected bool _distanceConstraintsEnabled = true;
+        [SerializeField] protected float _stretchingScale = 1;
+        [SerializeField] protected float _stretchCompliance = 0;
+        [SerializeField] [Range(0, 1)] protected float _maxCompression = 0;
+
+        // bend constraints:
+        [SerializeField] protected bool _bendConstraintsEnabled = true;
+        [SerializeField] protected float _bendCompliance = 0;
+        [SerializeField] [Range(0, 0.5f)] protected float _maxBending = 0.025f;
+        [SerializeField] [Range(0, 0.1f)] protected float _plasticYield = 0;
+        [SerializeField] protected float _plasticCreep = 0;
+
+        List<ObiStructuralElement> tornElements = new List<ObiStructuralElement>();
+
+        /// <summary>  
+        /// Whether particles in this actor colide with particles using the same phase value.
+        /// </summary>
+        public bool selfCollisions
+        {
+            get { return m_SelfCollisions; }
+            set { if (value != m_SelfCollisions) { m_SelfCollisions = value; SetSelfCollisions(selfCollisions); } }
+        }
+
+        /// <summary>  
+        /// Whether this actor's distance constraints are enabled.
+        /// </summary>
+        public bool distanceConstraintsEnabled
+        {
+            get { return _distanceConstraintsEnabled; }
+            set { if (value != _distanceConstraintsEnabled) { _distanceConstraintsEnabled = value; SetConstraintsDirty(Oni.ConstraintType.Distance); } }
+        }
+
+        /// <summary>  
+        /// Scale value for this actor's distance constraints rest length.
+        /// </summary>
+        /// The default is 1. For instamce, a value of 2 will make the distance constraints twice as long, 0.5 will reduce their length in half.
+        public float stretchingScale
+        {
+            get { return _stretchingScale; }
+            set { _stretchingScale = value; SetConstraintsDirty(Oni.ConstraintType.Distance); }
+        }
+
+        /// <summary>  
+        /// Compliance of this actor's stretch constraints.
+        /// </summary>
+        public float stretchCompliance
+        {
+            get { return _stretchCompliance; }
+            set { _stretchCompliance = value; SetConstraintsDirty(Oni.ConstraintType.Distance); }
+        }
+
+        /// <summary>  
+        /// Maximum compression this actor's distance constraints can undergo.
+        /// </summary>
+        /// This is expressed as a percentage of the scaled rest length. 
+        public float maxCompression
+        {
+            get { return _maxCompression; }
+            set { _maxCompression = value; SetConstraintsDirty(Oni.ConstraintType.Distance); }
+        }
+
+        /// <summary>  
+        ///  Whether this actor's bend constraints are enabled.
+        /// </summary>
+        public bool bendConstraintsEnabled
+        {
+            get { return _bendConstraintsEnabled; }
+            set { if (value != _bendConstraintsEnabled) { _bendConstraintsEnabled = value; SetConstraintsDirty(Oni.ConstraintType.Bending); } }
+        }
+
+        /// <summary>  
+        ///  Compliance of this actor's bend constraints.
+        /// </summary>
+        public float bendCompliance
+        {
+            get { return _bendCompliance; }
+            set { _bendCompliance = value; SetConstraintsDirty(Oni.ConstraintType.Bending); }
+        }
+
+        /// <summary>  
+        ///  Max bending value that constraints can undergo before resisting bending.
+        /// </summary>
+        public float maxBending
+        {
+            get { return _maxBending; }
+            set { _maxBending = value; SetConstraintsDirty(Oni.ConstraintType.Bending); }
+        }
+
+        /// <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 rope's rest shape.
+        public float plasticYield
+        {
+            get { return _plasticYield; }
+            set { _plasticYield = value; SetConstraintsDirty(Oni.ConstraintType.Bending); }
+        }
+
+        /// <summary>  
+        /// Percentage of deformation that gets absorbed into the rest shape per second, once deformation goes above the <see cref="plasticYield"/> threshold.
+        /// </summary>
+        public float plasticCreep
+        {
+            get { return _plasticCreep; }
+            set { _plasticCreep = value; SetConstraintsDirty(Oni.ConstraintType.Bending); }
+        }
+
+        /// <summary>  
+        /// Average distance between consecutive particle centers in this rope.
+        /// </summary>
+        public float interParticleDistance
+        {
+            get { return m_RopeBlueprint.interParticleDistance; }
+        }
+
+        public override ObiActorBlueprint sourceBlueprint
+        {
+            get { return m_RopeBlueprint; }
+        }
+
+        public ObiRopeBlueprint ropeBlueprint
+        {
+            get { return m_RopeBlueprint; }
+            set
+            {
+                if (m_RopeBlueprint != value)
+                {
+                    RemoveFromSolver();
+                    ClearState();
+                    m_RopeBlueprint = value;
+                    AddToSolver();
+                }
+            }
+        }
+
+        public delegate void RopeTornCallback(ObiRope rope, ObiRopeTornEventArgs tearInfo);
+        public event RopeTornCallback OnRopeTorn;  /**< Called when a constraint is torn.*/
+
+        public class ObiRopeTornEventArgs
+        {
+            public ObiStructuralElement element;    /**< info about the element being torn.*/
+            public int particleIndex;               /**< index of the particle being torn*/
+
+            public ObiRopeTornEventArgs(ObiStructuralElement element, int particle)
+            {
+                this.element = element;
+                this.particleIndex = particle;
+            }
+        }
+
+        protected override void OnValidate()
+        {
+            base.OnValidate();
+            SetupRuntimeConstraints();
+        }
+
+        public override void LoadBlueprint(ObiSolver solver)
+        {
+            // create a copy of the blueprint for this cloth:
+            if (Application.isPlaying)
+                m_RopeBlueprintInstance = this.blueprint as ObiRopeBlueprint;
+
+            base.LoadBlueprint(solver);
+            RebuildElementsFromConstraints();
+            SetupRuntimeConstraints();
+        }
+
+        public override void UnloadBlueprint(ObiSolver solver)
+        {
+            base.UnloadBlueprint(solver);
+
+            // delete the blueprint instance:
+            if (m_RopeBlueprintInstance != null)
+                DestroyImmediate(m_RopeBlueprintInstance);
+        }
+
+        private void SetupRuntimeConstraints()
+        {
+            SetConstraintsDirty(Oni.ConstraintType.Distance);
+            SetConstraintsDirty(Oni.ConstraintType.Bending);
+            SetSelfCollisions(selfCollisions);
+            RecalculateRestLength();
+            SetSimplicesDirty();
+            UpdateCollisionMaterials();
+        }
+
+        public override void Substep(float substepTime)
+        {
+            base.Substep(substepTime);
+
+            if (isActiveAndEnabled)
+                ApplyTearing(substepTime);
+        }
+
+        protected void ApplyTearing(float substepTime)
+        {
+
+            if (!tearingEnabled)
+                return;
+
+            float sqrTime = substepTime * substepTime;
+
+            tornElements.Clear();
+
+            var dc = GetConstraintsByType(Oni.ConstraintType.Distance) as ObiConstraints<ObiDistanceConstraintsBatch>;
+            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++)
+                {
+                    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]);
+                    }
+                }
+            }
+
+            if (tornElements.Count > 0)
+            {
+
+                // sort edges by force:
+                tornElements.Sort(delegate (ObiStructuralElement x, ObiStructuralElement y)
+                {
+                    return x.constraintForce.CompareTo(y.constraintForce);
+                });
+
+                int tornCount = 0;
+                for (int i = 0; i < tornElements.Count; i++)
+                {
+                    if (Tear(tornElements[i]))
+                        tornCount++;
+                    if (tornCount >= tearRate)
+                        break;
+                }
+
+                if (tornCount > 0)
+                    RebuildConstraintsFromElements();
+            }
+
+        }
+
+        private int SplitParticle(int splitIndex)
+        {
+            // halve the original particle's mass:
+            m_Solver.invMasses[splitIndex] *= 2;
+
+            CopyParticle(solver.particleToActor[splitIndex].indexInActor, activeParticleCount);
+            ActivateParticle(activeParticleCount);
+
+            return solverIndices[activeParticleCount - 1];
+        }
+
+
+        /// <summary>  
+        /// Tears any given rope element. After calling Tear() one or multiple times, a call to RebuildConstraintsFromElements is needed to
+        /// update the rope particle/constraint representation.
+        /// </summary>
+        public bool Tear(ObiStructuralElement element)
+        {
+            // don't allow splitting if there are no free particles left in the pool.
+            if (activeParticleCount >= m_RopeBlueprint.particleCount)
+                return false;
+
+            // Cannot split fixed particles:
+            if (m_Solver.invMasses[element.particle1] == 0)
+                return false;
+
+            // Or particles that have been already split.
+            int index = elements.IndexOf(element);
+            if (index > 0 && elements[index - 1].particle2 != element.particle1)
+                return false;
+
+            element.particle1 = SplitParticle(element.particle1);
+
+            if (OnRopeTorn != null)
+                OnRopeTorn(this, new ObiRopeTornEventArgs(element, element.particle1));
+
+            return true;
+        }
+
+        protected override void RebuildElementsFromConstraintsInternal()
+        {
+            var dc = GetConstraintsByType(Oni.ConstraintType.Distance) as ObiConstraints<ObiDistanceConstraintsBatch>;
+            if (dc == null || dc.GetBatchCount() < 2)
+                return;
+
+            int constraintCount = dc.batches[0].activeConstraintCount + dc.batches[1].activeConstraintCount;
+
+            elements = new List<ObiStructuralElement>(constraintCount);
+
+            for (int i = 0; i < constraintCount; ++i)
+            {
+                var batch = dc.batches[i % 2] as ObiDistanceConstraintsBatch;
+                int constraintIndex = i / 2;
+
+                var e = new ObiStructuralElement();
+                e.particle1 = solverIndices[batch.particleIndices[constraintIndex * 2]];
+                e.particle2 = solverIndices[batch.particleIndices[constraintIndex * 2 + 1]];
+                e.restLength = batch.restLengths[constraintIndex];
+                e.tearResistance = 1;
+                elements.Add(e);
+            }
+
+            // loop-closing element:
+            if (dc.batches.Count > 2)
+            {
+                var batch = dc.batches[2];
+                var e = new ObiStructuralElement();
+                e.particle1 = solverIndices[batch.particleIndices[0]];
+                e.particle2 = solverIndices[batch.particleIndices[1]];
+                e.restLength = batch.restLengths[0];
+                e.tearResistance = 1;
+                elements.Add(e);
+            }
+        }
+
+        public override void RebuildConstraintsFromElements()
+        {
+            // regenerate constraints from elements:
+            var dc = GetConstraintsByType(Oni.ConstraintType.Distance) as ObiConstraints<ObiDistanceConstraintsBatch>;
+            var bc = GetConstraintsByType(Oni.ConstraintType.Bending) as ObiConstraints<ObiBendConstraintsBatch>;
+
+            dc.DeactivateAllConstraints();
+            bc.DeactivateAllConstraints();
+
+            int elementsCount = elements.Count - (ropeBlueprint.path.Closed ? 1 : 0);
+            for (int i = 0; i < elementsCount; ++i)
+            {
+                var db = dc.batches[i % 2] as ObiDistanceConstraintsBatch;
+                int constraint = db.activeConstraintCount;
+
+                db.particleIndices[constraint * 2] = solver.particleToActor[elements[i].particle1].indexInActor;
+                db.particleIndices[constraint * 2 + 1] = solver.particleToActor[elements[i].particle2].indexInActor;
+                db.restLengths[constraint] = elements[i].restLength;
+                db.stiffnesses[constraint] = new Vector2(_stretchCompliance, _maxCompression * db.restLengths[constraint]);
+                db.ActivateConstraint(constraint);
+
+                if (i < elementsCount - 1)
+                {
+                    var bb = bc.batches[i % 3] as ObiBendConstraintsBatch;
+
+                    // create bend constraint only if there's continuity between elements:
+                    if (elements[i].particle2 == elements[i + 1].particle1)
+                    {
+                        constraint = bb.activeConstraintCount;
+
+                        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]);
+
+                        bb.particleIndices[constraint * 3] = solver.particleToActor[indexA].indexInActor;
+                        bb.particleIndices[constraint * 3 + 1] = solver.particleToActor[indexB].indexInActor;
+                        bb.particleIndices[constraint * 3 + 2] = solver.particleToActor[indexC].indexInActor;
+                        bb.restBends[constraint] = restBend;
+                        bb.bendingStiffnesses[constraint] = new Vector2(_maxBending, _bendCompliance);
+                        bb.ActivateConstraint(constraint);
+                    }
+                }
+            }
+
+            // loop-closing constraints:
+            if (dc.batches.Count > 2)
+            {
+                var loopClosingBatch = dc.batches[2];
+                var lastElement = elements[elements.Count - 1];
+                loopClosingBatch.particleIndices[0] = solver.particleToActor[lastElement.particle1].indexInActor;
+                loopClosingBatch.particleIndices[1] = solver.particleToActor[lastElement.particle2].indexInActor;
+                loopClosingBatch.restLengths[0] = lastElement.restLength;
+                loopClosingBatch.stiffnesses[0] = new Vector2(_stretchCompliance, _maxCompression * loopClosingBatch.restLengths[0]);
+                loopClosingBatch.ActivateConstraint(0);
+            }
+
+            if (bc.batches.Count > 4 && elements.Count > 2)
+            {
+                var loopClosingBatch = bc.batches[3];
+                var lastElement = elements[elements.Count - 2];
+
+                // for loop constraints, 0 is our best approximation of rest bend:
+                loopClosingBatch.particleIndices[0] = solver.particleToActor[lastElement.particle1].indexInActor;
+                loopClosingBatch.particleIndices[1] = solver.particleToActor[elements[0].particle1].indexInActor;
+                loopClosingBatch.particleIndices[2] = solver.particleToActor[lastElement.particle2].indexInActor;
+                loopClosingBatch.restBends[0] = 0;
+                loopClosingBatch.bendingStiffnesses[0] = new Vector2(_maxBending, _bendCompliance);
+                loopClosingBatch.ActivateConstraint(0);
+
+                loopClosingBatch = bc.batches[4];
+                loopClosingBatch.particleIndices[0] = solver.particleToActor[lastElement.particle2].indexInActor;
+                loopClosingBatch.particleIndices[1] = solver.particleToActor[elements[0].particle2].indexInActor;
+                loopClosingBatch.particleIndices[2] = solver.particleToActor[elements[0].particle1].indexInActor;
+                loopClosingBatch.restBends[0] = 0;
+                loopClosingBatch.bendingStiffnesses[0] = new Vector2(_maxBending, _bendCompliance);
+                loopClosingBatch.ActivateConstraint(0);
+            }
+
+            // edge simplices:
+            sharedBlueprint.edges = 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;
+            }
+
+            SetConstraintsDirty(Oni.ConstraintType.Distance);
+            SetConstraintsDirty(Oni.ConstraintType.Bending);
+            SetSimplicesDirty();
+        }
+    }
+}
diff --git a/Assets/Obi/Scripts/RopeAndRod/Actors/ObiRope.cs.meta b/Assets/Obi/Scripts/RopeAndRod/Actors/ObiRope.cs.meta
new file mode 100644
index 000000000..988698833
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/Actors/ObiRope.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 61104f33a3f344db9b7e0d0cda41a9fb
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {fileID: 2800000, guid: 7a860725829a34375a627c13703f0798, type: 3}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/RopeAndRod/Actors/ObiRopeBase.cs b/Assets/Obi/Scripts/RopeAndRod/Actors/ObiRopeBase.cs
new file mode 100644
index 000000000..1fae42696
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/Actors/ObiRopeBase.cs
@@ -0,0 +1,109 @@
+using UnityEngine;
+using System.Collections;
+using System.Collections.Generic;
+
+namespace Obi
+{
+    public abstract class ObiRopeBase : ObiActor
+    {
+
+        [SerializeField] protected bool m_SelfCollisions = false;
+        [HideInInspector] [SerializeField] protected float restLength_ = 0;
+        [HideInInspector] public List<ObiStructuralElement> elements = new List<ObiStructuralElement>();    /**< Elements.*/
+        public event ActorCallback OnElementsGenerated;
+
+        public float restLength
+        {
+            get { return restLength_; }
+        }
+
+        public ObiPath path
+        {
+            get {
+                var ropeBlueprint = (sourceBlueprint as ObiRopeBlueprintBase);
+                return ropeBlueprint != null ? ropeBlueprint.path : null; 
+            }
+        }
+
+        /// <summary>  
+        /// Calculates and returns current rope length, including stretching/compression.
+        /// </summary>
+        public float CalculateLength()
+        {
+            float length = 0;
+
+            if (isLoaded)
+            {
+                // Iterate trough all distance constraints in order:
+                int elementCount = elements.Count;
+                for (int i = 0; i < elementCount; ++i)
+                    length += Vector4.Distance(solver.positions[elements[i].particle1], solver.positions[elements[i].particle2]);
+            }
+            return length;
+        }
+
+        /// <summary>  
+        /// Recalculates the rope's rest length, that is, its length as specified by the blueprint.
+        /// </summary>
+        public void RecalculateRestLength()
+        {
+            restLength_ = 0;
+
+            // Iterate trough all distance elements and accumulate their rest lengths.
+            int elementCount = elements.Count;
+            for (int i = 0; i < elementCount; ++i)
+                restLength_ += elements[i].restLength;
+        }
+
+        /// <summary>  
+        /// Recalculates all particle rest positions, used when filtering self-collisions.
+        /// </summary>
+        public void RecalculateRestPositions()
+        {
+            float pos = 0;
+            int elementCount = elements.Count;
+            for (int i = 0; i < elementCount; ++i)
+            {
+                solver.restPositions[elements[i].particle1] = new Vector4(pos, 0, 0, 1);
+                pos += elements[i].restLength;
+                solver.restPositions[elements[i].particle2] = new Vector4(pos, 0, 0, 1);
+            }
+        }
+
+        /// <summary>  
+        /// Regenerates all rope elements using constraints. It's the opposite of RebuildConstraintsFromElements(). This is automatically called when loading a blueprint, but should also be called when manually
+        /// altering rope constraints (adding/removing/updating constraints and/or batches).
