From 6b28e60e3a8d06c532a391d283e74892b6317158 Mon Sep 17 00:00:00 2001
From: John Alanbrook <john@pockle.world>
Date: Thu, 30 Nov 2023 16:47:59 +0000
Subject: [PATCH] scene graph

---
 scripts/entity.js            |  13 +-
 source/engine/2dphysics.c    |   5 +-
 source/engine/2dphysics.h    |   2 +-
 source/engine/3d/model.c     |   8 +-
 source/engine/3d/model.h     |   7 +-
 source/engine/3d/skybox.c    |   1 -
 source/engine/HandmadeMath.h |  14 +-
 source/engine/camera.c       |  22 ---
 source/engine/camera.h       |  23 ---
 source/engine/freelist.h     |   7 +-
 source/engine/gameobject.c   | 281 +++++------------------------------
 source/engine/gameobject.h   |  83 ++++-------
 source/engine/jsffi.c        |  14 +-
 source/engine/render.c       |   1 -
 source/engine/sound/music.c  |   1 -
 source/engine/sprite.c       |  46 +-----
 source/engine/sprite.h       |   8 +-
 source/engine/transform.c    |  55 +++++--
 source/engine/transform.h    |  37 +++--
 source/engine/yugine.c       |   6 +-
 20 files changed, 191 insertions(+), 443 deletions(-)
 delete mode 100644 source/engine/camera.c
 delete mode 100644 source/engine/camera.h

diff --git a/scripts/entity.js b/scripts/entity.js
index 5a2bf9a..488d60d 100644
--- a/scripts/entity.js
+++ b/scripts/entity.js
@@ -238,6 +238,7 @@ var gameobject = {
     this.level?.remove_obj(this);
     
     this.level = parent;
+    cmd(208,parent,this);
       
     function unique_name(list, obj) {
       var str = obj.toString().replaceAll('.', '_');
@@ -264,7 +265,7 @@ var gameobject = {
      delete this.objects[obj.toString()];
      delete this[obj.toString()];
    },
-  
+
   components: {},
   objects: {},
   level: undefined,
@@ -525,10 +526,11 @@ var gameobject = {
   left() { return [-1,0].rotate(Math.deg2rad(this.angle));},
 
   make(level, data) {
-//    level ??= Primum;
+    level ??= Primum;
     var obj = Object.create(this);
     obj.make = undefined;
-    obj.level = level;
+
+
     if (this.instances)
       this.instances.push(obj);
       
@@ -567,6 +569,8 @@ var gameobject = {
     };
 
     obj.ur = this.toString();
+
+    obj.reparent(level);
     
     cmd(113, obj.body, obj); // set the internal obj reference to this obj
 
@@ -582,9 +586,6 @@ var gameobject = {
     if (this.objects)
       obj.make_objs(this.objects);
 
-    obj.level = undefined;
-    obj.reparent(level);
-
     Object.hide(obj, 'ur','body', 'components', 'objects', '_ed', 'level', 'timers');    
 
     Object.dainty_assign(obj, this);
diff --git a/source/engine/2dphysics.c b/source/engine/2dphysics.c
index 8dd96ad..a7451b9 100644
--- a/source/engine/2dphysics.c
+++ b/source/engine/2dphysics.c
@@ -220,8 +220,7 @@ void phys2d_circledel(struct phys2d_circle *c) {
 }
 
 void phys2d_dbgdrawcpcirc(cpCircleShape *c) {
-  HMM_Mat3 rt = mt_rt(go2t(shape2go(c)));
-  HMM_Vec2 pos = mat_t_pos(rt, (HMM_Vec2)cpCircleShapeGetOffset(c));
+  HMM_Vec2 pos = mat_t_pos(t_go2world(shape2go(c)), (HMM_Vec2)cpCircleShapeGetOffset(c));
   float radius = cpCircleShapeGetRadius(c);
   struct rgba color = shape_color(c);
   float seglen = cpShapeGetSensor(c) ? 5 : -1;
@@ -377,7 +376,7 @@ void phys2d_dbgdrawpoly(struct phys2d_poly *poly) {
   if (arrlen(poly->points) >= 3) {
     int n = cpPolyShapeGetCount(poly->shape.shape);
     HMM_Vec2 points[n];
-    HMM_Mat3 rt = mt_rt(go2t(shape2go(poly->shape.shape)));
+    HMM_Mat3 rt = t_go2world(shape2go(poly->shape.shape));
     for (int i = 0; i < n; i++)
       points[i] = mat_t_pos(rt, (HMM_Vec2)cpPolyShapeGetVert(poly->shape.shape, i));
 
diff --git a/source/engine/2dphysics.h b/source/engine/2dphysics.h
index 7f95744..27d145f 100644
--- a/source/engine/2dphysics.h
+++ b/source/engine/2dphysics.h
@@ -4,6 +4,7 @@
 #include "script.h"
 #include <chipmunk/chipmunk.h>
 #include "render.h"
+#include "transform.h"
 
 struct gameobject;
 
@@ -11,7 +12,6 @@ extern float phys2d_gravity;
 extern int physOn;
 extern cpSpace *space;
 
-
 extern struct rgba color_white;
 extern struct rgba color_black;
 
diff --git a/source/engine/3d/model.c b/source/engine/3d/model.c
index 7863e4f..2af1d90 100644
--- a/source/engine/3d/model.c
+++ b/source/engine/3d/model.c
@@ -48,12 +48,6 @@ struct bone_weights {
   char b4;
 };
 
-struct bone {
-  HMM_Vec3 pos;
-  HMM_Quat rot;
-  HMM_Vec3 scale;
-};
-
 struct mesh_v {
   HMM_Vec3 pos;
   struct uv_n uv;
@@ -345,7 +339,7 @@ void draw_drawmodel(struct drawmodel *dm)
 {
   if (!dm->model) return;
   struct gameobject *go = id2go(dm->go);
-  HMM_Mat4 rst = m4_rst(go2t3(go));
+  HMM_Mat4 rst = t3d_go2world(go);
   draw_model(dm->model, rst);
 }
 
diff --git a/source/engine/3d/model.h b/source/engine/3d/model.h
index 11f575c..78fb72e 100644
--- a/source/engine/3d/model.h
+++ b/source/engine/3d/model.h
@@ -2,7 +2,7 @@
 #define MODEL_H
 
 #include "HandmadeMath.h"
-
+#include "transform.h"
 #include "sokol/sokol_gfx.h"
 
 extern HMM_Vec3 eye;
@@ -26,6 +26,11 @@ struct drawmodel {
   int go;
 };
 
+typedef struct bone {
+  transform3d t;
+  struct bone *children;
+} bone;
+
 /* Get the model at a path, or create and return if it doesn't exist */
 struct model *GetExistingModel(const char *path);
 
diff --git a/source/engine/3d/skybox.c b/source/engine/3d/skybox.c
index 27217d4..8117c62 100644
--- a/source/engine/3d/skybox.c
+++ b/source/engine/3d/skybox.c
@@ -1,6 +1,5 @@
 #include "skybox.h"
 
-#include "camera.h"
 #include "shader.h"
 #include <stdlib.h>
 #include <string.h>
diff --git a/source/engine/HandmadeMath.h b/source/engine/HandmadeMath.h
index 4fd8394..49f418b 100644
--- a/source/engine/HandmadeMath.h
+++ b/source/engine/HandmadeMath.h
@@ -1181,9 +1181,9 @@ static inline HMM_Mat3 HMM_DivM3F(HMM_Mat3 Matrix, float Scalar) {
   return Result;
 }
 
-static inline HMM_Mat3 HMM_ScaleM3(HMM_Vec2 Scale) {
+static inline HMM_Mat2 HMM_ScaleM2(HMM_Vec2 Scale) {
 
-  HMM_Mat3 Result = HMM_M3D(1.0f);
+  HMM_Mat2 Result = HMM_M2D(1.0f);
   Result.Elements[0][0] = Scale.X;
   Result.Elements[1][1] = Scale.Y;
 
@@ -1200,6 +1200,16 @@ static inline float HMM_DeterminantM3(HMM_Mat3 Matrix) {
   return HMM_DotV3(Cross.Columns[2], Matrix.Columns[2]);
 }
 
+static inline HMM_Mat3 HMM_M2BasisPos(HMM_Mat2 basis, HMM_Vec2 pos)
+{
+  HMM_Mat3 m;
+  m.Columns[0].XY = basis.Columns[0];
+  m.Columns[1].XY = basis.Columns[1];
+  m.Columns[2].XY = pos;
+  m.Columns[2].Z = 1;
+  return m;
+}
+
 static inline HMM_Mat3 HMM_InvGeneralM3(HMM_Mat3 Matrix) {
 
   HMM_Mat3 Cross;
diff --git a/source/engine/camera.c b/source/engine/camera.c
deleted file mode 100644
index 714e24e..0000000
--- a/source/engine/camera.c
+++ /dev/null
@@ -1,22 +0,0 @@
-#include "camera.h"
-
-#include "gameobject.h"
-#include "input.h"
-
-const float CAMERA_MINSPEED = 1.f;
-const float CAMERA_MAXSPEED = 300.f;
-const float CAMERA_ROTATESPEED = 6.f;
-
-void cam_goto_object(struct mCamera *cam, struct mTransform *transform) {
-  cam->transform.pos = HMM_SubV3(transform->pos, HMM_MulV3F(trans_forward(transform), 10.0));
-}
-
-void cam_inverse_goto(struct mCamera *cam, struct mTransform *transform) {
-  transform->pos = HMM_AddV3(cam->transform.pos, HMM_MulV3F(trans_forward(&cam->transform), 10.0));
-}
-
-HMM_Mat4 getviewmatrix(const struct mCamera *const camera)
-{
-  HMM_Vec3 lookvec = HMM_AddV3(camera->transform.pos, trans_forward(&camera->transform.rotation));
-  return HMM_LookAt_RH(camera->transform.pos, lookvec, vY);
-}
diff --git a/source/engine/camera.h b/source/engine/camera.h
deleted file mode 100644
index 2f7226e..0000000
--- a/source/engine/camera.h
+++ /dev/null
@@ -1,23 +0,0 @@
-#ifndef CAMERA_H
-#define CAMERA_H
-
-#include "transform.h"
-
-extern const float CAMERA_MINSPEED;
-extern const float CAMERA_MAXSPEED;
-extern const float CAMERA_ROTATESPEED;
-
-struct mCamera {
-  struct mTransform transform;
-  float speed;
-  float speedMult;
-  HMM_Vec3 frame_move;
-};
-
-void camera_2d_update(struct mCamera *camera, float deltaT);
-
-HMM_Mat4 getviewmatrix(const struct mCamera *const camera);
-void cam_goto_object(struct mCamera *cam, struct mTransform *transform);
-void cam_inverse_goto(struct mCamera *cam, struct mTransform *transform);
-
-#endif
diff --git a/source/engine/freelist.h b/source/engine/freelist.h
index 3b8a4b6..ac899a7 100644
--- a/source/engine/freelist.h
+++ b/source/engine/freelist.h
@@ -9,6 +9,7 @@ struct freelistheader
 {
   unsigned int first;
   unsigned int len;
+  unsigned int count;
 };
 