+        /// </summary>
+        public void RebuildElementsFromConstraints()
+        {
+            RebuildElementsFromConstraintsInternal();
+            if (OnElementsGenerated != null)
+                OnElementsGenerated(this);
+        }
+
+        protected abstract void RebuildElementsFromConstraintsInternal();
+
+        /// <summary>  
+        /// Regenerates all rope constraints using rope elements. It's the opposite of RebuildElementsFromConstraints().This should be called anytime the element representation of the rope
+        /// is changed (adding/removing/updating elements). This is usually the case after tearing the rope or changing its length using a cursor.
+        /// </summary>
+        public virtual void RebuildConstraintsFromElements() { }
+
+
+        /// <summary>  
+        /// Returns a rope element that contains a length-normalized coordinate. It will also return the length-normalized coordinate within the element.
+        /// </summary>
+        public ObiStructuralElement GetElementAt(float mu, out float elementMu)
+        {
+            float edgeMu = elements.Count * Mathf.Clamp(mu, 0, 0.99999f);
+
+            int index = (int)edgeMu;
+            elementMu = edgeMu - index;
+
+            if (elements != null && index < elements.Count)
+                return elements[index];
+            return null;
+        }
+
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/RopeAndRod/Actors/ObiRopeBase.cs.meta b/Assets/Obi/Scripts/RopeAndRod/Actors/ObiRopeBase.cs.meta
new file mode 100644
index 000000000..ee8114015
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/Actors/ObiRopeBase.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: ab4d6f4281d1c4331b6bacd307c61a95
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/RopeAndRod/Actors/ObiRopeCursor.cs b/Assets/Obi/Scripts/RopeAndRod/Actors/ObiRopeCursor.cs
new file mode 100644
index 000000000..f360aa2bb
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/Actors/ObiRopeCursor.cs
@@ -0,0 +1,269 @@
+using UnityEngine;
+using System.Collections;
+
+
+namespace Obi
+{
+    [AddComponentMenu("Physics/Obi/Obi Rope Cursor", 883)]
+    [RequireComponent(typeof(ObiRope))]
+    public class ObiRopeCursor : MonoBehaviour
+    {
+        ObiRope rope;
+
+        [Range(0, 1)]
+        [HideInInspector] [SerializeField] private float m_CursorMu;
+
+        [Range(0, 1)]
+        [HideInInspector] [SerializeField] private float m_SourceMu;
+
+        public bool direction = true;
+
+        ObiStructuralElement m_CursorElement = null;
+        private int m_SourceIndex = -1;
+
+        public float cursorMu
+        {
+            set
+            {
+                m_CursorMu = value;
+                UpdateCursor();
+            }
+            get { return m_CursorMu; }
+        }
+
+        public float sourceMu
+        {
+            set
+            {
+                m_SourceMu = value;
+                UpdateSource();
+            }
+            get { return m_SourceMu; }
+        }
+
+        public ObiStructuralElement cursorElement
+        {
+            get
+            {
+                if (m_CursorElement == null)
+                    UpdateCursor();
+                return m_CursorElement;
+            }
+        }
+
+        public int sourceParticleIndex
+        {
+            get
+            {
+                if (m_SourceIndex < 0)
+                    UpdateSource();
+                return m_SourceIndex;
+            }
+        }
+
+        private void OnEnable()
+        {
+            rope = GetComponent<ObiRope>();
+
+            rope.OnElementsGenerated += Actor_OnElementsGenerated;
+            if (rope.elements != null && rope.elements.Count > 0)
+                Actor_OnElementsGenerated(rope);
+        }
+
+        private void OnDisable()
+        {
+            rope.OnElementsGenerated -= Actor_OnElementsGenerated;
+        }
+
+        private void Actor_OnElementsGenerated(ObiActor actor)
+        {
+            UpdateCursor();
+            UpdateSource();
+        }
+
+        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)
+        {
+            // 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)
+                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)
+            {
+                lengthChange = -lengthChange;
+
+                while (lengthChange > m_CursorElement.restLength)
+                {
+                    lengthChange -= m_CursorElement.restLength;
+
+                    int index = rope.elements.IndexOf(m_CursorElement);
+
+                    if (index >= 0)
+                    {
+                        // positive direction:
+                        if (direction)
+                        {
+                            RemoveParticleAt(solver.particleToActor[m_CursorElement.particle2].indexInActor);
+                            rope.elements.RemoveAt(index);
+
+                            if (index < rope.elements.Count)
+                            {
+                                if (rope.elements[index].particle1 == m_CursorElement.particle2)
+                                    rope.elements[index].particle1 = m_CursorElement.particle1;
+
+                                m_CursorElement = rope.elements[index];
+                            }
+                            else
+                                m_CursorElement = rope.elements[Mathf.Max(0,index - 1)];
+                        }
+                        else // negative direction:
+                        {
+                            RemoveParticleAt(solver.particleToActor[m_CursorElement.particle1].indexInActor);
+                            rope.elements.RemoveAt(index);
+
+                            if (index > 0)
+                            {
+                                if (rope.elements[index - 1].particle2 == m_CursorElement.particle1)
+                                    rope.elements[index - 1].particle2 = m_CursorElement.particle2;
+                                m_CursorElement = rope.elements[index - 1];
+                            }
+                            else
+                                m_CursorElement = rope.elements[0];
+                        }
+                    }
+                }
+
+                // the remaining length is subtracted from the current constraint:
+                if (lengthChange > 0)
+                    m_CursorElement.restLength = Mathf.Max(0, m_CursorElement.restLength - lengthChange);
+
+            }
+            // add
+            else
+            {
+                float lengthDelta = Mathf.Min(lengthChange, Mathf.Max(0, rope.ropeBlueprint.interParticleDistance - m_CursorElement.restLength));
+
+                // extend the current element, if possible:
+                if (lengthDelta > 0)
+                {
+                    m_CursorElement.restLength += lengthDelta;
+                    lengthChange -= lengthDelta;
+                }
+
+                // once the current element has been extended, see if we must add new elements, if there's enough particles left:
+                while (rope.activeParticleCount < rope.sourceBlueprint.particleCount &&
+                       m_CursorElement.restLength + lengthChange > rope.ropeBlueprint.interParticleDistance)
+                {
+                    // calculate added length:
+                    lengthDelta = Mathf.Min(lengthChange, rope.ropeBlueprint.interParticleDistance);
+                    lengthChange -= lengthDelta;
+
+                    if (direction)
+                    {
+                        // add new particle:
+                        int newParticleSolverIndex = AddParticleAt(solver.particleToActor[m_CursorElement.particle1].indexInActor);
+
+                        // set position of the new particle:
+                        solver.positions[newParticleSolverIndex] = solver.positions[m_CursorElement.particle1] +
+                                                                        (solver.positions[m_CursorElement.particle2] - solver.positions[m_CursorElement.particle1]) * lengthDelta;
+
+                        // insert a new element:
+                        ObiStructuralElement newElement = new ObiStructuralElement();
+                        newElement.restLength = lengthDelta;
+                        newElement.particle1 = m_CursorElement.particle1;
+                        newElement.particle2 = newParticleSolverIndex;
+                        m_CursorElement.particle1 = newParticleSolverIndex;
+                        int index = rope.elements.IndexOf(m_CursorElement);
+                        rope.elements.Insert(index, newElement);
+
+                        m_CursorElement = newElement;
+                    }
+                    else
+                    {
+                        // add new particle:
+                        int newParticleSolverIndex = AddParticleAt(solver.particleToActor[m_CursorElement.particle2].indexInActor);
+
+                        // set position of the new particle:
+                        solver.positions[newParticleSolverIndex] = solver.positions[m_CursorElement.particle2] +
+                                                                   (solver.positions[m_CursorElement.particle1] - solver.positions[m_CursorElement.particle2]) * lengthDelta;
+
+                        // insert a new element:
+                        ObiStructuralElement newElement = new ObiStructuralElement();
+                        newElement.restLength = lengthDelta;
+                        newElement.particle1 = newParticleSolverIndex;
+                        newElement.particle2 = m_CursorElement.particle2;
+                        m_CursorElement.particle2 = newParticleSolverIndex;
+                        int index = rope.elements.IndexOf(m_CursorElement);
+                        rope.elements.Insert(index + 1, newElement);
+
+                        m_CursorElement = newElement;
+                    }
+                }
+
+                // the remaining length is added to the current constraint:
+                if (lengthChange > 0)
+                    m_CursorElement.restLength += lengthChange;
+
+            }
+
+            // recalculate rest positions and length prior to constraints (bend constraints need rest positions):
+            rope.RecalculateRestPositions();
+            rope.RecalculateRestLength();
+
+            // rebuild constraints:
+            rope.RebuildConstraintsFromElements();
+        }
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/RopeAndRod/Actors/ObiRopeCursor.cs.meta b/Assets/Obi/Scripts/RopeAndRod/Actors/ObiRopeCursor.cs.meta
new file mode 100644
index 000000000..5656f2207
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/Actors/ObiRopeCursor.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 8285ac97113f74d449053378d0e3a56b
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {fileID: 2800000, guid: 618cf36eb21e34118ac5697fe77e2c3e, type: 3}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/RopeAndRod/Blueprints.meta b/Assets/Obi/Scripts/RopeAndRod/Blueprints.meta
new file mode 100644
index 000000000..7ac71eb2a
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/Blueprints.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: acf7eb82de1d147128faa88b9cdb70d3
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/RopeAndRod/Blueprints/ObiBoneBlueprint.cs b/Assets/Obi/Scripts/RopeAndRod/Blueprints/ObiBoneBlueprint.cs
new file mode 100644
index 000000000..04a51e6d0
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/Blueprints/ObiBoneBlueprint.cs
@@ -0,0 +1,309 @@
+using System;
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+namespace Obi
+{
+
+    [CreateAssetMenu(fileName = "bone blueprint", menuName = "Obi/Bone Blueprint", order = 142)]
+    public class ObiBoneBlueprint : ObiActorBlueprint
+    {
+		public Transform root;
+
+        public const float DEFAULT_PARTICLE_MASS = 0.1f;
+        public const float DEFAULT_PARTICLE_ROTATIONAL_MASS = 0.1f;
+        public const float DEFAULT_PARTICLE_RADIUS = 0.05f;
+
+        [HideInInspector] public List<Transform> transforms = new List<Transform>();
+        [HideInInspector] public List<Quaternion> restTransformOrientations = new List<Quaternion>();
+        [HideInInspector] public List<int> parentIndices = new List<int>();
+        [HideInInspector] public List<float> normalizedLengths = new List<float>();
+
+        [HideInInspector] [NonSerialized] public List<ObiBone.IgnoredBone> ignored;
+        [HideInInspector] [NonSerialized] public ObiBone.BonePropertyCurve mass;
+        [HideInInspector] [NonSerialized] public ObiBone.BonePropertyCurve rotationalMass;
+        [HideInInspector] [NonSerialized] public ObiBone.BonePropertyCurve radius;
+
+        public Quaternion root2WorldR;
+
+        private GraphColoring colorizer;
+
+        private ObiBone.IgnoredBone GetIgnoredBone(Transform bone)
+        {
+            for (int i = 0; i < ignored.Count; ++i)
+                if (ignored[i].bone == bone)
+                    return ignored[i];
+
+            return null;
+        }
+
+        protected override IEnumerator Initialize()
+        {
+            ClearParticleGroups();
+
+            transforms.Clear();
+            restTransformOrientations.Clear();
+            parentIndices.Clear();
+            normalizedLengths.Clear();
+
+            List<Vector3> particlePositions = new List<Vector3>();
+            List<Quaternion> particleOrientations = new List<Quaternion>();
+
+            var world2Root = root.transform.worldToLocalMatrix;
+            var world2RootR = world2Root.rotation;
+            root2WorldR = Quaternion.Inverse(world2RootR);
+
+            // create a queue to traverse the hierarchy in a width-first fashion.
+            Queue<Transform> bones = new Queue<Transform>();
+
+            // insert the root bone:
+            bones.Enqueue(root);
+            parentIndices.Add(-1);
+            normalizedLengths.Add(0);
+
+            // initialize hierarchy length:
+            float maxLength = 0;
+
+            while (bones.Count > 0)
+            {
+                var bone = bones.Dequeue();
+
+                if (bone != null)
+                {
+                    var ig = GetIgnoredBone(bone);
+
+                    if (ig == null)
+                    {
+                        transforms.Add(bone);
+                        restTransformOrientations.Add(bone.localRotation);
+                        particlePositions.Add(world2Root.MultiplyPoint3x4(bone.position));
+                        particleOrientations.Add(world2RootR * bone.rotation);
+                    }
+
+                    if (ig == null || !ig.ignoreChildren)
+                    {
+                        foreach (Transform child in bone)
+                        {
+                            ig = GetIgnoredBone(child);
+
+                            if (ig == null)
+                            {
+                                int parentIndex = transforms.Count - 1;
+                                parentIndices.Add(parentIndex);
+
+                                float distanceToParent = Vector3.Distance(child.position, bone.position);
+                                float distanceToRoot = normalizedLengths[parentIndex] + distanceToParent;
+                                maxLength = Mathf.Max(maxLength, distanceToRoot);
+                                normalizedLengths.Add(distanceToRoot);
+                            }
+
+                            bones.Enqueue(child);
+                        }
+                    }
+                }
+
+            }
+
+            // normalize lengths:
+            if (maxLength > 0)
+            {
+                for (int i = 0; i < normalizedLengths.Count; ++i)
+                    normalizedLengths[i] /= maxLength;
+            }
+
+
+            // calculate orientations that minimize the Darboux vector:
+            Vector3[] avgChildrenDirection = new Vector3[parentIndices.Count];
+            int[] childCount = new int[parentIndices.Count];
+
+            for (int i = 0; i < parentIndices.Count; ++i)
+            {
+                int parent = parentIndices[i];
+                if (parent >= 0)
+                {
+                    var vector = particlePositions[i] - particlePositions[parent];
+                    avgChildrenDirection[parent] += vector;
+                    childCount[parent]++;
+                }
+            }
+
+            for (int i = 0; i < parentIndices.Count; ++i)
+            {
+                if (childCount[i] > 0)
+                    particleOrientations[i] = Quaternion.LookRotation(avgChildrenDirection[i] / childCount[i]);
+                else if (parentIndices[i] >= 0)
+                    particleOrientations[i] = particleOrientations[parentIndices[i]];
+            }
+                    
+
+            m_ActiveParticleCount = particlePositions.Count;
+
+            positions = new Vector3[m_ActiveParticleCount];
+            orientations = new Quaternion[m_ActiveParticleCount];
+            velocities = new Vector3[m_ActiveParticleCount];
+            angularVelocities = new Vector3[m_ActiveParticleCount];
+            invMasses = new float[m_ActiveParticleCount];
+            invRotationalMasses = new float[m_ActiveParticleCount];
+            principalRadii = new Vector3[m_ActiveParticleCount];
+            filters = new int[m_ActiveParticleCount];
+            restPositions = new Vector4[m_ActiveParticleCount];
+            restOrientations = new Quaternion[m_ActiveParticleCount];
+            colors = new Color[m_ActiveParticleCount];
+
+            for (int i = 0; i < m_ActiveParticleCount; i++)
+            {
+                invMasses[i] = ObiUtils.MassToInvMass(mass != null ? mass.Evaluate(normalizedLengths[i]) : DEFAULT_PARTICLE_MASS);
+                invRotationalMasses[i] = ObiUtils.MassToInvMass(rotationalMass != null ? rotationalMass.Evaluate(normalizedLengths[i]) : DEFAULT_PARTICLE_ROTATIONAL_MASS);
+                positions[i] = particlePositions[i];
+                restPositions[i] = positions[i];
+                restPositions[i][3] = 1; // activate rest position.