 #define freelist_header(p) ((struct freelistheader*)p-1)
@@ -17,6 +18,7 @@ static inline void *freelist_make(struct freelistheader *list, size_t elemsize,
   list = malloc(elemsize*n*sizeof(struct freelistheader));
   list->first = 0;
   list->len = n;
+  list->count = 0;
   return list+1;
 }
 
@@ -30,9 +32,10 @@ static inline unsigned int freelist_check(struct freelistheader *h, void *data,
 #define freelist_size(p,l) do{p = freelist_make(p,sizeof(*p),l); for(int i = 0; i < l; i++) { p[i].next = i+1; }}while(0)
 #define freelist_len(p) (freelist_header(p)->len)
 #define freelist_first(p) (freelist_header(p)->first)
-#define freelist_grab(i,p) do{i=freelist_header(p)->first; freelist_header(p)->first = p[i].next; p[i].next = -1;}while(0)
-#define freelist_kill(p,i) do{p[i].next = freelist_first(p);freelist_first(p)=i;}while(0)
+#define freelist_grab(i,p) do{i=freelist_header(p)->first; freelist_header(p)->first = p[i].next; p[i].next = -1;freelist_header(p)->count++;}while(0)
+#define freelist_kill(p,i) do{p[i].next = freelist_first(p);freelist_first(p)=i;freelist_header(p)->count--;}while(0)
 #define freelist_free(p) (free(freelist_header(p)))
+#define freelist_count(p) (freelist_header(p)->count)
 
 struct link_header
 {
diff --git a/source/engine/gameobject.c b/source/engine/gameobject.c
index 04c721a..e822f08 100644
--- a/source/engine/gameobject.c
+++ b/source/engine/gameobject.c
@@ -11,20 +11,11 @@
 #include <chipmunk/chipmunk.h>
 #include <string.h>
 #include "debugdraw.h"
+#include "freelist.h"
 
 #include "stb_ds.h"
 
 struct gameobject *gameobjects = NULL;
-static int first = -1;
-
-const int nameBuf[MAXNAME] = {0};
-const int prefabNameBuf[MAXNAME] = {0};
-
-struct gameobject *get_gameobject_from_id(int id) {
-  if (id < 0) return NULL;
-
-  return &gameobjects[id];
-}
 
 struct gameobject *id2go(int id) {
   if (id < 0) return NULL;
@@ -32,9 +23,7 @@ struct gameobject *id2go(int id) {
   return &gameobjects[id];
 }
 
-int body2id(cpBody *body) {
-  return (int)cpBodyGetUserData(body);
-}
+int body2id(cpBody *body) { return (int)cpBodyGetUserData(body); }
 
 cpBody *id2body(int id) {
   struct gameobject *go = id2go(id);
@@ -61,56 +50,15 @@ HMM_Vec2 go2pos(struct gameobject *go)
   return (HMM_Vec2){p.x, p.y};
 }
 
-float go2angle(struct gameobject *go)
-{
-  return cpBodyGetAngle(go->body);
-}
-
-transform2d mat2transform2d(HMM_Mat3 mat)
-{
-  
-}
-
-HMM_Mat3 mt_t(transform2d t)
-{
-  HMM_Mat3 p = HMM_M3D(1);
-  p.Columns[2].X = t.pos.X;
-  p.Columns[2].Y = t.pos.Y;
-  return p;
-}
-
-HMM_Mat3 mt_s(transform2d t)
-{
-  HMM_Mat3 s = HMM_M3D(1);
-  s.Columns[0].X = t.scale.X;
-  s.Columns[1].Y = t.scale.Y;
-  return s;
-}
-
-HMM_Mat3 mt_r(transform2d t)
-{
-  HMM_Mat3 r = HMM_M3D(1);
-  r.Columns[0] = (HMM_Vec3){cos(t.angle), sin(t.angle), 0};
-  r.Columns[1] = (HMM_Vec3){-sin(t.angle), cos(t.angle), 0};
-  return r;
-}
-
-HMM_Mat3 transform2d2mat(transform2d t)
-{
-  return HMM_MulM3(mt_t(t), HMM_MulM3(mt_r(t), mt_s(t)));
-}
-
-transform3d mat2transform3d(HMM_Mat4 mat)
-{
-  
-}
+float go2angle(struct gameobject *go) { return cpBodyGetAngle(go->body); }
 
 transform3d go2t3(gameobject *go)
 {
   transform3d t;
   HMM_Vec2 p = go2pos(go);
+  t.pos.X = p.X;  
   t.pos.Y = p.Y;
-  t.pos.X = p.X;
+  t.pos.Z = go->drawlayer;
   t.scale = go->scale;
   t.scale.Z = go->scale.X;
   t.rotation = HMM_QFromAxisAngle_RH(vFWD, go2angle(go));
@@ -119,105 +67,18 @@ transform3d go2t3(gameobject *go)
   return t;
 }
 
-HMM_Mat4 m4_t(transform3d t)
-{
-  return HMM_Translate(t.pos);
-}
+HMM_Vec2 go2world(struct gameobject *go, HMM_Vec2 pos) { return mat_t_pos(t_go2world(go), pos); }
 
-HMM_Mat4 m4_s(transform3d t)
-{
-  return HMM_Scale(t.scale);
-}
+HMM_Vec2 world2go(struct gameobject *go, HMM_Vec2 pos) { return mat_t_pos(t_world2go(go), pos); }
 
-HMM_Mat4 m4_r(transform3d t)
-{
-  return HMM_QToM4(t.rotation);
-}
+HMM_Vec2 goscale(struct gameobject *go, HMM_Vec2 pos) { return HMM_MulV2(go->scale.XY, pos); }
 
-HMM_Mat4 m4_st(transform3d t)
-{
-  return HMM_MulM4(m4_t(t), m4_s(t));
-}
+HMM_Mat3 t_go2world(struct gameobject *go) { return transform2d2mat(go2t(go)); }
 
-HMM_Mat4 m4_rt(transform3d t)
-{
-  return HMM_MulM4(m4_t(t), m4_r(t));
-}
-
-HMM_Mat4 m4_rst(transform3d t)
-{
-  return HMM_MulM4(m4_st(t), m4_r(t));
-}
-
-HMM_Mat4 transform3d2mat(transform3d t)
-{
-  return m4_rst(t);
-}
-
-HMM_Mat3 mt_rst(transform2d t)
-{
-  return transform2d2mat(t);
-}
-
-HMM_Mat3 mt_st(transform2d t)
-{
-  return HMM_MulM3(mt_t(t), mt_s(t));
-}
-
-HMM_Mat3 mt_rt(transform2d t)
-{
-  return HMM_MulM3(mt_t(t), mt_r(t));
-}
-
-HMM_Vec2 go2world(struct gameobject *go, HMM_Vec2 pos)
-{
-  HMM_Vec2 v = HMM_MulM3V3(t_go2world(go), (HMM_Vec3){pos.X, pos.Y, 1.0}).XY;
-  return v;
-}
-
-HMM_Vec2 world2go(struct gameobject *go, HMM_Vec2 pos)
-{
-  return HMM_MulM3V3(t_world2go(go), (HMM_Vec3){pos.X, pos.Y, 1.0}).XY;
-}
-
-HMM_Vec2 mat_t_pos(HMM_Mat3 m, HMM_Vec2 pos)
-{
-  return HMM_MulM3V3(m, (HMM_Vec3){pos.x, pos.y, 1}).XY;
-}
-
-HMM_Vec2 mat_t_dir(HMM_Mat3 m, HMM_Vec2 dir)
-{
-  m.Columns[2] = (HMM_Vec3){0,0,1};
-  return HMM_MulM3V3(m, (HMM_Vec3){dir.x, dir.y, 1}).XY;
-}
-
-HMM_Vec3 mat3_t_pos(HMM_Mat4 m, HMM_Vec3 pos)
-{
-  return HMM_MulM4V4(m, (HMM_Vec4){pos.X, pos.Y, pos.Z, 1}).XYZ;
-}
-
-HMM_Vec3 mat3_t_dir(HMM_Mat4 m, HMM_Vec3 dir)
-{
-  m.Columns[4] = (HMM_Vec4){0,0,0,1};
-  return mat3_t_pos(m, dir);
-}
-
-
-HMM_Vec2 goscale(struct gameobject *go, HMM_Vec2 pos)
-{
-  return HMM_MulV2(go->scale.XY, pos);
-}
-
-HMM_Mat3 t_go2world(struct gameobject *go)
-{
-  return transform2d2mat(go2t(go));
-}
-
-HMM_Mat3 t_world2go(struct gameobject *go)
-{
-  return HMM_InvGeneralM3(transform2d2mat(go2t(go)));
-}
+HMM_Mat3 t_world2go(struct gameobject *go) { return HMM_InvGeneralM3(t_go2world(go)); }
 
+HMM_Mat4 t3d_go2world(struct gameobject *go) { return transform3d2mat(go2t3(go)); }
+HMM_Mat4 t3d_world2go(struct gameobject *go) { return HMM_InvGeneralM4(t3d_go2world(go)); }
 
 int pos2gameobject(HMM_Vec2 pos) {
   cpShape *hit = phys2d_query_pos(pos.cp);
@@ -237,19 +98,6 @@ int pos2gameobject(HMM_Vec2 pos) {
   return -1;
 }
 