+                orientations[i] = particleOrientations[i];
+                restOrientations[i] = /*world2RootR */ transforms[i].rotation;
+                principalRadii[i] = Vector3.one * (radius != null ? radius.Evaluate(normalizedLengths[i]) : DEFAULT_PARTICLE_RADIUS);
+                filters[i] = ObiUtils.MakeFilter(ObiUtils.CollideWithEverything, 0);
+                colors[i] = Color.white;
+
+                if (i % 100 == 0)
+                    yield return new CoroutineJob.ProgressInfo("ObiRod: generating particles...", i / (float)m_ActiveParticleCount);
+            }
+
+            colorizer = new GraphColoring(m_ActiveParticleCount);
+
+            // Create edge simplices:
+            CreateSimplices();
+
+            // Create stretch constraints:
+            IEnumerator dc = CreateStretchShearConstraints(particlePositions);
+            while (dc.MoveNext()) yield return dc.Current;
+
+            // Create bending constraints:
+            IEnumerator bc = CreateBendTwistConstraints(particlePositions);
+            while (bc.MoveNext()) yield return bc.Current;
+
+            // Create skin constraints:
+            IEnumerator sc = CreateSkinConstraints(particlePositions);
+            while (sc.MoveNext()) yield return sc.Current;
+
+            yield return new CoroutineJob.ProgressInfo("ObiBone: complete", 1);
+        }
+
+        protected void CreateSimplices()
+        {
+            edges = new int[(parentIndices.Count - 1) * 2];
+            for (int i = 0; i < parentIndices.Count-1; ++i)
+            {
+                edges[i * 2] = i + 1;
+                edges[i * 2 + 1] = parentIndices[i + 1];
+            }
+        }
+
+        protected virtual IEnumerator CreateStretchShearConstraints(List<Vector3> particlePositions)
+        {
+
+            colorizer.Clear();
+
+            for (int i = 1; i < particlePositions.Count; ++i)
+            {
+                int parent = parentIndices[i];
+                if (parent >= 0)
+                {
+                    colorizer.AddConstraint(new[] { parent, i });
+                }
+            }
+
+            stretchShearConstraintsData = new ObiStretchShearConstraintsData();
+
+            List<int> constraintColors = new List<int>();
+            var colorize = colorizer.Colorize("ObiBone: coloring stretch/shear constraints...", constraintColors);
+            while (colorize.MoveNext())
+                yield return colorize.Current;
+
+            var particleIndices = colorizer.particleIndices;
+            var constraintIndices = colorizer.constraintIndices;
+
+            for (int i = 0; i < constraintColors.Count; ++i)
+            {
+                int color = constraintColors[i];
+                int cIndex = constraintIndices[i];
+
+                // Add a new batch if needed:
+                if (color >= stretchShearConstraintsData.GetBatchCount())
+                    stretchShearConstraintsData.AddBatch(new ObiStretchShearConstraintsBatch());
+
+                int index1 = particleIndices[cIndex];
+                int index2 = particleIndices[cIndex + 1];
+
+                var vector = particlePositions[index2] - particlePositions[index1];
+                var rest = Quaternion.LookRotation(Quaternion.Inverse(orientations[index1]) * vector);
+
+                stretchShearConstraintsData.batches[color].AddConstraint(new Vector2Int(index1, index2), index1, vector.magnitude, rest);
+                stretchShearConstraintsData.batches[color].activeConstraintCount++;
+
+                if (i % 500 == 0)
+                    yield return new CoroutineJob.ProgressInfo("ObiBone: generating stretch constraints...", i / constraintColors.Count);
+            }
+        }
+
+        protected virtual IEnumerator CreateBendTwistConstraints(List<Vector3> particlePositions)
+        {
+            colorizer.Clear();
+
+            for (int i = 1; i < particlePositions.Count; ++i)
+            {
+                int parent = parentIndices[i];
+                if (parent >= 0)
+                {
+                    colorizer.AddConstraint(new[] { parent, i });
+                }
+            }
+
+            bendTwistConstraintsData = new ObiBendTwistConstraintsData();
+
+            List<int> constraintColors = new List<int>();
+            var colorize = colorizer.Colorize("ObiBone: colorizing bend/twist constraints...", constraintColors);
+            while (colorize.MoveNext())
+                yield return colorize.Current;
+
+            var particleIndices = colorizer.particleIndices;
+            var constraintIndices = colorizer.constraintIndices;
+
+            for (int i = 0; i < constraintColors.Count; ++i)
+            {
+                int color = constraintColors[i];
+                int cIndex = constraintIndices[i];
+
+                // Add a new batch if needed:
+                if (color >= bendTwistConstraintsData.GetBatchCount())
+                    bendTwistConstraintsData.AddBatch(new ObiBendTwistConstraintsBatch());
+
+                int index1 = particleIndices[cIndex];
+                int index2 = particleIndices[cIndex + 1];
+
+                Quaternion darboux = ObiUtils.RestDarboux(orientations[index1], orientations[index2]);
+                bendTwistConstraintsData.batches[color].AddConstraint(new Vector2Int(index1, index2), darboux);
+                bendTwistConstraintsData.batches[color].activeConstraintCount++;
+
+                if (i % 500 == 0)
+                    yield return new CoroutineJob.ProgressInfo("ObiBone: generating bend constraints...", i / constraintColors.Count);
+            }
+        }
+
+        protected virtual IEnumerator CreateSkinConstraints(List<Vector3> particlePositions)
+        {
+            skinConstraintsData = new ObiSkinConstraintsData();
+            ObiSkinConstraintsBatch skinBatch = new ObiSkinConstraintsBatch();
+            skinConstraintsData.AddBatch(skinBatch);
+
+            for (int i = 0; i < particlePositions.Count; ++i)
+            {
+                skinBatch.AddConstraint(i, particlePositions[i], Vector3.up, 0, 0, 0, 0);
+                skinBatch.activeConstraintCount++;
+
+                if (i % 500 == 0)
+                    yield return new CoroutineJob.ProgressInfo("ObiCloth: generating skin constraints...", i / (float)particlePositions.Count);
+            }
+        }
+
+    }
+}
diff --git a/Assets/Obi/Scripts/RopeAndRod/Blueprints/ObiBoneBlueprint.cs.meta b/Assets/Obi/Scripts/RopeAndRod/Blueprints/ObiBoneBlueprint.cs.meta
new file mode 100644
index 000000000..cf8804720
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/Blueprints/ObiBoneBlueprint.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 1df6a43b2a0884e8da322992da465f32
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {fileID: 2800000, guid: d0123218ec6144d0983c099fc7339924, type: 3}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/RopeAndRod/Blueprints/ObiRodBlueprint.cs b/Assets/Obi/Scripts/RopeAndRod/Blueprints/ObiRodBlueprint.cs
new file mode 100644
index 000000000..0e41b1ef2
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/Blueprints/ObiRodBlueprint.cs
@@ -0,0 +1,281 @@
+using System.Collections;
+using System.Collections.ObjectModel;
+using System.Collections.Generic;
+using UnityEngine;
+using System;
+
+namespace Obi
+{
+
+    [CreateAssetMenu(fileName = "rod blueprint", menuName = "Obi/Rod Blueprint", order = 141)]
+    public class ObiRodBlueprint : ObiRopeBlueprintBase
+    {
+
+        public bool keepInitialShape = true;
+
+        public const float DEFAULT_PARTICLE_MASS = 0.1f;
+        public const float DEFAULT_PARTICLE_ROTATIONAL_MASS = 0.01f;
+
+
+        protected override IEnumerator Initialize()
+        {
+
+            if (path.ControlPointCount < 2)
+            {
+                ClearParticleGroups();
+                path.InsertControlPoint(0, Vector3.left, Vector3.left * 0.25f, Vector3.right * 0.25f, Vector3.up, DEFAULT_PARTICLE_MASS, DEFAULT_PARTICLE_ROTATIONAL_MASS, 1, ObiUtils.MakeFilter(ObiUtils.CollideWithEverything, 1), Color.white, "control point");
+                path.InsertControlPoint(1, Vector3.right, Vector3.left * 0.25f, Vector3.right * 0.25f, Vector3.up, DEFAULT_PARTICLE_MASS, DEFAULT_PARTICLE_ROTATIONAL_MASS, 1, ObiUtils.MakeFilter(ObiUtils.CollideWithEverything, 1), Color.white, "control point");
+            }
+
+            path.RecalculateLenght(Matrix4x4.identity, 0.00001f, 7);
+
+            List<Vector3> particlePositions = new List<Vector3>();
+            List<Vector3> particleNormals = new List<Vector3>();
+            List<float> particleThicknesses = new List<float>();
+            List<float> particleInvMasses = new List<float>();
+            List<float> particleInvRotationalMasses = new List<float>();
+            List<int> particleFilters = new List<int>();
+            List<Color> particleColors = new List<Color>();
+
+            // In case the path is open, add a first particle. In closed paths, the last particle is also the first one.
+            if (!path.Closed)
+            {
+                particlePositions.Add(path.points.GetPositionAtMu(path.Closed, 0));
+                particleNormals.Add(path.normals.GetAtMu(path.Closed, 0));
+                particleThicknesses.Add(path.thicknesses.GetAtMu(path.Closed, 0));
+                particleInvMasses.Add(ObiUtils.MassToInvMass(path.masses.GetAtMu(path.Closed, 0)));
+                particleInvRotationalMasses.Add(ObiUtils.MassToInvMass(path.rotationalMasses.GetAtMu(path.Closed, 0)));
+                particleFilters.Add(path.filters.GetAtMu(path.Closed, 0));
+                particleColors.Add(path.colors.GetAtMu(path.Closed, 0));
+            }
+
+            // Create a particle group for the first control point:
+            groups[0].particleIndices.Clear();
+            groups[0].particleIndices.Add(0);
+
+            ReadOnlyCollection<float> lengthTable = path.ArcLengthTable;
+            int spans = path.GetSpanCount();
+
+            for (int i = 0; i < spans; i++)
+            {
+                int firstArcLengthSample = i * (path.ArcLengthSamples + 1);
+                int lastArcLengthSample = (i + 1) * (path.ArcLengthSamples + 1);
+
+                float upToSpanLength = lengthTable[firstArcLengthSample];
+                float spanLength = lengthTable[lastArcLengthSample] - upToSpanLength;
+
+                int particlesInSpan = 1 + Mathf.FloorToInt(spanLength / thickness * resolution);
+                float distance = spanLength / particlesInSpan;
+
+                for (int j = 0; j < particlesInSpan; ++j)
+                {
+                    float mu = path.GetMuAtLenght(upToSpanLength + distance * (j + 1));
+                    particlePositions.Add(path.points.GetPositionAtMu(path.Closed, mu));
+                    particleNormals.Add(path.normals.GetAtMu(path.Closed, mu));
+                    particleThicknesses.Add(path.thicknesses.GetAtMu(path.Closed, mu));
+                    particleInvMasses.Add(ObiUtils.MassToInvMass(path.masses.GetAtMu(path.Closed, mu)));
+                    particleInvRotationalMasses.Add(ObiUtils.MassToInvMass(path.rotationalMasses.GetAtMu(path.Closed, mu)));
+                    particleFilters.Add(path.filters.GetAtMu(path.Closed, mu));
+                    particleColors.Add(path.colors.GetAtMu(path.Closed, mu));
+                }
+
+                // Create a particle group for each control point:
+                if (!(path.Closed && i == spans - 1))
+                {
+                    groups[i + 1].particleIndices.Clear();
+                    groups[i + 1].particleIndices.Add(particlePositions.Count - 1);
+                }
+
+                if (i % 100 == 0)
+                    yield return new CoroutineJob.ProgressInfo("ObiRope: generating particles...", i / (float)spans);
+            }
+
+            m_ActiveParticleCount = particlePositions.Count;
+            totalParticles = m_ActiveParticleCount;
+
+            int numSegments = m_ActiveParticleCount - (path.Closed ? 0 : 1);
+            if (numSegments > 0)
+                m_InterParticleDistance = path.Length / (float)numSegments;
+            else
+                m_InterParticleDistance = 0;
+
+            positions = new Vector3[totalParticles];
+            orientations = new Quaternion[totalParticles];
+            velocities = new Vector3[totalParticles];
+            angularVelocities = new Vector3[totalParticles];
+            invMasses = new float[totalParticles];
+            invRotationalMasses = new float[totalParticles];
+            principalRadii = new Vector3[totalParticles];
+            filters = new int[totalParticles];
+            restPositions = new Vector4[totalParticles];
+            restOrientations = new Quaternion[totalParticles];
+            colors = new Color[totalParticles];
+            restLengths = new float[totalParticles];
+
+            for (int i = 0; i < m_ActiveParticleCount; i++)
+            {
+                invMasses[i] = particleInvMasses[i];
+                invRotationalMasses[i] = particleInvRotationalMasses[i];
+                positions[i] = particlePositions[i];
+                restPositions[i] = positions[i];
+                restPositions[i][3] = 1; // activate rest position.
+                principalRadii[i] = Vector3.one * particleThicknesses[i] * thickness;
+                filters[i] = particleFilters[i];
+                colors[i] = particleColors[i];
+
+                if (i % 100 == 0)
+                    yield return new CoroutineJob.ProgressInfo("ObiRod: generating particles...", i / (float)m_ActiveParticleCount);
+            }
+
+            // Create edge simplices:
+            CreateSimplices(numSegments);
+
+            // Create distance constraints for the total number of particles, but only activate for the used ones.
+            IEnumerator dc = CreateStretchShearConstraints(particleNormals);
+
+            while (dc.MoveNext())
+                yield return dc.Current;
+
+            // Create bending constraints:
+            IEnumerator bc = CreateBendTwistConstraints();
+
+            while (bc.MoveNext())
+                yield return bc.Current;
+
+            // Create chain constraints:
+            IEnumerator cc = CreateChainConstraints();
+
+            while (cc.MoveNext())
+                yield return cc.Current;
+
+        }
+
+
+        protected virtual IEnumerator CreateStretchShearConstraints(List<Vector3> particleNormals)
+        {
+            stretchShearConstraintsData = new ObiStretchShearConstraintsData();
+
+            stretchShearConstraintsData.AddBatch(new ObiStretchShearConstraintsBatch());
+            stretchShearConstraintsData.AddBatch(new ObiStretchShearConstraintsBatch());
+
+            // rotation minimizing frame:
+            ObiPathFrame frame = new ObiPathFrame();
+            frame.Reset();
+
+            for (int i = 0; i < totalParticles - 1; i++)
+            {
+                var batch = stretchShearConstraintsData.batches[i % 2] as ObiStretchShearConstraintsBatch;
+
+                Vector2Int indices = new Vector2Int(i, i + 1);
+                Vector3 d = positions[indices.y] - positions[indices.x];
+                restLengths[i] = d.magnitude;
+
+                frame.Transport(positions[indices.x], d.normalized, 0);
+
+                orientations[i] = Quaternion.LookRotation(frame.tangent, particleNormals[indices.x]);
+                restOrientations[i] = orientations[i];
+
+                // Also set the orientation of the next particle. If it is not the last one, we will overwrite it.
+                // This makes sure that open rods provide an orientation for their last particle (or rather, a phantom segment past the last particle).
+
+                orientations[indices.y] = orientations[i];
+                restOrientations[indices.y] = orientations[i];
+
+                batch.AddConstraint(indices, indices.x, restLengths[i], Quaternion.identity);
+                batch.activeConstraintCount++;
+
+                if (i % 500 == 0)
+                    yield return new CoroutineJob.ProgressInfo("ObiRod: generating structural constraints...", i / (float)(totalParticles - 1));
+
+            }
+
+            // if the path is closed, add the last, loop closing constraint to a new batch to avoid sharing particles.
+            if (path.Closed)
+            {
+                var loopClosingBatch = new ObiStretchShearConstraintsBatch();
+                stretchShearConstraintsData.AddBatch(loopClosingBatch);
+
+                Vector2Int indices = new Vector2Int(m_ActiveParticleCount - 1, 0);
+                Vector3 d = positions[indices.y] - positions[indices.x];
+                restLengths[m_ActiveParticleCount - 2] = d.magnitude;
+
+                frame.Transport(positions[indices.x], d.normalized, 0);
+
+                orientations[m_ActiveParticleCount - 1] = Quaternion.LookRotation(frame.tangent, particleNormals[indices.x]);
+                restOrientations[m_ActiveParticleCount - 1] = orientations[m_ActiveParticleCount - 1];
+
+                loopClosingBatch.AddConstraint(indices, indices.x, restLengths[m_ActiveParticleCount - 2], Quaternion.identity);
+                loopClosingBatch.activeConstraintCount++;
+            }
+
+            // Recalculate rest length:
+            m_RestLength = 0;
+            foreach (float length in restLengths)
+                m_RestLength += length;
+        }
+
+        protected virtual IEnumerator CreateBendTwistConstraints()
+        {
+            bendTwistConstraintsData = new ObiBendTwistConstraintsData();
+
+            // Add two batches:
+            bendTwistConstraintsData.AddBatch(new ObiBendTwistConstraintsBatch());
+            bendTwistConstraintsData.AddBatch(new ObiBendTwistConstraintsBatch());
+
+            // the last bend constraint couples the last segment and a phantom segment past the last particle.
+            for (int i = 0; i < totalParticles - 1; i++)
+            {
+
+                var batch = bendTwistConstraintsData.batches[i % 2] as ObiBendTwistConstraintsBatch;
+
+                Vector2Int indices = new Vector2Int(i, i + 1);
+
+                Quaternion darboux = keepInitialShape ? ObiUtils.RestDarboux(orientations[indices.x], orientations[indices.y]) : Quaternion.identity;
+                batch.AddConstraint(indices, darboux);
+                batch.activeConstraintCount++;
+
+                if (i % 500 == 0)
+                    yield return new CoroutineJob.ProgressInfo("ObiRod: generating structural constraints...", i / (float)(totalParticles - 1));
+
+            }
+
+            // if the path is closed, add the last, loop closing constraints to a new batch to avoid sharing particles.
+            if (path.Closed)
+            {
+                var loopClosingBatch = new ObiBendTwistConstraintsBatch();
+                bendTwistConstraintsData.AddBatch(loopClosingBatch);
+
+                Vector2Int indices = new Vector2Int(m_ActiveParticleCount - 1, 0);
+                Quaternion darboux = keepInitialShape ? ObiUtils.RestDarboux(orientations[indices.x], orientations[indices.y]) : Quaternion.identity;
+                loopClosingBatch.AddConstraint(indices, darboux);
+                loopClosingBatch.activeConstraintCount++;
+            }
+        }
+
+        protected virtual IEnumerator CreateChainConstraints()
+        {
+            chainConstraintsData = new ObiChainConstraintsData();
+
+            // Add a single batch:
+            var batch = new ObiChainConstraintsBatch();
+            chainConstraintsData.AddBatch(batch);
+
+            int[] indices = new int[m_ActiveParticleCount + (path.Closed ? 1 : 0)];
+
+            for (int i = 0; i < m_ActiveParticleCount; ++i)
+                indices[i] = i;
+
+            // Add the first particle as the last index of the chain, if closed.
+            if (path.Closed)
+                indices[m_ActiveParticleCount] = 0;
+
+            // TODO: variable distance between particles:
+            batch.AddConstraint(indices, m_InterParticleDistance, 1, 1);
+            batch.activeConstraintCount++;
+
+            yield return 0;
+        }
+
+
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/RopeAndRod/Blueprints/ObiRodBlueprint.cs.meta b/Assets/Obi/Scripts/RopeAndRod/Blueprints/ObiRodBlueprint.cs.meta
new file mode 100644
index 000000000..e866891f5
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/Blueprints/ObiRodBlueprint.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: e028b099aa5d14e399bc3d87df5b7737
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {fileID: 2800000, guid: d0123218ec6144d0983c099fc7339924, type: 3}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/RopeAndRod/Blueprints/ObiRopeBlueprint.cs b/Assets/Obi/Scripts/RopeAndRod/Blueprints/ObiRopeBlueprint.cs
new file mode 100644
index 000000000..4448ae3f8
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/Blueprints/ObiRopeBlueprint.cs
@@ -0,0 +1,228 @@
+using System.Collections;
+using System.Collections.ObjectModel;
+using System.Collections.Generic;
+using UnityEngine;
+using UnityEditor;
+using System;
+
+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;
+
+        protected override IEnumerator Initialize()
+        {
+            if (path.ControlPointCount < 2)
+            {
+                ClearParticleGroups();
+                path.InsertControlPoint(0, Vector3.left, Vector3.left * 0.25f, Vector3.right * 0.25f, Vector3.up, DEFAULT_PARTICLE_MASS, 1, 1, ObiUtils.MakeFilter(ObiUtils.CollideWithEverything,1), Color.white, "control point");
+                path.InsertControlPoint(1, Vector3.right, Vector3.left * 0.25f, Vector3.right * 0.25f, Vector3.up, DEFAULT_PARTICLE_MASS, 1, 1, ObiUtils.MakeFilter(ObiUtils.CollideWithEverything, 1), Color.white, "control point");
+            }
+
+            path.RecalculateLenght(Matrix4x4.identity, 0.00001f, 7);
+
+            List<Vector3> particlePositions = new List<Vector3>();
+            List<float> particleThicknesses = new List<float>();
+            List<float> particleInvMasses = new List<float>();
+            List<int> particleFilters = new List<int>();
+            List<Color> particleColors = new List<Color>();
+
+            // In case the path is open, add a first particle. In closed paths, the last particle is also the first one.