-int id_from_gameobject(struct gameobject *go) {
-  for (int i = 0; i < arrlen(gameobjects); i++) {
-    if (&gameobjects[i] == go) return i;
-  }
-
-  return -1;
-}
-
-void gameobject_set_sensor(int id, int sensor) {
-  id2go(id)->sensor = sensor;
-  gameobject_apply(id2go(id));
-}
-
 transform2d go2t(gameobject *go)
 {
   transform2d t;
@@ -262,17 +110,10 @@ transform2d go2t(gameobject *go)
 }
 
 int go2id(struct gameobject *go) {
-  return id_from_gameobject(go);
-}
+  for (int i = 0; i < arrlen(gameobjects); i++)
+    if (&gameobjects[i] == go) return i;
 
-uint32_t go2category(struct gameobject *go)
-{
-  return 0;
-}
-
-uint32_t go2mask(struct gameobject *go)
-{
-  return 0;
+  return -1;
 }
 
 unsigned int editor_cat = 1<<31;
@@ -324,18 +165,6 @@ void gameobject_apply(struct gameobject *go) {
   }
 }
 
-static void gameobject_setpickcolor(struct gameobject *go) {
-  /*
-      float r = ((go->editor.id & 0x000000FF) >> 0) / 255.f;
-      float g = ((go->editor.id & 0x0000FF00) >> 8) / 255.f;
-      float b = ((go->editor.id & 0x00FF0000) >> 16) / 255.f;
-
-      go->editor.color[0] = r;
-      go->editor.color[1] = g;
-      go->editor.color[2] = b;
-      */
-}
-
 static void velocityFn(cpBody *body, cpVect gravity, cpFloat damping, cpFloat dt)
 {
   struct gameobject *go = id2go((int)cpBodyGetUserData(body));
@@ -367,9 +196,9 @@ int MakeGameobject() {
       .maxangularvelocity = INFINITY,
       .mass = 1.f,
       .next = -1,
-      .sensor = 0,
       .drawlayer = 0,
       .shape_cbs = NULL,
+      .children = NULL,
       .gravity = 1,
       .cgravity = (HMM_Vec2){0,0},
       .damping = NAN,
@@ -383,20 +212,22 @@ int MakeGameobject() {
   go.body = cpSpaceAddBody(space, cpBodyNew(go.mass, 1.f));
   cpBodySetVelocityUpdateFunc(go.body, velocityFn);
 
-  int retid;
+  int id;
+  if (!gameobjects) freelist_size(gameobjects,500);
+  freelist_grab(id, gameobjects);
+  cpBodySetUserData(go.body, (void*)id);
+  phys2d_setup_handlers(id);
+  gameobjects[id] = go;
+  return id;
+}
 
-  if (first < 0) {
-    arrput(gameobjects, go);
-    retid = arrlast(gameobjects).id = arrlen(gameobjects) - 1;
-  } else {
-    retid = first;
-    first = id2go(first)->next;
-    *id2go(retid) = go;
-  }
+void gameobject_traverse(struct gameobject *go, HMM_Mat4 p)
+{
+  HMM_Mat4 local = transform3d2mat(go2t3(go));
+  go->world = HMM_MulM4(local, p);
 
-  cpBodySetUserData(go.body, (void *)retid);
-  phys2d_setup_handlers(retid);
-  return retid;
+  for (int i = 0; i < arrlen(go->children); i++)
+    gameobject_traverse(go->children[i], go->world);
 }
 
 void rm_body_shapes(cpBody *body, cpShape *shape, void *data) {
@@ -423,19 +254,20 @@ void gameobject_clean(int id) {
 
 /* Really more of a "mark for deletion" ... */
 void gameobject_delete(int id) {
-  id2go(id)->next = first;
-  JS_FreeValue(js, id2go(id)->ref);
-  first = id;
+  gameobject *go = id2go(id);
+  JS_FreeValue(js, go->ref);
 
   if (cpSpaceIsLocked(space))
     arrpush(go_toclean, id);
   else
     gameobject_clean(id);
+
+  dag_clip(go);
+  freelist_kill(gameobjects,id);  
 }
 
 void gameobject_free(int id)
 {
-  YughWarn("FREED A GAMEOBJECT!!!");
   if (id >= 0)
     gameobject_delete(id);
 }
@@ -445,15 +277,6 @@ void gameobjects_cleanup() {
     gameobject_clean(go_toclean[i]);
 
   arrsetlen(go_toclean, 0);
-
-  return;
-
-  int clean = first;
-
-  while (clean >= 0 && id2go(clean)->body) {
-    gameobject_clean(clean);
-    clean = id2go(clean)->next;
-  }
 }
 