+            if (!path.Closed)
+            {
+                particlePositions.Add(path.points.GetPositionAtMu(path.Closed, 0));
+                particleThicknesses.Add(path.thicknesses.GetAtMu(path.Closed, 0));
+                particleInvMasses.Add(ObiUtils.MassToInvMass(path.masses.GetAtMu(path.Closed, 0)));
+                particleFilters.Add(path.filters.GetAtMu(path.Closed, 0));
+                particleColors.Add(path.colors.GetAtMu(path.Closed, 0));
+            }
+
+            // Create a particle group for the first control point:
+            groups[0].particleIndices.Clear();
+            groups[0].particleIndices.Add(0);
+
+            ReadOnlyCollection<float> lengthTable = path.ArcLengthTable;
+            int spans = path.GetSpanCount();
+
+            for (int i = 0; i < spans; i++)
+            {
+                int firstArcLengthSample = i * (path.ArcLengthSamples + 1);
+                int lastArcLengthSample = (i + 1) * (path.ArcLengthSamples + 1);
+
+                float upToSpanLength = lengthTable[firstArcLengthSample];
+                float spanLength = lengthTable[lastArcLengthSample] - upToSpanLength;
+
+                int particlesInSpan = 1 + Mathf.FloorToInt(spanLength / thickness * resolution);
+                float distance = spanLength / particlesInSpan;
+
+                for (int j = 0; j < particlesInSpan; ++j)
+                {
+                    float mu = path.GetMuAtLenght(upToSpanLength + distance * (j + 1));
+                    particlePositions.Add(path.points.GetPositionAtMu(path.Closed, mu));
+                    particleThicknesses.Add(path.thicknesses.GetAtMu(path.Closed, mu));
+                    particleInvMasses.Add(ObiUtils.MassToInvMass(path.masses.GetAtMu(path.Closed, mu)));
+                    particleFilters.Add(path.filters.GetAtMu(path.Closed, mu));
+                    particleColors.Add(path.colors.GetAtMu(path.Closed, mu));
+                }
+
+                // Create a particle group for each control point:
+                if (!(path.Closed && i == spans - 1))
+                {
+                    groups[i + 1].particleIndices.Clear();
+                    groups[i + 1].particleIndices.Add(particlePositions.Count - 1);
+                }
+
+                if (i % 100 == 0)
+                    yield return new CoroutineJob.ProgressInfo("ObiRope: generating particles...", i / (float)spans);
+            }
+
+            m_ActiveParticleCount = particlePositions.Count;
+            totalParticles = m_ActiveParticleCount + pooledParticles;
+
+            int numSegments = m_ActiveParticleCount - (path.Closed ? 0 : 1);
+            if (numSegments > 0)
+                m_InterParticleDistance = path.Length / (float)numSegments;
+            else
+                m_InterParticleDistance = 0;
+
+            positions = new Vector3[totalParticles];
+            restPositions = new Vector4[totalParticles];
+            velocities = new Vector3[totalParticles];
+            invMasses = new float[totalParticles];
+            principalRadii = new Vector3[totalParticles];
+            filters = new int[totalParticles];
+            colors = new Color[totalParticles];
+            restLengths = new float[totalParticles];
+
+            for (int i = 0; i < m_ActiveParticleCount; i++)
+            {
+                invMasses[i] = particleInvMasses[i];
+                positions[i] = particlePositions[i];
+                restPositions[i] = positions[i];
+                restPositions[i][3] = 1; // activate rest position.
+                principalRadii[i] = Vector3.one * particleThicknesses[i] * thickness;
+                filters[i] = particleFilters[i];
+                colors[i] = particleColors[i];
+
+                if (i % 100 == 0)
+                    yield return new CoroutineJob.ProgressInfo("ObiRope: generating particles...", i / (float)m_ActiveParticleCount);
+            }
+
+            // Create edge simplices:
+            CreateSimplices(numSegments);
+
+            //Create distance constraints for the total number of particles, but only activate for the used ones.
+            IEnumerator dc = CreateDistanceConstraints();
+
+            while (dc.MoveNext())
+                yield return dc.Current;
+
+            //Create bending constraints:
+            IEnumerator bc = CreateBendingConstraints();
+
+            while (bc.MoveNext())
+                yield return bc.Current;
+
+            // Recalculate rest length:
+            m_RestLength = 0;
+            foreach (float length in restLengths)
+                m_RestLength += length;
+
+        }
+
+        protected virtual IEnumerator CreateDistanceConstraints()
+        {
+            distanceConstraintsData = new ObiDistanceConstraintsData();
+
+            // Add two batches: for even and odd constraints:
+            distanceConstraintsData.AddBatch(new ObiDistanceConstraintsBatch());
+            distanceConstraintsData.AddBatch(new ObiDistanceConstraintsBatch());
+
+            for (int i = 0; i < totalParticles - 1; i++)
+            {
+                var batch = distanceConstraintsData.batches[i % 2] as ObiDistanceConstraintsBatch;
+
+                if (i < m_ActiveParticleCount - 1)
+                {
+                    Vector2Int indices = new Vector2Int(i, i + 1);
+                    restLengths[i] = Vector3.Distance(positions[indices.x], positions[indices.y]);
+                    batch.AddConstraint(indices, restLengths[i]);
+                    batch.activeConstraintCount++;
+                }
+                else
+                {
+                    restLengths[i] = m_InterParticleDistance;
+                    batch.AddConstraint(Vector2Int.zero, 0);
+                }
+
+                if (i % 500 == 0)
+                    yield return new CoroutineJob.ProgressInfo("ObiRope: generating structural constraints...", i / (float)(totalParticles - 1));
+
+            }
+
+            // if the path is closed, add the last, loop closing constraint to a new batch to avoid sharing particles.
+            if (path.Closed)
+            {
+                var loopClosingBatch = new ObiDistanceConstraintsBatch();
+                distanceConstraintsData.AddBatch(loopClosingBatch);
+
+                Vector2Int indices = new Vector2Int(m_ActiveParticleCount - 1, 0);
+                restLengths[m_ActiveParticleCount - 2] = Vector3.Distance(positions[indices.x], positions[indices.y]);
+                loopClosingBatch.AddConstraint(indices, restLengths[m_ActiveParticleCount - 2]);
+                loopClosingBatch.activeConstraintCount++;
+            }
+
+        }
+
+        protected virtual IEnumerator CreateBendingConstraints()
+        {
+            bendConstraintsData = new ObiBendConstraintsData();
+
+            // Add three batches:
+            bendConstraintsData.AddBatch(new ObiBendConstraintsBatch());
+            bendConstraintsData.AddBatch(new ObiBendConstraintsBatch());
+            bendConstraintsData.AddBatch(new ObiBendConstraintsBatch());
+
+            for (int i = 0; i < totalParticles - 2; i++)
+            {
+                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]]);
+                batch.AddConstraint(indices, restBend);
+
+                if (i < m_ActiveParticleCount - 2)
+                    batch.activeConstraintCount++;
+
+                if (i % 500 == 0)
+                    yield return new CoroutineJob.ProgressInfo("ObiRope: generating structural constraints...", i / (float)(totalParticles - 2));
+
+            }
+
+            // if the path is closed, add the last, loop closing constraints to a new batch to avoid sharing particles.
+            if (path.Closed)
+            {
+                var loopClosingBatch = new ObiBendConstraintsBatch();
+                bendConstraintsData.AddBatch(loopClosingBatch);
+
+                Vector3Int indices = new Vector3Int(m_ActiveParticleCount - 2, 0, m_ActiveParticleCount - 1);
+                loopClosingBatch.AddConstraint(indices, 0);
+                loopClosingBatch.activeConstraintCount++;
+
+                var loopClosingBatch2 = new ObiBendConstraintsBatch();
+                bendConstraintsData.AddBatch(loopClosingBatch2);
+
+                indices = new Vector3Int(m_ActiveParticleCount - 1, 1, 0);
+                loopClosingBatch2.AddConstraint(indices, 0);
+                loopClosingBatch2.activeConstraintCount++;
+            }
+        }
+
+
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/RopeAndRod/Blueprints/ObiRopeBlueprint.cs.meta b/Assets/Obi/Scripts/RopeAndRod/Blueprints/ObiRopeBlueprint.cs.meta
new file mode 100644
index 000000000..cbe78e7a3
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/Blueprints/ObiRopeBlueprint.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 8f7e67b5626124d0db9886e6cd2aacff
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {fileID: 2800000, guid: d0123218ec6144d0983c099fc7339924, type: 3}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/RopeAndRod/Blueprints/ObiRopeBlueprintBase.cs b/Assets/Obi/Scripts/RopeAndRod/Blueprints/ObiRopeBlueprintBase.cs
new file mode 100644
index 000000000..189a09441
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/Blueprints/ObiRopeBlueprintBase.cs
@@ -0,0 +1,77 @@
+using System.Collections;
+using System.Collections.ObjectModel;
+using System.Collections.Generic;
+using UnityEngine;
+using UnityEditor;
+using System;
+
+namespace Obi
+{
+    public abstract class ObiRopeBlueprintBase : ObiActorBlueprint
+    {
+        [HideInInspector] [SerializeField] public ObiPath path = new ObiPath();
+        public float thickness = 0.1f;
+
+        [Range(0, 1)]
+        public float resolution = 1;
+
+        [HideInInspector] [SerializeField] protected float m_InterParticleDistance;
+        [HideInInspector] [SerializeField] protected int totalParticles;
+        [HideInInspector] [SerializeField] protected float m_RestLength;
+
+        [HideInInspector] public float[] restLengths;
+
+        public float interParticleDistance
+        {
+            get { return m_InterParticleDistance; }
+        }
+
+        public float restLength
+        {
+            get { return m_RestLength; }
+        }
+
+        public void OnEnable()
+        {
+            path.OnPathChanged.AddListener(GenerateImmediate);
+            path.OnControlPointAdded.AddListener(ControlPointAdded);
+            path.OnControlPointRemoved.AddListener(ControlPointRemoved);
+            path.OnControlPointRenamed.AddListener(ControlPointRenamed);
+        }
+
+        public void OnDisable()
+        {
+            path.OnPathChanged.RemoveAllListeners();
+            path.OnControlPointAdded.RemoveAllListeners();
+            path.OnControlPointRemoved.RemoveAllListeners();
+            path.OnControlPointRenamed.RemoveAllListeners();
+        }
+
+        protected void ControlPointAdded(int index)
+        {
+            var group = InsertNewParticleGroup(path.GetName(index), index);
+        }
+
+        protected void ControlPointRenamed(int index)
+        {
+            SetParticleGroupName(index, path.GetName(index));
+        }
+
+        protected void ControlPointRemoved(int index)
+        {
+            RemoveParticleGroupAt(index);
+        }
+
+        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;
+            }
+        }
+
+        protected override IEnumerator Initialize() { yield return null; }
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/RopeAndRod/Blueprints/ObiRopeBlueprintBase.cs.meta b/Assets/Obi/Scripts/RopeAndRod/Blueprints/ObiRopeBlueprintBase.cs.meta
new file mode 100644
index 000000000..06f453f10
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/Blueprints/ObiRopeBlueprintBase.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 4abe69b6abd2c4b0e8a621b8fba92dc9
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/RopeAndRod/DataStructures.meta b/Assets/Obi/Scripts/RopeAndRod/DataStructures.meta
new file mode 100644
index 000000000..6c6b110ce
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/DataStructures.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: fa3e31464f45342fc90509e4fcb00976
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/RopeAndRod/DataStructures/ObiRopeSection.cs b/Assets/Obi/Scripts/RopeAndRod/DataStructures/ObiRopeSection.cs
new file mode 100644
index 000000000..c096d5554
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/DataStructures/ObiRopeSection.cs
@@ -0,0 +1,54 @@
+using System;
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+namespace Obi
+{
+    [CreateAssetMenu(fileName = "rope section", menuName = "Obi/Rope Section", order = 142)]
+	public class ObiRopeSection : ScriptableObject
+	{
+		[HideInInspector] public List<Vector2> vertices;
+		public int snapX = 0;
+		public int snapY = 0;
+
+		public int Segments{
+			get{return vertices.Count-1;}
+		}
+
+		public void OnEnable(){
+
+			if (vertices == null){
+				vertices = new List<Vector2>();
+				CirclePreset(8);
+			}
+
+    	}
+
+		public void CirclePreset(int segments){
+
+			vertices.Clear();
+
+			for (int j = 0; j <= segments; ++j){
+				float angle = 2 * Mathf.PI / segments * j;
+				vertices.Add(Mathf.Cos(angle)*Vector2.right + Mathf.Sin(angle)*Vector2.up);
+			}
+		}
+
+		/**
+		 * Snaps a float value to the nearest multiple of snapInterval.
+		 */	
+		public static int SnapTo(float val, int snapInterval, int threshold){
+			int intVal = (int) val;	
+			if (snapInterval <= 0)
+				return intVal;
+			int under = Mathf.FloorToInt(val / snapInterval) * snapInterval;
+			int over = under + snapInterval;
+			if (intVal - under < threshold) return under;
+			if (over - intVal < threshold) return over;
+			return intVal;
+		}
+
+	}
+}
+
diff --git a/Assets/Obi/Scripts/RopeAndRod/DataStructures/ObiRopeSection.cs.meta b/Assets/Obi/Scripts/RopeAndRod/DataStructures/ObiRopeSection.cs.meta
new file mode 100644
index 000000000..b1bd8cc97
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/DataStructures/ObiRopeSection.cs.meta
@@ -0,0 +1,13 @@
+fileFormatVersion: 2
+guid: ee7737c43f5734f87be9e49d1bbfba78
+labels:
+- ObiRope
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {fileID: 2800000, guid: fdb742a900c8d453ea5ce5027e80ad00, type: 3}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/RopeAndRod/DataStructures/ObiStructuralElement.cs b/Assets/Obi/Scripts/RopeAndRod/DataStructures/ObiStructuralElement.cs
new file mode 100644
index 000000000..bffb6c476
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/DataStructures/ObiStructuralElement.cs
@@ -0,0 +1,16 @@
+using UnityEngine;
+using System.Collections;
+
+namespace Obi
+{
+    // Abstracts rope topolgy as a list of elements.
+    [System.Serializable]
+    public class ObiStructuralElement
+    {
+        public int particle1;
+        public int particle2;
+        public float restLength;
+        public float constraintForce;
+        public float tearResistance;
+    }
+}
diff --git a/Assets/Obi/Scripts/RopeAndRod/DataStructures/ObiStructuralElement.cs.meta b/Assets/Obi/Scripts/RopeAndRod/DataStructures/ObiStructuralElement.cs.meta
new file mode 100644
index 000000000..14c9910b8
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/DataStructures/ObiStructuralElement.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path.meta b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path.meta
new file mode 100644
index 000000000..c60887566
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path.meta
@@ -0,0 +1,8 @@
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+guid: 75e833f2b944640a5934c15fbec8ac00
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
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+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels.meta b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels.meta
new file mode 100644
index 000000000..a90531fac
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 5172d3d605ca94f2db0ad73eaecbc4d4
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiColorDataChannel.cs b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiColorDataChannel.cs
new file mode 100644
index 000000000..6b5aa938c
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiColorDataChannel.cs
@@ -0,0 +1,12 @@
+using UnityEngine;
+using System;
+using System.Collections;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiColorDataChannel : ObiPathDataChannelIdentity<Color>
+    {
+        public ObiColorDataChannel() : base(new ObiColorInterpolator3D()) { }
+    }
+}
diff --git a/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiColorDataChannel.cs.meta b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiColorDataChannel.cs.meta
new file mode 100644
index 000000000..3a4703eeb
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiColorDataChannel.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 4078c779a63154dddac14f5a1e65a692
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiFilterDataChannel.cs b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiFilterDataChannel.cs
new file mode 100644
index 000000000..ab59bfe8d
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiFilterDataChannel.cs
@@ -0,0 +1,10 @@
+using System;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiPhaseDataChannel : ObiPathDataChannelIdentity<int>
+    {
+        public ObiPhaseDataChannel() : base(new ObiConstantInterpolator()) { }
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiFilterDataChannel.cs.meta b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiFilterDataChannel.cs.meta
new file mode 100644
index 000000000..a5ebfe7a7
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiFilterDataChannel.cs.meta
@@ -0,0 +1,11 @@
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+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiMassDataChannel.cs b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiMassDataChannel.cs
new file mode 100644
index 000000000..ae56531d2
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiMassDataChannel.cs
@@ -0,0 +1,12 @@
+using UnityEngine;
+using System;
+using System.Collections;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiMassDataChannel : ObiPathDataChannelIdentity<float>
+    {
+        public ObiMassDataChannel() : base(new ObiCatmullRomInterpolator()) { }
+    }
+}
diff --git a/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiMassDataChannel.cs.meta b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiMassDataChannel.cs.meta
new file mode 100644
index 000000000..ac806b9d5
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiMassDataChannel.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: e55025008fa8f4bccae82dbaded0f019
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiNormalDataChannel.cs b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiNormalDataChannel.cs
new file mode 100644
index 000000000..3fee9576b
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiNormalDataChannel.cs
@@ -0,0 +1,12 @@
+using UnityEngine;
+using System;
+using System.Collections;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiNormalDataChannel : ObiPathDataChannelIdentity<Vector3>
+    {
+        public ObiNormalDataChannel() : base(new ObiCatmullRomInterpolator3D()) { }
+    }
+}
diff --git a/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiNormalDataChannel.cs.meta b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiNormalDataChannel.cs.meta
new file mode 100644
index 000000000..7c99771e9
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiNormalDataChannel.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 4721087e73d0d422ab48ad62a2fd3d3b
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiPathDataChannel.cs b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiPathDataChannel.cs
new file mode 100644
index 000000000..584be6de1
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiPathDataChannel.cs
@@ -0,0 +1,88 @@
+using UnityEngine;
+using System;
+using System.Collections;
+using System.Collections.Generic;
+
+namespace Obi
+{
+    public interface IObiPathDataChannel
+    {
+        int Count { get; }
+        bool Dirty { get; }
+        void Clean();
+        void RemoveAt(int index);
+    }
+
+    public abstract class ObiPathDataChannel<T,U> : IObiPathDataChannel
+    {
+        protected ObiInterpolator<U> interpolator;
+        protected bool dirty = false;
+        public List<T> data = new List<T>();
+
+        public int Count
+        {
+            get { return data.Count; }
+        }
+
+        public bool Dirty
+        {
+            get { return dirty; }
+        }
+
+        public void Clean()
+        {
+            dirty = false;
+        }
+
+        public ObiPathDataChannel(ObiInterpolator<U> interpolator)
+        {
+            this.interpolator = interpolator;
+        }
+
+        public T this[int i]
+        {
+            get { return data[i]; }
+            set { data[i] = value; dirty = true; }
+        }
+
+        public void RemoveAt(int index)
+        {
+            data.RemoveAt(index);
+            dirty = true;
+        }
+
+        public U Evaluate(U v0, U v1, U v2, U v3, float mu)
+        {
+            return interpolator.Evaluate(v0, v1, v2, v3, mu);
+        }
+        public U EvaluateFirstDerivative(U v0, U v1, U v2, U v3, float mu)
+        {
+            return interpolator.EvaluateFirstDerivative(v0, v1, v2, v3, mu);
+        }
+        public U EvaluateSecondDerivative(U v0, U v1, U v2, U v3, float mu)
+        {
+            return interpolator.EvaluateSecondDerivative(v0, v1, v2, v3, mu);
+        }
+
+        public int GetSpanCount(bool closed)
+        {
+            int cps = Count;
+            if (cps < 2)
+                return 0;
+
+            return closed ? cps : cps - 1;
+        }
+
+        public int GetSpanControlPointAtMu(bool closed, float mu, out float spanMu)
+        {
+
+            int spanCount = GetSpanCount(closed);
+            spanMu = mu * spanCount;
+            int i = (mu >= 1f) ? (spanCount - 1) : (int)spanMu;
+            spanMu -= i;
+
+            return i;
+        }
+
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiPathDataChannel.cs.meta b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiPathDataChannel.cs.meta
new file mode 100644
index 000000000..4f3af9927
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiPathDataChannel.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 43ab47ea5c62b45248edce6a9d099626
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
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diff --git a/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiPathDataChannelIdentity.cs b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiPathDataChannelIdentity.cs
new file mode 100644
index 000000000..1148753d0
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiPathDataChannelIdentity.cs
@@ -0,0 +1,94 @@
+using UnityEngine;
+using System;
+using System.Collections;
+using System.Collections.Generic;
+
+namespace Obi
+{
+    public abstract class ObiPathDataChannelIdentity<T> : ObiPathDataChannel<T,T>
+    {
+        public ObiPathDataChannelIdentity(ObiInterpolator<T> interpolator) : base(interpolator)
+        {
+        }
+
+        public T GetFirstDerivative(int index)
+        {
+            int nextCP = (index + 1) % Count;
+
+            return EvaluateFirstDerivative(this[index],
+                                           this[index],
+                                           this[nextCP],
+                                           this[nextCP], 0);
+        }
+
+        public T GetSecondDerivative(int index)
+        {
+            int nextCP = (index + 1) % Count;
+
+            return EvaluateSecondDerivative(this[index],
+                                            this[index],
+                                            this[nextCP],
+                                            this[nextCP], 0);
+        }
+
+        public T GetAtMu(bool closed, float mu)
+        {
+            int cps = Count;
+            if (cps >= 2)
+            {
+                float p;
+                int i = GetSpanControlPointAtMu(closed, mu, out p);
+                int nextCP = (i + 1) % cps;
+
+                return Evaluate(this[i],
+                                this[i],
+                                this[nextCP],
+                                this[nextCP], p);
+            }
+            else
+            {
+                throw new InvalidOperationException("Cannot get property in path because it has less than 2 control points.");
+            }
+        }
+
+        public T GetFirstDerivativeAtMu(bool closed, float mu)
+        {
+            int cps = Count;
+            if (cps >= 2)
+            {
+                float p;
+                int i = GetSpanControlPointAtMu(closed, mu, out p);
+                int nextCP = (i + 1) % cps;
+
+                return EvaluateFirstDerivative(this[i],
+                                               this[i],
+                                               this[nextCP],
+                                               this[nextCP], p);
+            }
+            else
+            {
+                throw new InvalidOperationException("Cannot get derivative in path because it has less than 2 control points.");
+            }
+        }
+
+        public T GetSecondDerivativeAtMu(bool closed, float mu)
+        {
+            int cps = Count;
+            if (cps >= 2)
+            {
+                float p;
+                int i = GetSpanControlPointAtMu(closed, mu, out p);
+                int nextCP = (i + 1) % cps;
+
+                return EvaluateSecondDerivative(this[i],
+                                                this[i],
+                                                this[nextCP],
+                                                this[nextCP], p);
+            }
+            else
+            {
+                throw new InvalidOperationException("Cannot get second derivative in path because it has less than 2 control points.");
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiPathDataChannelIdentity.cs.meta b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiPathDataChannelIdentity.cs.meta
new file mode 100644
index 000000000..9093cc6eb
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiPathDataChannelIdentity.cs.meta
@@ -0,0 +1,11 @@
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+guid: 61b5c82c04eb14f1999e94baa1f073bc
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
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diff --git a/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiPointsDataChannel.cs b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiPointsDataChannel.cs
new file mode 100644
index 000000000..2f07a22bd
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiPointsDataChannel.cs
@@ -0,0 +1,125 @@
+using UnityEngine;
+using System;
+using System.Collections;
+using System.Collections.Generic;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiPointsDataChannel : ObiPathDataChannel<ObiWingedPoint, Vector3>
+    {
+
+        public ObiPointsDataChannel() : base(new ObiCatmullRomInterpolator3D()) { }
+
+        public Vector3 GetTangent(int index)
+        {
+            int nextCP = (index + 1) % Count;
+
+            var wp1 = this[index];
+            var wp2 = this[nextCP];
+
+            return EvaluateFirstDerivative(wp1.position,
+                                           wp1.outTangentEndpoint,
+                                           wp2.inTangentEndpoint,
+                                           wp2.position, 0);
+        }
+
+        public Vector3 GetAcceleration(int index)
+        {
+            int nextCP = (index + 1) % Count;
+
+            var wp1 = this[index];
+            var wp2 = this[nextCP];
+
+            return EvaluateSecondDerivative(wp1.position,
+                                            wp1.outTangentEndpoint,
+                                            wp2.inTangentEndpoint,
+                                            wp2.position, 0);
+        }
+
+        /**
+        * Returns spline position at time mu, with 0<=mu<=1 where 0 is the start of the spline
+        * and 1 is the end.
+        */
+        public Vector3 GetPositionAtMu(bool closed,float mu)
+        {
+            int cps = Count;
+            if (cps >= 2)
+            {
+
+                float p;
+                int i = GetSpanControlPointAtMu(closed, mu, out p);
+                int nextCP = (i + 1) % cps;
+
+                var wp1 = this[i];
+                var wp2 = this[nextCP];
+
+                return Evaluate(wp1.position,
+                                wp1.outTangentEndpoint,
+                                wp2.inTangentEndpoint,
+                                wp2.position, p);
+            }
+            else
+            {
+                throw new InvalidOperationException("Cannot get position in path because it has zero control points.");
+            }
+
+        }
+
+        /**
+        * Returns normal tangent vector at time mu, with 0<=mu<=1 where 0 is the start of the spline
+        * and 1 is the end.
+        */
+        public Vector3 GetTangentAtMu(bool closed, float mu)
+        {
+
+            int cps = Count;
+            if (cps >= 2)
+            {
+                float p;
+                int i = GetSpanControlPointAtMu(closed, mu, out p);
+                int nextCP = (i + 1) % cps;
+
+                var wp1 = this[i];
+                var wp2 = this[nextCP];
+
+                return EvaluateFirstDerivative(wp1.position,
+                                               wp1.outTangentEndpoint,
+                                               wp2.inTangentEndpoint,
+                                               wp2.position, p);
+            }
+            else
+            {
+                throw new InvalidOperationException("Cannot get derivative in path because it has less than 2 control points.");
+            }
+        }
+
+        /**
+        * Returns acceleration at time mu, with 0<=mu<=1 where 0 is the start of the spline
+        * and 1 is the end.
+        */
+        public Vector3 GetAccelerationAtMu(bool closed, float mu)
+        {
+
+            int cps = Count;
+            if (cps >= 2)
+            {
+                float p;
+                int i = GetSpanControlPointAtMu(closed, mu, out p);
+                int nextCP = (i + 1) % cps;
+
+                var wp1 = this[i];
+                var wp2 = this[nextCP];
+
+                return EvaluateSecondDerivative(wp1.position,
+                                                wp1.outTangentEndpoint,
+                                                wp2.inTangentEndpoint,
+                                                wp2.position, p);
+            }
+            else
+            {
+                throw new InvalidOperationException("Cannot get second derivative in path because it has less than 2 control points.");
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiPointsDataChannel.cs.meta b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiPointsDataChannel.cs.meta
new file mode 100644
index 000000000..5cec32806
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiPointsDataChannel.cs.meta
@@ -0,0 +1,11 @@
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+guid: d710ff448ae4e4a6f9351a678af9a8ac
+MonoImporter:
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diff --git a/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiRotationalMassDataChannel.cs b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiRotationalMassDataChannel.cs
new file mode 100644
index 000000000..e26ff82aa
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiRotationalMassDataChannel.cs
@@ -0,0 +1,12 @@
+using UnityEngine;
+using System;
+using System.Collections;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiRotationalMassDataChannel : ObiPathDataChannelIdentity<float>
+    {
+        public ObiRotationalMassDataChannel() : base(new ObiCatmullRomInterpolator()) { }
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiRotationalMassDataChannel.cs.meta b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiRotationalMassDataChannel.cs.meta
new file mode 100644
index 000000000..9b1a75ce9
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiRotationalMassDataChannel.cs.meta
@@ -0,0 +1,11 @@
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+guid: 28c38822e5a79441a8177689f83644e8
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diff --git a/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiThicknessDataChannel.cs b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiThicknessDataChannel.cs
new file mode 100644
index 000000000..80e90dbea
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiThicknessDataChannel.cs
@@ -0,0 +1,12 @@
+using UnityEngine;
+using System;
+using System.Collections;
+
+namespace Obi
+{
+    [Serializable]
+    public class ObiThicknessDataChannel : ObiPathDataChannelIdentity<float>
+    {
+        public ObiThicknessDataChannel() : base(new ObiCatmullRomInterpolator()) { }
+    }
+}
diff --git a/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiThicknessDataChannel.cs.meta b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiThicknessDataChannel.cs.meta
new file mode 100644
index 000000000..81e98c4ba
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/DataChannels/ObiThicknessDataChannel.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: b414fbc6ce2db42299dc01619ed4fc97
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
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diff --git a/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/Interpolators.meta b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/Interpolators.meta
new file mode 100644
index 000000000..0d67e6f47
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/Interpolators.meta
@@ -0,0 +1,8 @@
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+guid: e85cc8f3b96cf4b4c9be1e6af0a0a99b
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
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diff --git a/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/Interpolators/ObiCatmullRomInterpolator.cs b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/Interpolators/ObiCatmullRomInterpolator.cs
new file mode 100644
index 000000000..a15ba18a0
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/Interpolators/ObiCatmullRomInterpolator.cs
@@ -0,0 +1,49 @@
+using UnityEngine;
+using System.Collections;
+
+namespace Obi
+{
+    public class ObiCatmullRomInterpolator : ObiInterpolator<float>
+    {
+        /**
+        * 1D bezier spline interpolation
+        */
+        public float Evaluate(float y0, float y1, float y2, float y3, float mu)
+        {
+
+            float imu = 1 - mu;
+            return imu * imu * imu * y0 +
+                3f * imu * imu * mu * y1 +
+                3f * imu * mu * mu * y2 +
+                mu * mu * mu * y3;
+
+        }
+
+        /**
+        * 1D catmull rom spline second derivative
+        */
+        public float EvaluateFirstDerivative(float y0, float y1, float y2, float y3, float mu)
+        {
+
+            float imu = 1 - mu;
+            return 3f * imu * imu * (y1 - y0) +
+                    6f * imu * mu * (y2 - y1) +
+                    3f * mu * mu * (y3 - y2);
+
+        }
+
+
+        /**
+        * 1D catmull rom spline second derivative
+        */
+        public float EvaluateSecondDerivative(float y0, float y1, float y2, float y3, float mu)
+        {
+
+            float imu = 1 - mu;
+            return 3f * imu * imu * (y1 - y0) +
+                    6f * imu * mu * (y2 - y1) +
+                    3f * mu * mu * (y3 - y2);
+
+        }
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/Interpolators/ObiCatmullRomInterpolator.cs.meta b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/Interpolators/ObiCatmullRomInterpolator.cs.meta
new file mode 100644
index 000000000..dfd028c1f
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/Interpolators/ObiCatmullRomInterpolator.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 93918aac247384d8289d151d77dc4dc2
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
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+  icon: {instanceID: 0}
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+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/Interpolators/ObiCatmullRomInterpolator3D.cs b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/Interpolators/ObiCatmullRomInterpolator3D.cs
new file mode 100644
index 000000000..68bf48c67
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/Interpolators/ObiCatmullRomInterpolator3D.cs
@@ -0,0 +1,46 @@
+using UnityEngine;
+using System.Collections;
+
+namespace Obi
+{
+    public class ObiCatmullRomInterpolator3D : ObiInterpolator<Vector3>
+    {
+        private ObiCatmullRomInterpolator interpolator = new ObiCatmullRomInterpolator();
+
+        /**
+        * 3D spline interpolation
+        */
+        public Vector3 Evaluate(Vector3 y0, Vector3 y1, Vector3 y2, Vector3 y3, float mu)
+        {
+
+            return new Vector3(interpolator.Evaluate(y0.x, y1.x, y2.x, y3.x, mu),
+                               interpolator.Evaluate(y0.y, y1.y, y2.y, y3.y, mu),
+                               interpolator.Evaluate(y0.z, y1.z, y2.z, y3.z, mu));
+
+        }
+
+        /**
+        * 3D spline first derivative
+        */
+        public Vector3 EvaluateFirstDerivative(Vector3 y0, Vector3 y1, Vector3 y2, Vector3 y3, float mu)
+        {
+
+            return new Vector3(interpolator.EvaluateFirstDerivative(y0.x, y1.x, y2.x, y3.x, mu),
+                               interpolator.EvaluateFirstDerivative(y0.y, y1.y, y2.y, y3.y, mu),
+                               interpolator.EvaluateFirstDerivative(y0.z, y1.z, y2.z, y3.z, mu));
+
+        }
+
+        /**
+        * 3D spline second derivative
+        */
+        public Vector3 EvaluateSecondDerivative(Vector3 y0, Vector3 y1, Vector3 y2, Vector3 y3, float mu)
+        {
+
+            return new Vector3(interpolator.EvaluateSecondDerivative(y0.x, y1.x, y2.x, y3.x, mu),
+                               interpolator.EvaluateSecondDerivative(y0.y, y1.y, y2.y, y3.y, mu),
+                               interpolator.EvaluateSecondDerivative(y0.z, y1.z, y2.z, y3.z, mu));
+
+        }
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/Interpolators/ObiCatmullRomInterpolator3D.cs.meta b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/Interpolators/ObiCatmullRomInterpolator3D.cs.meta
new file mode 100644
index 000000000..7d9398e20
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/Interpolators/ObiCatmullRomInterpolator3D.cs.meta
@@ -0,0 +1,11 @@
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+guid: 845dbd641b61b490bb94d745b6879e97
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/Interpolators/ObiColorInterpolator3D.cs b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/Interpolators/ObiColorInterpolator3D.cs
new file mode 100644
index 000000000..4f7b7f489
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/Interpolators/ObiColorInterpolator3D.cs
@@ -0,0 +1,49 @@
+using UnityEngine;
+using System.Collections;
+
+namespace Obi
+{
+    public class ObiColorInterpolator3D : ObiInterpolator<Color>
+    {
+        private ObiCatmullRomInterpolator interpolator = new ObiCatmullRomInterpolator();
+
+        /**
+        * 3D spline interpolation
+        */