 void gameobject_move(struct gameobject *go, HMM_Vec2 vec) {
@@ -509,37 +332,3 @@ void gameobject_draw_debugs() {
   for (int i = 0; i < arrlen(gameobjects); i++)
     gameobject_draw_debug(i);
 }
-
-static struct {
-  struct gameobject go;
-  cpVect pos;
-  float angle;
-} *saveobjects = NULL;
-
-void gameobject_saveall() {
-  arrfree(saveobjects);
-  arrsetlen(saveobjects, arrlen(gameobjects));
-
-  for (int i = 0; i < arrlen(gameobjects); i++) {
-    saveobjects[i].go = gameobjects[i];
-    saveobjects[i].pos = cpBodyGetPosition(gameobjects[i].body);
-    saveobjects[i].angle = cpBodyGetAngle(gameobjects[i].body);
-  }
-}
-
-void gameobject_loadall() {
-  YughInfo("N gameobjects: %d, N saved: %d", arrlen(gameobjects), arrlen(saveobjects));
-  for (int i = 0; i < arrlen(saveobjects); i++) {
-    gameobjects[i] = saveobjects[i].go;
-    cpBodySetPosition(gameobjects[i].body, saveobjects[i].pos);
-    cpBodySetAngle(gameobjects[i].body, saveobjects[i].angle);
-    cpBodySetVelocity(gameobjects[i].body, cpvzero);
-    cpBodySetAngularVelocity(gameobjects[i].body, 0.f);
-  }
-
-  arrfree(saveobjects);
-}
-
-int gameobjects_saved() {
-  return arrlen(saveobjects);
-}
diff --git a/source/engine/gameobject.h b/source/engine/gameobject.h
index c5bc471..987223f 100644
--- a/source/engine/gameobject.h
+++ b/source/engine/gameobject.h
@@ -8,39 +8,35 @@
 #include <stdio.h>
 #include "quickjs/quickjs.h"
 #include "HandmadeMath.h"
+#include "transform.h"
+
+#define dag_rm(p,c) do{\
+ for (int i = arrlen(p->children)-1; i--; i >=0) {\
+  if (p->children[i] == c) { \
+  arrdelswap(p->children,i);\
+  c->parent=NULL;\
+  break;\
+}}}while(0)
+
+#define dag_set(p,c) do{\
+  arrpush(p->children,c);\
+  if(c->parent) dag_rm(c->parent,c);\
+  c->parent=p;\
+}while(0)
+
+#define dag_clip(p) do{\
+  if (p->parent)\
+    dag_rm(p->parent,p);\
+}while(0)
 
 struct shader;
 struct sprite;
 struct component;
 
-typedef struct transform2d {
-  HMM_Vec2 pos;
-  HMM_Vec2 scale;
-  double angle;
-} transform2d;
-
-transform2d mat2transform2d(HMM_Mat3 mat);
-HMM_Mat3 transform2d2mat(transform2d t);
-
-typedef struct transform3d {
-  HMM_Vec3 pos;
-  HMM_Vec3 scale;
-  HMM_Quat rotation;
-} transform3d;
-
-transform3d mat2transform3d(HMM_Mat4 mat);
-HMM_Mat4 transform3d2mat(transform3d t);
-HMM_Mat4 m4_t(transform3d t);
-HMM_Mat4 m4_s(transform3d t);
-HMM_Mat4 m4_r(transform3d t);
-HMM_Mat4 m4_rt(transform3d t);
-HMM_Mat4 m4_st(transform3d t);
-HMM_Mat4 m4_rst(transform3d t);
-
 typedef struct gameobject {
   cpBodyType bodytype;
   int next;
-  HMM_Vec3 scale;
+  HMM_Vec3 scale; /* local */
   float mass;
   float f;   /* friction */
   float e;   /* elasticity */
@@ -50,7 +46,6 @@ typedef struct gameobject {
   int gravity;
   HMM_Vec2 cgravity;
   float damping;
-  int sensor;
   unsigned int layer;
   cpShapeFilter filter;
   cpBody *body; /* NULL if this object is dead */
@@ -58,10 +53,12 @@ typedef struct gameobject {
   struct phys_cbs cbs;
   struct shape_cb *shape_cbs;
   JSValue ref;
-  HMM_Mat3 transform;
   struct gameobject *master;
+  HMM_Mat4 world;
   transform2d t; /* The local transformation of this object */
   float drawlayer;
+  struct gameobject *parent;
+  struct gameobject **children;
 } gameobject;
 
 extern struct gameobject *gameobjects;
@@ -72,42 +69,33 @@ void gameobject_delete(int id);
 void gameobject_free(int id);
 void gameobjects_cleanup();
 
-void gameobject_set_sensor(int id, int sensor);
+void gameobject_traverse(struct gameobject *start, HMM_Mat4 p);
 
-HMM_Vec2 go2pos(struct gameobject *go);
-float go2angle(struct gameobject *go);
 transform2d go2t(gameobject *go);
 transform3d go2t3(gameobject *go);
+
 HMM_Vec2 go2world(struct gameobject *go, HMM_Vec2 pos);
 HMM_Vec2 world2go(struct gameobject *go, HMM_Vec2 pos);
 
 HMM_Mat3 t_go2world(struct gameobject *go);
 HMM_Mat3 t_world2go(struct gameobject *go);
+HMM_Mat4 t3d_go2world(struct gameobject *go);
+HMM_Mat4 t3d_world2go(struct gameobject *go);
+
+HMM_Vec2 go2pos(struct gameobject *go);
+float go2angle(struct gameobject *go);
+
 HMM_Vec2 goscale(struct gameobject *go, HMM_Vec2 pos);
 HMM_Vec2 gotpos(struct gameobject *go, HMM_Vec2 pos);
 
 HMM_Mat3 mt_rst(transform2d t);
-HMM_Mat3 mt_st(transform2d t);
-HMM_Mat3 mt_rt(transform2d t);
 