+        public Color Evaluate(Color y0, Color y1, Color y2, Color y3, float mu)
+        {
+
+            return new Color(interpolator.Evaluate(y0.r, y1.r, y2.r, y3.r, mu),
+                             interpolator.Evaluate(y0.g, y1.g, y2.g, y3.g, mu),
+                             interpolator.Evaluate(y0.b, y1.b, y2.b, y3.b, mu),
+                             interpolator.Evaluate(y0.a, y1.a, y2.a, y3.a, mu));
+
+        }
+
+        /**
+        * 3D spline first derivative
+        */
+        public Color EvaluateFirstDerivative(Color y0, Color y1, Color y2, Color y3, float mu)
+        {
+
+            return new Color(interpolator.EvaluateFirstDerivative(y0.r, y1.r, y2.r, y3.r, mu),
+                             interpolator.EvaluateFirstDerivative(y0.g, y1.g, y2.g, y3.g, mu),
+                             interpolator.EvaluateFirstDerivative(y0.b, y1.b, y2.b, y3.b, mu),
+                             interpolator.EvaluateFirstDerivative(y0.a, y1.a, y2.a, y3.a, mu));
+
+        }
+
+        /**
+        * 3D spline second derivative
+        */
+        public Color EvaluateSecondDerivative(Color y0, Color y1, Color y2, Color y3, float mu)
+        {
+
+            return new Color(interpolator.EvaluateSecondDerivative(y0.r, y1.r, y2.r, y3.r, mu),
+                             interpolator.EvaluateSecondDerivative(y0.g, y1.g, y2.g, y3.g, mu),
+                             interpolator.EvaluateSecondDerivative(y0.b, y1.b, y2.b, y3.b, mu),
+                             interpolator.EvaluateSecondDerivative(y0.a, y1.a, y2.a, y3.a, mu));
+
+        }
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/Interpolators/ObiColorInterpolator3D.cs.meta b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/Interpolators/ObiColorInterpolator3D.cs.meta
new file mode 100644
index 000000000..c100772a5
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/Interpolators/ObiColorInterpolator3D.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 1c2bda61c040346db8efd82f64c2422e
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/Interpolators/ObiConstantInterpolator.cs b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/Interpolators/ObiConstantInterpolator.cs
new file mode 100644
index 000000000..e404e94c5
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/Interpolators/ObiConstantInterpolator.cs
@@ -0,0 +1,33 @@
+using UnityEngine;
+using System.Collections;
+
+namespace Obi
+{
+    public class ObiConstantInterpolator : ObiInterpolator<int>
+    {
+        /**
+        * constant interpolator
+        */
+        public int Evaluate(int y0, int y1, int y2, int y3, float mu)
+        {
+            return mu < 0.5f ? y1 : y2;
+        }
+
+        /**
+        * derivative of constant value:
+        */
+        public int EvaluateFirstDerivative(int y0, int y1, int y2, int y3, float mu)
+        {
+            return 0;
+        }
+
+
+        /**
+        * second derivative of constant value:
+        */
+        public int EvaluateSecondDerivative(int y0, int y1, int y2, int y3, float mu)
+        {
+            return 0;
+        }
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/Interpolators/ObiConstantInterpolator.cs.meta b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/Interpolators/ObiConstantInterpolator.cs.meta
new file mode 100644
index 000000000..a4c14046b
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/Interpolators/ObiConstantInterpolator.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/Interpolators/ObiInterpolator.cs b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/Interpolators/ObiInterpolator.cs
new file mode 100644
index 000000000..1e03c33bd
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/Interpolators/ObiInterpolator.cs
@@ -0,0 +1,13 @@
+using UnityEngine;
+using System.Collections;
+
+namespace Obi
+{
+    
+    public interface ObiInterpolator<T>
+    {
+        T Evaluate(T v0, T v1, T v2, T v3, float mu);
+        T EvaluateFirstDerivative(T v0, T v1, T v2, T v3, float mu);
+        T EvaluateSecondDerivative(T v0, T v1, T v2, T v3, float mu);
+    }
+}
diff --git a/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/Interpolators/ObiInterpolator.cs.meta b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/Interpolators/ObiInterpolator.cs.meta
new file mode 100644
index 000000000..47fd49666
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/Interpolators/ObiInterpolator.cs.meta
@@ -0,0 +1,11 @@
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diff --git a/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/ObiPath.cs b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/ObiPath.cs
new file mode 100644
index 000000000..6d5bb0b09
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/ObiPath.cs
@@ -0,0 +1,408 @@
+using UnityEngine;
+using UnityEngine.Events;
+using System;
+using System.Collections.ObjectModel;
+using System.Collections.Generic;
+using UnityEngine.Serialization;
+
+namespace Obi
+{
+    [System.Serializable]
+    public class PathControlPointEvent : UnityEvent<int>
+    {
+    }
+
+    [Serializable]
+    public class ObiPath
+    {
+        [HideInInspector] [SerializeField] List<string> m_Names = new List<string>(); 
+        [HideInInspector] [SerializeField] public ObiPointsDataChannel m_Points = new ObiPointsDataChannel();
+        [HideInInspector] [SerializeField] ObiNormalDataChannel m_Normals = new ObiNormalDataChannel();
+        [HideInInspector] [SerializeField] ObiColorDataChannel m_Colors = new ObiColorDataChannel();
+        [HideInInspector] [SerializeField] ObiThicknessDataChannel m_Thickness = new ObiThicknessDataChannel();
+        [HideInInspector] [SerializeField] ObiMassDataChannel m_Masses = new ObiMassDataChannel();
+        [HideInInspector] [SerializeField] ObiRotationalMassDataChannel m_RotationalMasses = new ObiRotationalMassDataChannel();
+
+        [FormerlySerializedAs("m_Phases")]
+        [HideInInspector] [SerializeField] ObiPhaseDataChannel m_Filters = new ObiPhaseDataChannel();
+
+        [HideInInspector] [SerializeField] private bool m_Closed = false;
+
+        protected bool dirty = false;
+        protected const int arcLenghtSamples = 20;
+        [HideInInspector] [SerializeField] protected List<float> m_ArcLengthTable = new List<float>();
+        [HideInInspector] [SerializeField] protected float m_TotalSplineLenght = 0.0f;
+
+        public UnityEvent OnPathChanged = new UnityEvent();
+        public PathControlPointEvent OnControlPointAdded = new PathControlPointEvent();
+        public PathControlPointEvent OnControlPointRemoved = new PathControlPointEvent();
+        public PathControlPointEvent OnControlPointRenamed = new PathControlPointEvent();
+
+        private IEnumerable<IObiPathDataChannel> GetDataChannels()
+        {
+            yield return m_Points;
+            yield return m_Normals;
+            yield return m_Colors;
+            yield return m_Thickness;
+            yield return m_Masses;
+            yield return m_RotationalMasses;
+            yield return m_Filters;
+        }
+
+        public ObiPointsDataChannel points { get { return m_Points; }}
+        public ObiNormalDataChannel normals { get { return m_Normals; } }
+        public ObiColorDataChannel colors { get { return m_Colors; } }
+        public ObiThicknessDataChannel thicknesses { get { return m_Thickness; } }
+        public ObiMassDataChannel masses { get { return m_Masses; } }
+        public ObiRotationalMassDataChannel rotationalMasses { get { return m_RotationalMasses; } }
+        public ObiPhaseDataChannel filters { get { return m_Filters; } }
+
+        public ReadOnlyCollection<float> ArcLengthTable
+        {
+            get { return m_ArcLengthTable.AsReadOnly(); }
+        }
+
+        public float Length
+        {
+            get { return m_TotalSplineLenght; }
+        }
+
+        public int ArcLengthSamples
+        {
+            get { return arcLenghtSamples; }
+        }
+
+        public int ControlPointCount
+        {
+            get { return m_Points.Count;}
+        }
+
+        public bool Closed
+        {
+            get { return m_Closed; }
+            set
+            {
+                if (value != m_Closed)
+                {
+                    m_Closed = value;
+                    dirty = true;
+                }
+            }
+        }
+
+        public int GetSpanCount()
+        {
+            return m_Points.GetSpanCount(m_Closed);
+        }
+
+        public int GetSpanControlPointForMu(float mu, out float spanMu)
+        {
+            return m_Points.GetSpanControlPointAtMu(m_Closed, mu, out spanMu);
+        }
+
+        public int GetClosestControlPointIndex(float mu)
+        {
+            float spanMu;
+            int cp = GetSpanControlPointForMu(mu, out spanMu);
+
+            if (spanMu > 0.5f)
+                return (cp + 1) % ControlPointCount;
+            else
+                return cp % ControlPointCount;
+        }
+
+        /**
+         * Returns the curve parameter (mu) at a certain length of the curve, using linear interpolation
+         * of the values cached in arcLengthTable.
+         */
+        public float GetMuAtLenght(float length)
+        {
+            if (length <= 0) return 0;
+            if (length >= m_TotalSplineLenght) return 1;
+
+            int i;
+            for (i = 1; i < m_ArcLengthTable.Count; ++i)
+            {
+                if (length < m_ArcLengthTable[i]) break;
+            }
+
+            float prevMu = (i - 1) / (float)(m_ArcLengthTable.Count - 1);
+            float nextMu = i / (float)(m_ArcLengthTable.Count - 1);
+
+            float s = (length - m_ArcLengthTable[i - 1]) / (m_ArcLengthTable[i] - m_ArcLengthTable[i - 1]);
+
+            return prevMu + (nextMu - prevMu) * s;
+        }
+
+        /**
+         * Recalculates spline arc lenght in world space using Gauss-Lobatto adaptive integration. 
+         * @param acc minimum accuray desired (eg 0.00001f)
+         * @param maxevals maximum number of spline evaluations we want to allow per segment.
+         */
+        public float RecalculateLenght(Matrix4x4 referenceFrame, float acc, int maxevals)
+        {
+            if (referenceFrame == null) 
+            { 
+                m_TotalSplineLenght = 0;
+                return 0;
+            }
+
+            m_TotalSplineLenght = 0.0f;
+            m_ArcLengthTable.Clear();
+            m_ArcLengthTable.Add(0);
+
+            float step = 1 / (float)(arcLenghtSamples + 1);
+            int controlPoints = ControlPointCount;
+
+            if (controlPoints >= 2)
+            {
+
+                int spans = GetSpanCount();
+
+                for (int cp = 0; cp < spans; ++cp)
+                {
+                    int nextCP = (cp + 1) % controlPoints;
+                    var wp1 = m_Points[cp];
+                    var wp2 = m_Points[nextCP];
+
+                    Vector3 _p  = referenceFrame.MultiplyPoint3x4(wp1.position);
+                    Vector3 p   = referenceFrame.MultiplyPoint3x4(wp1.outTangentEndpoint);
+                    Vector3 p_  = referenceFrame.MultiplyPoint3x4(wp2.inTangentEndpoint);
+                    Vector3 p__ = referenceFrame.MultiplyPoint3x4(wp2.position);
+
+                    for (int i = 0; i <= Mathf.Max(1, arcLenghtSamples); ++i)
+                    {
+
+                        float a = i * step;
+                        float b = (i + 1) * step;
+
+                        float segmentLength = GaussLobattoIntegrationStep(_p, p, p_, p__, a, b,
+                                                                          m_Points.EvaluateFirstDerivative(_p, p, p_, p__, a).magnitude,
+                                                                          m_Points.EvaluateFirstDerivative(_p, p, p_, p__, b).magnitude, 0, maxevals, acc);
+
+                        m_TotalSplineLenght += segmentLength;
+
+                        m_ArcLengthTable.Add(m_TotalSplineLenght);
+
+                    }
+
+                }
+            }
+            else
+            {
+                Debug.LogWarning("A path needs at least 2 control points to be defined.");
+            }
+
+            return m_TotalSplineLenght;
+        }
+
+        /**
+         * One step of the adaptive integration method using Gauss-Lobatto quadrature.
+         * Takes advantage of the fact that the arc lenght of a vector function is equal to the
+         * integral of the magnitude of first derivative.
+         */
+        private float GaussLobattoIntegrationStep(Vector3 p1, Vector3 p2, Vector3 p3, Vector3 p4,
+                                                  float a, float b,
+                                                  float fa, float fb, int nevals, int maxevals, float acc)
+        {
+
+            if (nevals >= maxevals) return 0;
+
+            // Constants used in the algorithm
+            float alpha = Mathf.Sqrt(2.0f / 3.0f);
+            float beta = 1.0f / Mathf.Sqrt(5.0f);
+
+            // Here the abcissa points and function values for both the 4-point
+            // and the 7-point rule are calculated (the points at the end of
+            // interval come from the function call, i.e., fa and fb. Also note
+            // the 7-point rule re-uses all the points of the 4-point rule.)
+            float h = (b - a) / 2;
+            float m = (a + b) / 2;
+
+            float mll = m - alpha * h;
+            float ml = m - beta * h;
+            float mr = m + beta * h;
+            float mrr = m + alpha * h;
+            nevals += 5;
+
+            float fmll = m_Points.EvaluateFirstDerivative(p1, p2, p3, p4, mll).magnitude;
+            float fml = m_Points.EvaluateFirstDerivative(p1, p2, p3, p4, ml).magnitude;
+            float fm = m_Points.EvaluateFirstDerivative(p1, p2, p3, p4, m).magnitude;
+            float fmr = m_Points.EvaluateFirstDerivative(p1, p2, p3, p4, mr).magnitude;
+            float fmrr = m_Points.EvaluateFirstDerivative(p1, p2, p3, p4, mrr).magnitude;
+
+            // Both the 4-point and 7-point rule integrals are evaluted
+            float integral4 = (h / 6) * (fa + fb + 5 * (fml + fmr));
+            float integral7 = (h / 1470) * (77 * (fa + fb) + 432 * (fmll + fmrr) + 625 * (fml + fmr) + 672 * fm);
+
+            // The difference betwen the 4-point and 7-point integrals is the
+            // estimate of the accuracy
+
+            if ((integral4 - integral7) < acc || mll <= a || b <= mrr)
+            {
+                if (!(m > a && b > m))
+                {
+                    Debug.LogError("Spline integration reached an interval with no more machine numbers");
+                }
+                return integral7;
+            }
+            else
+            {
+                return GaussLobattoIntegrationStep(p1, p2, p3, p4, a, mll, fa, fmll, nevals, maxevals, acc)
+                        + GaussLobattoIntegrationStep(p1, p2, p3, p4, mll, ml, fmll, fml, nevals, maxevals, acc)
+                        + GaussLobattoIntegrationStep(p1, p2, p3, p4, ml, m, fml, fm, nevals, maxevals, acc)
+                        + GaussLobattoIntegrationStep(p1, p2, p3, p4, m, mr, fm, fmr, nevals, maxevals, acc)
+                        + GaussLobattoIntegrationStep(p1, p2, p3, p4, mr, mrr, fmr, fmrr, nevals, maxevals, acc)
+                        + GaussLobattoIntegrationStep(p1, p2, p3, p4, mrr, b, fmrr, fb, nevals, maxevals, acc);
+
+            }
+        }
+
+        public void SetName(int index, string name)
+        {
+            m_Names[index] = name;
+            if (OnControlPointRenamed != null)
+                OnControlPointRenamed.Invoke(index);
+            dirty = true;
+        }
+
+        public string GetName(int index)
+        {
+            return m_Names[index];
+        }
+
+        public void AddControlPoint(Vector3 position, Vector3 inTangentVector, Vector3 outTangentVector, Vector3 normal, float mass, float rotationalMass, float thickness, int filter, Color color, string name)
+        {
+            InsertControlPoint(ControlPointCount, position, inTangentVector, outTangentVector, normal,  mass, rotationalMass, thickness, filter, color, name);
+        }
+
+        public void InsertControlPoint(int index, Vector3 position, Vector3 inTangentVector, Vector3 outTangentVector, Vector3 normal, float mass, float rotationalMass, float thickness, int filter, Color color, string name)
+        {
+            m_Points.data.Insert(index, new ObiWingedPoint(inTangentVector,position,outTangentVector));
+            m_Colors.data.Insert(index, color);
+            m_Normals.data.Insert(index, normal);
+            m_Thickness.data.Insert(index, thickness);
+            m_Masses.data.Insert(index, mass);
+            m_RotationalMasses.data.Insert(index, rotationalMass);
+            m_Filters.data.Insert(index, filter);
+            m_Names.Insert(index,name);
+
+            if (OnControlPointAdded != null)
+                OnControlPointAdded.Invoke(index);
+
+            dirty = true;
+        }
+
+        public int InsertControlPoint(float mu)
+        {
+
+            int controlPoints = ControlPointCount;
+            if (controlPoints >= 2)
+            {
+
+                if (!System.Single.IsNaN(mu))
+                {
+
+                    float p;
+                    int i = GetSpanControlPointForMu(mu, out p);
+
+                    int next = (i + 1) % controlPoints;
+
+                    var wp1 = m_Points[i];
+                    var wp2 = m_Points[next];
+
+                    Vector3 P0_1 = (1 - p) * wp1.position + p * wp1.outTangentEndpoint;
+                    Vector3 P1_2 = (1 - p) * wp1.outTangentEndpoint + p * wp2.inTangentEndpoint;
+                    Vector3 P2_3 = (1 - p) * wp2.inTangentEndpoint + p * wp2.position;
+
+                    Vector3 P01_12 = (1 - p) * P0_1 + p * P1_2;
+                    Vector3 P12_23 = (1 - p) * P1_2 + p * P2_3;
+
+                    Vector3 P0112_1223 = (1 - p) * P01_12 + p * P12_23;
+
+                    wp1.SetOutTangentEndpoint(P0_1);
+                    wp2.SetInTangentEndpoint(P2_3);
+
+                    m_Points[i] = wp1;
+                    m_Points[next] = wp2;
+
+                    Color color = m_Colors.Evaluate(m_Colors[i],
+                                                    m_Colors[i],
+                                                    m_Colors[next],
+                                                    m_Colors[next], p);
+
+                    Vector3 normal = m_Normals.Evaluate(m_Normals[i],
+                                                        m_Normals[i],
+                                                        m_Normals[next],
+                                                        m_Normals[next], p);
+
+                    float thickness = m_Thickness.Evaluate(m_Thickness[i],
+                                                           m_Thickness[i],
+                                                           m_Thickness[next],
+                                                           m_Thickness[next], p);
+
+                    float mass = m_Masses.Evaluate(m_Masses[i],
+                                                   m_Masses[i],
+                                                   m_Masses[next],
+                                                   m_Masses[next], p);
+
+                    float rotationalMass = m_RotationalMasses.Evaluate(m_RotationalMasses[i],
+                                                                       m_RotationalMasses[i],
+                                                                       m_RotationalMasses[next],
+                                                                       m_RotationalMasses[next], p);
+
+                    int filter = m_Filters.Evaluate(m_Filters[i],
+                                                    m_Filters[i],
+                                                    m_Filters[next],
+                                                    m_Filters[next], p);
+
+                    InsertControlPoint(i + 1, P0112_1223, P01_12 - P0112_1223, P12_23 - P0112_1223, normal, mass,rotationalMass, thickness, filter, color, GetName(i));
+
+                    return i + 1;
+                }
+            }
+            return -1;
+
+        }
+
+        public void Clear()
+        {
+            for (int i = ControlPointCount-1; i >= 0; --i)
+                RemoveControlPoint(i);
+
+            m_TotalSplineLenght = 0.0f;
+            m_ArcLengthTable.Clear();
+            m_ArcLengthTable.Add(0);
+        }
+
+        public void RemoveControlPoint(int index)
+        {
+            foreach (var channel in GetDataChannels())
+                channel.RemoveAt(index);
+
+            m_Names.RemoveAt(index);
+
+            if (OnControlPointRemoved != null)
+                OnControlPointRemoved.Invoke(index);
+
+            dirty = true;
+        }
+
+        public void FlushEvents()
+        {
+            bool isDirty = dirty;
+            foreach (var channel in GetDataChannels())
+            {
+                isDirty |= channel.Dirty;
+                channel.Clean(); 
+            }
+
+            if (OnPathChanged != null && isDirty)
+            {
+                dirty = false;
+                OnPathChanged.Invoke();
+            }
+        }
+
+    }
+}
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/ObiPath.cs.meta b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/ObiPath.cs.meta
new file mode 100644
index 000000000..8236881b3
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/ObiPath.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: ee1575a4e45ef4a8ebafa0e5e2e51da5
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/ObiPathFrame.cs b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/ObiPathFrame.cs
new file mode 100644
index 000000000..11f390881
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/ObiPathFrame.cs
@@ -0,0 +1,168 @@
+using System;
+using UnityEngine;
+
+namespace Obi
+{
+	public struct ObiPathFrame
+    {
+        public enum Axis
+        {
+            X = 0,
+            Y = 1,
+            Z = 2
+        }
+
+		public Vector3 position;
+
+        public Vector3 tangent;
+        public Vector3 normal;
+        public Vector3 binormal;
+
+		public Vector4 color;
+        public float thickness;
+       
+        public ObiPathFrame(Vector3 position, Vector3 tangent, Vector3 normal, Vector3 binormal, Vector4 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 = Vector3.zero;
+            tangent = Vector3.forward;
+            normal = Vector3.up;
+            binormal = Vector3.right;
+            color = Color.white;
+            thickness = 0;
+        }
+
+		public static ObiPathFrame operator +(ObiPathFrame c1, ObiPathFrame c2) 
+	    {
+            return new ObiPathFrame(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 ObiPathFrame operator *(float f,ObiPathFrame c) 
+	    {
+            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)
+        {
+            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.AngleAxis(twist, tangent);
+            normal = twistQ * normal;
+            binormal = twistQ * binormal;
+        }
+
+        public void SetTwistAndTangent(float twist, Vector3 tangent)
+        {
+            this.tangent = tangent;
+            normal = new Vector3(tangent.y, tangent.x, 0).normalized;
+            binormal = Vector3.Cross(normal, tangent);
+
+            Quaternion twistQ = Quaternion.AngleAxis(twist, tangent);
+            normal = twistQ * normal;
+            binormal = twistQ * binormal;
+        }
+
+        public void Transport(ObiPathFrame frame, float twist)
+        {
+            // Calculate delta rotation:
+            Quaternion rotQ = Quaternion.FromToRotation(tangent, frame.tangent);
+            Quaternion twistQ = Quaternion.AngleAxis(twist, frame.tangent);
+            Quaternion finalQ = twistQ * rotQ;
+
+            // Rotate previous frame axes to obtain the new ones:
+            normal = finalQ * normal;
+            binormal = finalQ * binormal;
+            tangent = frame.tangent;
+            position = frame.position;
+            thickness = frame.thickness;
+            color = frame.color;
+        }
+
+        public void Transport(Vector3 newPosition, Vector3 newTangent, float twist)
+        {
+            // Calculate delta rotation:
+            Quaternion rotQ = Quaternion.FromToRotation(tangent, newTangent);
+            Quaternion twistQ = Quaternion.AngleAxis(twist, newTangent);
+            Quaternion finalQ = twistQ * rotQ;
+
+            // Rotate previous frame axes to obtain the new ones:
+            normal = finalQ * normal;
+            binormal = finalQ * binormal;
+            tangent = newTangent;
+            position = newPosition;
+
+        }
+
+        // Transport, hinting the normal.