-/* Transform a position via the matrix */
-HMM_Vec2 mat_t_pos(HMM_Mat3 m, HMM_Vec2 pos);
-/* Transform a direction via the matrix - does not take into account translation of matrix */
-HMM_Vec2 mat_t_dir(HMM_Mat3 m, HMM_Vec2 dir);
-
-HMM_Vec3 mat3_t_pos(HMM_Mat4 m, HMM_Vec3 pos);
-HMM_Vec3 mat3_t_dir(HMM_Mat4 m, HMM_Vec3 dir);
-
-struct gameobject *get_gameobject_from_id(int id);
 struct gameobject *id2go(int id);
-int id_from_gameobject(struct gameobject *go);
 int go2id(struct gameobject *go);
 int body2id(cpBody *body);
 cpBody *id2body(int id);
 int shape2gameobject(cpShape *shape);
 struct gameobject *shape2go(cpShape *shape);
-uint32_t go2category(struct gameobject *go);
-uint32_t go2mask(struct gameobject *go);
 
 void go_shape_apply(cpBody *body, cpShape *shape, struct gameobject *go);
 
@@ -121,11 +109,4 @@ void gameobject_setpos(struct gameobject *go, cpVect vec);
 
 void gameobject_draw_debugs();
 void gameobject_draw_debug(int go);
-
-void object_gui(struct gameobject *go);
-
-void gameobject_saveall();
-void gameobject_loadall();
-int gameobjects_saved();
-
 #endif
diff --git a/source/engine/jsffi.c b/source/engine/jsffi.c
index 2ef1cd4..0d6e460 100644
--- a/source/engine/jsffi.c
+++ b/source/engine/jsffi.c
@@ -360,7 +360,11 @@ int js_print_exception(JSValue v)
 
 JSValue duk_gui_img(JSContext *js, JSValueConst this, int argc, JSValueConst *argv) {
   const char *img = JS_ToCString(js, argv[0]);
-  gui_draw_img(img, js2vec2(argv[1]), js2vec2(argv[2]), js2number(argv[3]), js2bool(argv[4]), js2vec2(argv[5]), 1.0, js2color(argv[6]));
+  transform2d t;
+  t.pos = js2vec2(argv[1]);
+  t.scale = js2vec2(argv[2]);
+  t.angle = js2number(argv[3]);
+  gui_draw_img(img, t, js2bool(argv[4]), js2vec2(argv[5]), 1.0, js2color(argv[6]));
   JS_FreeCString(js, img);
   return JS_UNDEFINED;
 }
@@ -684,7 +688,7 @@ JSValue duk_cmd(JSContext *js, JSValueConst this, int argc, JSValueConst *argv)
 
   case 37:
     if (!id2sprite(js2int(argv[1]))) break;
-    id2sprite(js2int(argv[1]))->pos = js2vec2(argv[2]);
+    id2sprite(js2int(argv[1]))->t.pos = js2vec2(argv[2]);
     break;
 
   case 38:
@@ -821,7 +825,6 @@ JSValue duk_cmd(JSContext *js, JSValueConst this, int argc, JSValueConst *argv)
     break;
 
   case 69:
-    gameobject_set_sensor(js2go(argv[1]), JS_ToBool(js, argv[2]));
     break;
 
   case 70:
@@ -995,7 +998,7 @@ JSValue duk_cmd(JSContext *js, JSValueConst this, int argc, JSValueConst *argv)
     break;
 
     case 111:
-      ret = vec2js(js2sprite(argv[1])->pos);
+      ret = vec2js(js2sprite(argv[1])->t.pos);
       break;
 
     case 112:
@@ -1345,6 +1348,9 @@ JSValue duk_cmd(JSContext *js, JSValueConst this, int argc, JSValueConst *argv)
     case 207:
       ret = dsp_node2js(dsp_fwd_delay(js2number(argv[1]), js2number(argv[2])));
       break;
+    case 208:
+      dag_set(js2go(argv[1]), js2go(argv[2]));
+      break;
   }
 
   if (str)
diff --git a/source/engine/render.c b/source/engine/render.c
index 8514bd7..8201886 100644
--- a/source/engine/render.c
+++ b/source/engine/render.c
@@ -1,6 +1,5 @@
 #include "render.h"
 
-#include "camera.h"
 #include "config.h"
 #include "datastream.h"
 #include "debugdraw.h"
diff --git a/source/engine/sound/music.c b/source/engine/sound/music.c
index 9ec0848..c8ed15a 100644
--- a/source/engine/sound/music.c
+++ b/source/engine/sound/music.c
@@ -89,7 +89,6 @@ dsp_node *dsp_midi(const char *midi, tsf *sf)
   ms->time = 0.0;
   ms->midi = tml_load_memory(raw, rawlen);
   ms->sf = tsf_copy(sf);
-  free(midi);
   return make_node(ms, dsp_midi_fillbuf, dsp_midi_free);
 }
 
diff --git a/source/engine/sprite.c b/source/engine/sprite.c
index 9ecbbce..797035b 100644
--- a/source/engine/sprite.c
+++ b/source/engine/sprite.c
@@ -53,11 +53,10 @@ struct slice9_vert {
 };
 
 int make_sprite(int go) {
-  YughWarn("Attaching sprite to gameobject %d", go);
   struct sprite sprite = {
+    .t = t2d_unit,
       .color = color_white,
       .emissive = {0,0,0,0},
-      .size = {1.f, 1.f},
       .tex = texture_loadfromfile(NULL),
       .go = go,
       .layer = 0,
@@ -77,9 +76,7 @@ void sprite_delete(int id) {
   freelist_kill(sprites,id);
 }
 