+        public void Transport(Vector3 newPosition, Vector3 newTangent, Vector3 newNormal, float twist)
+        {
+            normal = Quaternion.AngleAxis(twist, newTangent) * newNormal;
+            tangent = newTangent;
+            binormal = Vector3.Cross(normal, tangent);
+            position = newPosition;
+        }
+
+        public Matrix4x4 ToMatrix(Axis mainAxis)
+        {
+            Matrix4x4 basis = new Matrix4x4();
+
+            int xo = ((int)mainAxis) % 3 * 4;
+            int yo = ((int)mainAxis + 1) % 3 * 4;
+            int zo = ((int)mainAxis + 2) % 3 * 4;
+
+            basis[xo]     = tangent[0];
+            basis[xo + 1] = tangent[1];
+            basis[xo + 2] = tangent[2];
+
+            basis[yo]     = binormal[0];
+            basis[yo + 1] = binormal[1];
+            basis[yo + 2] = binormal[2];
+
+            basis[zo]     = normal[0];
+            basis[zo + 1] = normal[1];
+            basis[zo + 2] = normal[2];
+
+            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);
+        }
+	}
+}
+
diff --git a/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/ObiPathFrame.cs.meta b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/ObiPathFrame.cs.meta
new file mode 100644
index 000000000..b02d82d43
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/ObiPathFrame.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 237e9ecf813f646fd8502768445f4ab6
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/ObiPathSmoother.cs b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/ObiPathSmoother.cs
new file mode 100644
index 000000000..4ddee1215
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/ObiPathSmoother.cs
@@ -0,0 +1,379 @@
+using UnityEngine;
+using Unity.Profiling;
+using System;
+using System.Collections;
+using System.Collections.Generic;
+
+namespace Obi
+{
+    [ExecuteInEditMode]
+    [RequireComponent(typeof(ObiRopeBase))]
+    public class ObiPathSmoother : MonoBehaviour
+    {
+        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;
+
+        [Range(0, 3)]
+        [Tooltip("Smoothing iterations applied to the path. A smoothing value of 0 won't perform any smoothing at all. Note that smoothing is applied after decimation.")]
+        public uint smoothing = 0;
+
+        [Tooltip("Twist in degrees applied to each sucessive path section.")]
+        public float twist = 0;
+
+        public event ObiActor.ActorCallback OnCurveGenerated;
+
+        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);
+
+        public float SmoothLength
+        {
+            get { return smoothLength; }
+        }
+
+        public float SmoothSections
+        {
+            get { return smoothSections; }
+        }
+
+        private void OnEnable()
+        {
+            GetComponent<ObiRopeBase>().OnInterpolate += Actor_OnInterpolate;
+        }
+
+        private void OnDisable()
+        {
+            GetComponent<ObiRopeBase>().OnInterpolate -= Actor_OnInterpolate;
+        }
+
+        void Actor_OnInterpolate(ObiActor actor)
+        {
+            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]);
+                }
+            }
+        }
+
+        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 (counter + smoothChunks[i].Count > index)
+                {
+                    chunkIndex = i;
+                    indexInChunk = index - counter;
+                    break;
+                }
+                counter += smoothChunks[i].Count;
+            }
+
+            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;
+        }
+
+        /**
+         * Iterative version of the Ramer-Douglas-Peucker path decimation algorithm. 
+         */
+        private bool Decimate(ObiList<ObiPathFrame> input, ObiList<ObiPathFrame> output, float threshold)
+        {
+            // 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)
+            {
+                var range = stack.Pop();
+
+                float dmax = 0;
+                int index = range.x;
+                float mu;
+
+                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 (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
new file mode 100644
index 000000000..3bc0efb08
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/ObiPathSmoother.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 958c969cfb16745f192d4d7bd28b7178
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
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diff --git a/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/ObiWingedPoint.cs b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/ObiWingedPoint.cs
new file mode 100644
index 000000000..f3d37db8b
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/ObiWingedPoint.cs
@@ -0,0 +1,100 @@
+using UnityEngine;
+using System;
+using System.Collections;
+
+namespace Obi
+{
+    [Serializable]
+    public struct ObiWingedPoint
+    {
+        public enum TangentMode
+        {
+            Aligned,
+            Mirrored,
+            Free,
+        }
+
+        public TangentMode tangentMode;
+        public Vector3 inTangent;
+        public Vector3 position;
+        public Vector3 outTangent;
+
+        public Vector3 inTangentEndpoint
+        {
+            get { return position + inTangent; }
+        }
+
+        public Vector3 outTangentEndpoint
+        {
+            get { return position + outTangent; }
+        }
+
+        public ObiWingedPoint(Vector3 inTangent, Vector3 point, Vector3 outTangent)
+        {
+            this.tangentMode = TangentMode.Aligned;
+            this.inTangent = inTangent;
+            this.position = point;
+            this.outTangent = outTangent;
+        }
+
+        public void SetInTangentEndpoint(Vector3 value)
+        {
+            Vector3 newTangent = value - position;
+
+            switch (tangentMode)
+            {
+                case TangentMode.Mirrored: outTangent = -newTangent; break;
+                case TangentMode.Aligned: outTangent = -newTangent.normalized * outTangent.magnitude; break;
+            }
+
+            inTangent = newTangent;
+        }
+
+        public void SetOutTangentEndpoint(Vector3 value)
+        {
+            Vector3 newTangent = value - position;
+
+            switch (tangentMode)
+            {
+                case TangentMode.Mirrored: inTangent = -newTangent; break;
+                case TangentMode.Aligned: inTangent = -newTangent.normalized * inTangent.magnitude; break;
+            }
+
+            outTangent = newTangent;
+        }
+
+        public void SetInTangent(Vector3 value)
+        {
+            Vector3 newTangent = value;
+
+            switch (tangentMode)
+            {
+                case TangentMode.Mirrored: outTangent = -newTangent; break;
+                case TangentMode.Aligned: outTangent = -newTangent.normalized * outTangent.magnitude; break;
+            }
+
+            inTangent = newTangent;
+        }
+
+        public void SetOutTangent(Vector3 value)
+        {
+            Vector3 newTangent = value;
+
+            switch (tangentMode)
+            {
+                case TangentMode.Mirrored: inTangent = -newTangent; break;
+                case TangentMode.Aligned: inTangent = -newTangent.normalized * inTangent.magnitude; break;
+            }
+
+            outTangent = newTangent;
+        }
+
+        public void Transform(Vector3 translation, Quaternion rotation, Vector3 scale)
+        {
+            position += translation;
+            inTangent = rotation * Vector3.Scale(inTangent, scale);
+            outTangent = rotation * Vector3.Scale(outTangent, scale);
+        }
+    }
+
+}
diff --git a/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/ObiWingedPoint.cs.meta b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/ObiWingedPoint.cs.meta
new file mode 100644
index 000000000..dd0c6fcde
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/DataStructures/Path/ObiWingedPoint.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 76ee869b5f2e5440ea0a1c8a1e161cde
+MonoImporter:
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+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/RopeAndRod/Rendering.meta b/Assets/Obi/Scripts/RopeAndRod/Rendering.meta
new file mode 100644
index 000000000..30985468d
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/Rendering.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 07dfc7e6a316349cba9d3b434f09ee68
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiRopeChainRenderer.cs b/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiRopeChainRenderer.cs
new file mode 100644
index 000000000..7bbb1a5ae
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiRopeChainRenderer.cs
@@ -0,0 +1,171 @@
+using System;
+using System.Collections.Generic;
+using UnityEngine;
+using Unity.Profiling;
+
+namespace Obi
+{
+    [AddComponentMenu("Physics/Obi/Obi Rope Chain Renderer", 885)]
+    [ExecuteInEditMode]
+    public class ObiRopeChainRenderer : MonoBehaviour
+    {
+        static ProfilerMarker m_UpdateChainRopeRendererChunksPerfMarker = new ProfilerMarker("UpdateChainRopeRenderer");
+
+        [HideInInspector] [SerializeField] public List<GameObject> linkInstances = new List<GameObject>();
+
+        [SerializeProperty("RandomizeLinks")]
+        [SerializeField] private bool randomizeLinks = false;
+
+        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 sectionTwist = 0;              /**< Amount of twist applied to each section, in degrees.*/
+
+        ObiPathFrame frame = new ObiPathFrame();
+
+        void Awake()
+        {
+            ClearChainLinkInstances();
+        }
+
+        public bool RandomizeLinks
+        {
+            get { return randomizeLinks; }
+            set
+            {
+                if (value != randomizeLinks)
+                {
+                    randomizeLinks = value;
+                    CreateChainLinkInstances(GetComponent<ObiRopeBase>());
+                }
+            }
+        }
+
+        void OnEnable()
+        {
+            GetComponent<ObiRopeBase>().OnInterpolate += UpdateRenderer;
+        }
+
+        void OnDisable()
+        {
+            GetComponent<ObiRopeBase>().OnInterpolate -= UpdateRenderer;
+            ClearChainLinkInstances();
+        }
+
+        /**
+         * 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()
+        {
+
+            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)
+            {
+
+                for (int i = 0; i < rope.particleCount; ++i)
+                {
+
+                    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);
+                }
+            }
+        }
+    }
+}
+
diff --git a/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiRopeChainRenderer.cs.meta b/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiRopeChainRenderer.cs.meta
new file mode 100644
index 000000000..0baf2dd5f
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiRopeChainRenderer.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 09ac962c0743c400aa230ebf871b6156
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {fileID: 2800000, guid: 1289c40ad0e7c4fb3bd738f8a3f3e068, type: 3}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiRopeExtrudedRenderer.cs b/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiRopeExtrudedRenderer.cs
new file mode 100644
index 000000000..02b526b6a
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiRopeExtrudedRenderer.cs
@@ -0,0 +1,176 @@
+using System;
+using System.Collections.Generic;
+using UnityEngine;
+using Unity.Profiling;
+
+namespace Obi
+{
+    [AddComponentMenu("Physics/Obi/Obi Rope Extruded Renderer", 883)]
+    [ExecuteInEditMode]
+    [RequireComponent(typeof(MeshRenderer))]
+    [RequireComponent(typeof(MeshFilter))]
+    [RequireComponent(typeof(ObiPathSmoother))]
+    public class ObiRopeExtrudedRenderer : MonoBehaviour
+    {
+        static ProfilerMarker m_UpdateExtrudedRopeRendererChunksPerfMarker = new ProfilerMarker("UpdateExtrudedRopeRenderer");
+
+        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>();
+
+        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;
+
+        [Range(0, 1)]
+        public float uvAnchor = 0;                  /**< Normalized position of texture coordinate origin along rope.*/
+
+        public Vector2 uvScale = Vector2.one;       /**< Scaling of uvs along rope.*/
+
+        public bool normalizeV = true;
+
+        public ObiRopeSection section = null;       /**< Section asset to be extruded along the rope.*/
+
+        public float thicknessScale = 0.8f;  /**< Scales section thickness.*/
+
+        void OnEnable()
+        {
+            smoother = GetComponent<ObiPathSmoother>();
+            smoother.OnCurveGenerated += UpdateRenderer; 
+            CreateMeshIfNeeded();
+        }
+
+        void OnDisable()
+        {
+            smoother.OnCurveGenerated -= UpdateRenderer;
+            GameObject.DestroyImmediate(extrudedMesh);
+        }
+
+        private void CreateMeshIfNeeded()
+        {
+            if (extrudedMesh == null)
+            {
+                extrudedMesh = new Mesh();
+                extrudedMesh.name = "extrudedMesh";
+                extrudedMesh.MarkDynamic(); 
+                GetComponent<MeshFilter>().mesh = extrudedMesh;
+            }
+        }
+
+        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/ObiRopeExtrudedRenderer.cs.meta b/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiRopeExtrudedRenderer.cs.meta
new file mode 100644
index 000000000..042955dba
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiRopeExtrudedRenderer.cs.meta
@@ -0,0 +1,13 @@
+fileFormatVersion: 2
+guid: c4747da60837c44f9ba4b4a86879bcc8
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences:
+  - extrudedMesh: {instanceID: 0}
+  - section: {fileID: 11400000, guid: a0bc36a59515f413e90e10895929c938, type: 2}
+  executionOrder: 0
+  icon: {fileID: 2800000, guid: a552ed0e1c0fd47c38eeff6d60b5b115, type: 3}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiRopeLineRenderer.cs b/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiRopeLineRenderer.cs
new file mode 100644
index 000000000..e340a7b9d
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiRopeLineRenderer.cs
@@ -0,0 +1,199 @@
+using System;
+using System.Collections.Generic;
+using UnityEngine;
+using UnityEngine.Rendering;
+using Unity.Profiling;
+
+namespace Obi
+{
+    [AddComponentMenu("Physics/Obi/Obi Rope Line Renderer", 884)]
+    [ExecuteInEditMode]
+    [RequireComponent(typeof(MeshRenderer))]
+    [RequireComponent(typeof(MeshFilter))]
+    [RequireComponent(typeof(ObiPathSmoother))]
+    public class ObiRopeLineRenderer : MonoBehaviour
+    {
+        static ProfilerMarker m_UpdateLineRopeRendererChunksPerfMarker = new ProfilerMarker("UpdateLineRopeRenderer");
+
+        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>();
+
+        ObiRopeBase rope;
+        ObiPathSmoother smoother;
+
+#if (UNITY_2019_1_OR_NEWER)
+        System.Action<ScriptableRenderContext, Camera> renderCallback;
+#endif
+
+        [HideInInspector] [NonSerialized] public Mesh lineMesh;
+
+        [Range(0, 1)]
+        public float uvAnchor = 0;                  /**< Normalized position of texture coordinate origin along rope.*/
+
+        public Vector2 uvScale = Vector2.one;       /**< Scaling of uvs along rope.*/
+
+        public bool normalizeV = true;
+
+        public float thicknessScale = 0.8f;  /**< Scales section thickness.*/
+
+        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>();
+        }
+
+        void OnDisable()
+        {
+
+#if (UNITY_2019_1_OR_NEWER)
+            RenderPipelineManager.beginCameraRendering -= renderCallback;
+#endif
+            Camera.onPreCull -= UpdateRenderer;
+
+            GameObject.DestroyImmediate(lineMesh);
+        }
+
+        private void CreateMeshIfNeeded()
+        {
+            if (lineMesh == null)
+            {
+                lineMesh = new Mesh();
+                lineMesh.name = "extrudedMesh";
+                lineMesh.MarkDynamic();
+                GetComponent<MeshFilter>().mesh = lineMesh;
+            }
+        }
+
+        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/ObiRopeLineRenderer.cs.meta b/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiRopeLineRenderer.cs.meta
new file mode 100644
index 000000000..510cd3a77
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiRopeLineRenderer.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 18f853588397d4a80a561203ed92fc8a
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {fileID: 2800000, guid: 905a18c273af443d6bc588b59ebd56f6, type: 3}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiRopeMeshRenderer.cs b/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiRopeMeshRenderer.cs
new file mode 100644
index 000000000..32837e564
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiRopeMeshRenderer.cs
@@ -0,0 +1,260 @@
+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
+    {
+        static ProfilerMarker m_UpdateMeshRopeRendererChunksPerfMarker = new ProfilerMarker("UpdateMeshRopeRenderer");
+
+        [SerializeProperty("SourceMesh")]
+        [SerializeField] private Mesh mesh;
+
+        [SerializeProperty("SweepAxis")]
+        [SerializeField] private 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 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
+        {
+            set { mesh = value; PreprocessInputMesh(); }
+            get { return mesh; }
+        }
+
+        public ObiPathFrame.Axis SweepAxis
+        {
+            set { axis = value; PreprocessInputMesh(); }
+            get { return axis; }
+        }
+
+        public int Instances
+        {
+            set { instances = value; PreprocessInputMesh(); }
+            get { return instances; }
+        }
+
+        public float InstanceSpacing
+        {
+            set { instanceSpacing = value; PreprocessInputMesh(); }
+            get { return instanceSpacing; }
+        }
+
+        [HideInInspector] [NonSerialized] public Mesh deformedMesh;
+
+        void OnEnable()
+        {
+            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())
+            {
+
+                if (mesh == null)
+                    return;
+
+                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();
+            }
+        }
+
+        private void CommitMeshData()
+        {
+            deformedMesh.vertices = vertices;
+            deformedMesh.normals = normals;
+            deformedMesh.tangents = tangents;
+            deformedMesh.RecalculateBounds();
+        }
+    }
+}
+
+
diff --git a/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiRopeMeshRenderer.cs.meta b/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiRopeMeshRenderer.cs.meta
new file mode 100644
index 000000000..0ef5b36ce
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/Rendering/ObiRopeMeshRenderer.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 4ec7e70e3318044b69e11352b1f2136b
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {fileID: 2800000, guid: c5afdc6c291b44a68be8bf66702358a5, type: 3}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/RopeAndRod/Utils.meta b/Assets/Obi/Scripts/RopeAndRod/Utils.meta
new file mode 100644
index 000000000..1f7030543
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/Utils.meta
@@ -0,0 +1,8 @@
+fileFormatVersion: 2
+guid: 55cc87411ee7647b4a078becb6a5ed01
+folderAsset: yes
+DefaultImporter:
+  externalObjects: {}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/RopeAndRod/Utils/ObiRopeAttach.cs b/Assets/Obi/Scripts/RopeAndRod/Utils/ObiRopeAttach.cs
new file mode 100644
index 000000000..63fc3b315
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/Utils/ObiRopeAttach.cs
@@ -0,0 +1,22 @@
+using UnityEngine;
+
+namespace Obi
+{
+    public class ObiRopeAttach : MonoBehaviour
+    {
+        public ObiPathSmoother smoother;
+        [Range(0,1)]
+        public float m;
+
+		public void LateUpdate()
+		{
+            if (smoother != null)
+            {
+                ObiPathFrame section = smoother.GetSectionAt(m);
+                transform.position = smoother.transform.TransformPoint(section.position);
+                transform.rotation = smoother.transform.rotation * (Quaternion.LookRotation(section.tangent, section.binormal));
+            }
+		}
+
+	}
+}
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/RopeAndRod/Utils/ObiRopeAttach.cs.meta b/Assets/Obi/Scripts/RopeAndRod/Utils/ObiRopeAttach.cs.meta
new file mode 100644
index 000000000..1ef0c917e
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/Utils/ObiRopeAttach.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 93cd44c04a2944349b4fe311545b7e05
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/RopeAndRod/Utils/ObiRopePrefabPlugger.cs b/Assets/Obi/Scripts/RopeAndRod/Utils/ObiRopePrefabPlugger.cs
new file mode 100644
index 000000000..045b3d99d
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/Utils/ObiRopePrefabPlugger.cs
@@ -0,0 +1,106 @@
+using System.Collections;
+using System.Collections.Generic;
+using UnityEngine;
+
+
+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
+    {
+        public GameObject prefab;                   /**< prefab object being instantiated at the rope cuts.*/
+        public Vector3 instanceScale = Vector3.one;
+        public bool plugTears = true;
+        public bool plugStart = false;
+        public bool plugEnd = false;
+
+        private List<GameObject> instances;         /**< instances of the prefab being rendered. */
+        private ObiPathSmoother smoother;
+
+        void OnEnable()
+        {
+            instances = new List<GameObject>();
+            smoother = GetComponent<ObiPathSmoother>();
+            smoother.OnCurveGenerated += UpdatePlugs;
+        }
+
+        void OnDisable()
+        {
+            smoother.OnCurveGenerated -= UpdatePlugs;
+            ClearPrefabInstances();
+        }
+
+        private GameObject GetOrCreatePrefabInstance(int index)
+        {
+            if (index < instances.Count)
+                return instances[index];
+
+            GameObject tearPrefabInstance = Instantiate(prefab);
+            tearPrefabInstance.hideFlags = HideFlags.HideAndDontSave;
+            instances.Add(tearPrefabInstance);
+            return tearPrefabInstance;
+        }
+
+        public void ClearPrefabInstances()
+        {
+            for (int i = 0; i < instances.Count; ++i)
+                DestroyImmediate(instances[i]);
+
+            instances.Clear();
+        }
+
+        // Update is called once per frame
+        void UpdatePlugs(ObiActor actor)
+        {
+            var rope = actor as ObiRopeBase;
+
+            // cache the rope's transform matrix/quaternion:
+            Matrix4x4 l2w = rope.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];
+
+                if ((plugTears && c > 0) ||
+                    (plugStart && c == 0))
+                {
+                    var instance = GetOrCreatePrefabInstance(instanceIndex++);
+                    instance.SetActive(true);
+
+                    ObiPathFrame frame = curve[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))
+                {
+
+                    var instance = GetOrCreatePrefabInstance(instanceIndex++);
+                    instance.SetActive(true);
+
+                    ObiPathFrame frame = curve[curve.Count - 1];
+                    instance.transform.position = l2w.MultiplyPoint3x4(frame.position);
+                    instance.transform.rotation = l2wRot * (Quaternion.LookRotation(frame.tangent, frame.binormal));
+                    instance.transform.localScale = instanceScale;
+                }
+
+            }
+
+            // deactivate remaining instances:
+            for (int i = instanceIndex; i < instances.Count; ++i)
+                instances[i].SetActive(false);
+
+        }
+    }
+
+}
\ No newline at end of file
diff --git a/Assets/Obi/Scripts/RopeAndRod/Utils/ObiRopePrefabPlugger.cs.meta b/Assets/Obi/Scripts/RopeAndRod/Utils/ObiRopePrefabPlugger.cs.meta
new file mode 100644
index 000000000..ce2b9a1cf
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/Utils/ObiRopePrefabPlugger.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 4514513daf5b14cb689daa23e9d8575e
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Obi/Scripts/RopeAndRod/Utils/ObiRopeReel.cs b/Assets/Obi/Scripts/RopeAndRod/Utils/ObiRopeReel.cs
new file mode 100644
index 000000000..be1c694b7
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/Utils/ObiRopeReel.cs
@@ -0,0 +1,53 @@
+using UnityEngine;
+
+namespace Obi
+{
+	[RequireComponent(typeof(ObiRopeCursor))]
+	public class ObiRopeReel : MonoBehaviour
+	{
+		private ObiRopeCursor cursor;
+		private ObiRope rope;
+
+		[Header("Roll out/in thresholds")]
+		public float outThreshold = 0.8f;
+		public float inThreshold = 0.4f;
+
+		[Header("Roll out/in speeds")]
+		public float outSpeed = 0.05f;
+		public float inSpeed = 0.15f;
+
+		public void Awake()
+		{
+			cursor = GetComponent<ObiRopeCursor>();
+			rope = GetComponent<ObiRope>();
+		}
+
+		public void OnValidate()
+		{
+			// Make sure the range thresholds don't cross:
+			outThreshold = Mathf.Max(inThreshold, outThreshold);
+		}
+
+		// Update is called once per frame
+		void Update()
+		{
+			// 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);
+
+			// if the rope has been stretched beyond the reel out threshold, increase its rest length:
+			if (diff > outThreshold)
+				restLength += diff * outSpeed;
+
+			// if the rope is not stretched past the reel in threshold, decrease its rest length:
+			if (diff < inThreshold)
+				restLength -= diff * inSpeed;
+
+			// set the new rest length:
+			cursor.ChangeLength(restLength);
+		}
+	}
+}
diff --git a/Assets/Obi/Scripts/RopeAndRod/Utils/ObiRopeReel.cs.meta b/Assets/Obi/Scripts/RopeAndRod/Utils/ObiRopeReel.cs.meta
new file mode 100644
index 000000000..4c46cb087
--- /dev/null
+++ b/Assets/Obi/Scripts/RopeAndRod/Utils/ObiRopeReel.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 4793f08b8350d44db99d1bc98daf625b
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Assets/Scripts/Fishing/Rope/IRope.cs b/Assets/Scripts/Fishing/Rope/IRope.cs
new file mode 100644
index 000000000..d714ee3ca
--- /dev/null
+++ b/Assets/Scripts/Fishing/Rope/IRope.cs
@@ -0,0 +1,12 @@
+using UnityEngine;
+
+namespace NBF
+{
+    /// <summary>
+    /// 鱼线脚本
+    /// </summary>
+    public interface IRope
+    {
+        void SetLineLength(float length);
+    }
+}
\ No newline at end of file
diff --git a/Assets/Scripts/Fishing/Rope/IRope.cs.meta b/Assets/Scripts/Fishing/Rope/IRope.cs.meta
new file mode 100644
index 000000000..3fa698976
--- /dev/null
+++ b/Assets/Scripts/Fishing/Rope/IRope.cs.meta
@@ -0,0 +1,3 @@
+fileFormatVersion: 2
+guid: e702dc5afb0a467e9e01a920d959a977
+timeCreated: 1775445873
\ No newline at end of file
diff --git a/Assets/Scripts/Fishing/Rope/RopeBase.cs b/Assets/Scripts/Fishing/Rope/RopeBase.cs
new file mode 100644
index 000000000..e0724855d
--- /dev/null
+++ b/Assets/Scripts/Fishing/Rope/RopeBase.cs
@@ -0,0 +1,22 @@
+using UnityEngine;
+
+namespace NBF
+{
+    public abstract class RopeBase : MonoBehaviour, IRope
+    {
+        [Header("Anchors")] [SerializeField] public Rigidbody startAnchor;
+        [SerializeField] public Rigidbody endAnchor;
+
+        public float CurrentLength { get; protected set; }
+
+        public void SetLineLength(float length)
+        {
+            CurrentLength = length;
+        }
+
+        protected virtual void OnSetLineLength(float length)
+        {
+            
+        }
+    }
+}
\ No newline at end of file
diff --git a/Assets/Scripts/Fishing/Rope/RopeBase.cs.meta b/Assets/Scripts/Fishing/Rope/RopeBase.cs.meta
new file mode 100644
index 000000000..50118ad95
--- /dev/null
+++ b/Assets/Scripts/Fishing/Rope/RopeBase.cs.meta
@@ -0,0 +1,3 @@
+fileFormatVersion: 2
+guid: 2b39290e64e04f27a02a273fab64d461
+timeCreated: 1775446264
\ No newline at end of file
diff --git a/Assets/Scripts/Fishing/Rope/RopeByObi.cs b/Assets/Scripts/Fishing/Rope/RopeByObi.cs
new file mode 100644
index 000000000..90d35fe3c
--- /dev/null
+++ b/Assets/Scripts/Fishing/Rope/RopeByObi.cs
@@ -0,0 +1,36 @@
+using Obi;
+using UnityEngine;
+
+namespace NBF
+{
+    /// <summary>
+    /// 基于obi rope的鱼线控制脚本
+    /// </summary>
+    public class RopeByObi : RopeBase
+    {
+        [SerializeField] private ObiRope rope;
+
+        [SerializeField] private ObiRopeCursor cursor;
+
+        [SerializeField] private float percentageElasticity = 0.2f;
+
+
+        private float _stretchScale;
+
+        private void Awake()
+        {
+            rope = GetComponent<ObiRope>();
+        }
+
+        private void Update()
+        {
+            rope.stretchingScale = _stretchScale;
+        }
+
+        protected override void OnSetLineLength(float length)
+        {
+            cursor = ((cursor == null) ? GetComponent<ObiRopeCursor>() : cursor);
+            _stretchScale = Mathf.Clamp(length - percentageElasticity, 0f, float.PositiveInfinity);
+        }
+    }
+}
\ No newline at end of file
diff --git a/Assets/Scripts/Fishing/Rope/RopeByObi.cs.meta b/Assets/Scripts/Fishing/Rope/RopeByObi.cs.meta
new file mode 100644
index 000000000..52a57f7c8
--- /dev/null
+++ b/Assets/Scripts/Fishing/Rope/RopeByObi.cs.meta
@@ -0,0 +1,3 @@
+fileFormatVersion: 2
+guid: 8b7f9ea147004095b3e8390654d061a9
+timeCreated: 1775445787
\ No newline at end of file
diff --git a/Assets/Settings/Mobile_RPAsset.asset b/Assets/Settings/Mobile_RPAsset.asset
index 0fdefd13e..fdaa26f7b 100644
--- a/Assets/Settings/Mobile_RPAsset.asset
+++ b/Assets/Settings/Mobile_RPAsset.asset
@@ -12,8 +12,8 @@ MonoBehaviour:
   m_Script: {fileID: 11500000, guid: bf2edee5c58d82540a51f03df9d42094, type: 3}
   m_Name: Mobile_RPAsset
   m_EditorClassIdentifier: 
-  k_AssetVersion: 12
-  k_AssetPreviousVersion: 12
+  k_AssetVersion: 13
+  k_AssetPreviousVersion: 13
   m_RendererType: 1
   m_RendererData: {fileID: 0}
   m_RendererDataList:
@@ -53,6 +53,7 @@ MonoBehaviour:
   m_AdditionalLightsShadowResolutionTierHigh: 1024
   m_ReflectionProbeBlending: 1
   m_ReflectionProbeBoxProjection: 1
+  m_ReflectionProbeAtlas: 1
   m_ShadowDistance: 50
   m_ShadowCascadeCount: 1
   m_Cascade2Split: 0.25
@@ -78,11 +79,11 @@ MonoBehaviour:
   m_UseAdaptivePerformance: 1
   m_ColorGradingMode: 0
   m_ColorGradingLutSize: 32
+  m_AllowPostProcessAlphaOutput: 0
   m_UseFastSRGBLinearConversion: 1
   m_SupportDataDrivenLensFlare: 1
   m_SupportScreenSpaceLensFlare: 1
   m_GPUResidentDrawerMode: 0
-  m_UseLegacyLightmaps: 0
   m_SmallMeshScreenPercentage: 0
   m_GPUResidentDrawerEnableOcclusionCullingInCameras: 0
   m_ShadowType: 1
@@ -109,6 +110,7 @@ MonoBehaviour:
   m_PrefilterDebugKeywords: 1
   m_PrefilterWriteRenderingLayers: 1
   m_PrefilterHDROutput: 1
+  m_PrefilterAlphaOutput: 0
   m_PrefilterSSAODepthNormals: 1
   m_PrefilterSSAOSourceDepthLow: 1
   m_PrefilterSSAOSourceDepthMedium: 0
@@ -126,8 +128,14 @@ MonoBehaviour:
   m_PrefilterSoftShadowsQualityHigh: 1
   m_PrefilterSoftShadows: 0
   m_PrefilterScreenCoord: 1
+  m_PrefilterScreenSpaceIrradiance: 0
   m_PrefilterNativeRenderPass: 1
   m_PrefilterUseLegacyLightmaps: 0
+  m_PrefilterBicubicLightmapSampling: 0
+  m_PrefilterReflectionProbeRotation: 0
+  m_PrefilterReflectionProbeBlending: 0
+  m_PrefilterReflectionProbeBoxProjection: 0
+  m_PrefilterReflectionProbeAtlas: 0
   m_ShaderVariantLogLevel: 0
   m_ShadowCascades: 0
   m_Textures:
diff --git a/UserSettings/EditorUserSettings.asset b/UserSettings/EditorUserSettings.asset
index c70116ffe..02c876b65 100644
--- a/UserSettings/EditorUserSettings.asset
+++ b/UserSettings/EditorUserSettings.asset
@@ -15,34 +15,34 @@ EditorUserSettings:
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       flags: 0
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-      value: 55540305570d0f0e0c5e5e2115710d44174e4e2b7b7e77662f2d1c61b5b06069
+      value: 5b575500010c51595a5b097b12770b15134f1a797b2d22367b2f4c32e6e3306d
       flags: 0
     RecentlyUsedSceneGuid-1:
-      value: 5452500303515f0a5f5b5a7445775e46401519787c717f677d784860e3b1676c
+      value: 550903565c575c0f0b575a7611775e124e151b7e797f20657e7a1836e7e26d69
       flags: 0
     RecentlyUsedSceneGuid-2:
-      value: 050402550007590a0f565f2714200c44144e492f2f70753175711f66e0b8303c
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       flags: 0
     RecentlyUsedSceneGuid-3:
-      value: 06070c5f5c075c5e5e085476427a0a44474e1c2f7f7a73362f2d4d36b5b1633d
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       flags: 0
     RecentlyUsedSceneGuid-4:
-      value: 0005505f515750595e5f5f23412507441216497f2d7f24367e711c64b6b86c61
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       flags: 0
     RecentlyUsedSceneGuid-5:
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