-void sprite_enabled(int id, int e) {
-  sprites[id].enabled = e;
-}
+void sprite_enabled(int id, int e) { sprites[id].enabled = e; }
 
 struct sprite *id2sprite(int id) {
   if (id < 0) return NULL;
@@ -246,7 +243,6 @@ void tex_draw(struct Texture *tex, HMM_Mat3 m, struct glrect r, struct rgba colo
   }
 
   bind_sprite.fs.images[0] = tex->id;
-//  YughWarn("Draw sprite %s at %g, %g", tex_get_path(tex), sposes[0].X, sposes[0].Y);
 
   sg_append_buffer(bind_sprite.vertex_buffers[0], SG_RANGE_REF(verts));
   sg_apply_bindings(&bind_sprite);
@@ -259,14 +255,13 @@ void sprite_draw(struct sprite *sprite) {
   struct gameobject *go = id2go(sprite->go);
 
   if (sprite->tex) {
-    transform2d t = go2t(id2go(sprite->go));
-    HMM_Mat3 m = transform2d2mat(t);
+    HMM_Mat3 m = t_go2world(go);
 
     HMM_Mat3 ss = HMM_M3D(1);
-    ss.Columns[0].X = sprite->size.X * sprite->tex->width * st_s_w(sprite->frame);
-    ss.Columns[1].Y = sprite->size.Y * sprite->tex->height * st_s_h(sprite->frame);
+    ss.Columns[0].X = sprite->t.scale.X * sprite->tex->width * st_s_w(sprite->frame);
+    ss.Columns[1].Y = sprite->t.scale.Y * sprite->tex->height * st_s_h(sprite->frame);
     HMM_Mat3 ts = HMM_M3D(1);
-    ts.Columns[2] = (HMM_Vec3){sprite->pos.X, sprite->pos.Y, 1};
+    ts.Columns[2] = (HMM_Vec3){sprite->t.pos.X, sprite->t.pos.Y, 1};
 
     HMM_Mat3 sm = HMM_MulM3(ss, ts);
     m = HMM_MulM3(m, sm);
@@ -280,14 +275,10 @@ void sprite_setanim(struct sprite *sprite, struct TexAnim *anim, int frame) {
   sprite->frame = anim->st_frames[frame];
 }
 
-void gui_draw_img(const char *img, HMM_Vec2 pos, HMM_Vec2 scale, float angle, int wrap, HMM_Vec2 wrapoffset, float wrapscale, struct rgba color) {
+void gui_draw_img(const char *img, transform2d t, int wrap, HMM_Vec2 wrapoffset, float wrapscale, struct rgba color) {
   sg_apply_pipeline(pip_sprite);
   sg_apply_uniforms(SG_SHADERSTAGE_VS, 0, SG_RANGE_REF(hudproj));
   struct Texture *tex = texture_loadfromfile(img);
-  transform2d t;
-  t.pos = pos;
-  t.angle = angle;
-  t.scale = scale;
   tex_draw(tex, transform2d2mat(t), tex_get_rect(tex), color, wrap, wrapoffset, wrapscale, (struct rgba){0,0,0,0});
 }
 
@@ -335,26 +326,3 @@ void slice9_draw(const char *img, HMM_Vec2 pos, HMM_Vec2 dimensions, struct rgba
 void sprite_setframe(struct sprite *sprite, struct glrect *frame) {
   sprite->frame = *frame;
 }
-void video_draw(struct datastream *ds, HMM_Vec2 pos, HMM_Vec2 size, float rotate, struct rgba color)
-{
-//  shader_use(vid_shader);
-/*
-  static mfloat_t model[16];
-  memcpy(model, UNITMAT4, sizeof(UNITMAT4));
-  mat4_translate_vec2(model, position);
-  mat4_scale_vec2(model, size);
-*/
-//  shader_setmat4(vid_shader, "model", model);
-//  shader_setvec3(vid_shader, "spriteColor", color);
-  /*
-      glActiveTexture(GL_TEXTURE0);
-      glBindTexture(GL_TEXTURE_2D, stream->texture_y);
-      glActiveTexture(GL_TEXTURE1);
-      glBindTexture(GL_TEXTURE_2D, stream->texture_cb);
-      glActiveTexture(GL_TEXTURE2);
-      glBindTexture(GL_TEXTURE_2D, stream->texture_cr);
-
-      // TODO: video bind VAO
-      glDrawArrays(GL_TRIANGLE_STRIP, 0, 4);
-  */
-}
diff --git a/source/engine/sprite.h b/source/engine/sprite.h
index 24455b0..c595f2c 100644
--- a/source/engine/sprite.h
+++ b/source/engine/sprite.h
@@ -6,14 +6,13 @@
 #include "texture.h"
 #include "HandmadeMath.h"
 #include "render.h"
+#include "transform.h"
 
 struct datastream;
 struct gameobject;
 
 struct sprite {
-  HMM_Vec2 pos;
-  HMM_Vec2 size;
-  float rotation;
+  transform2d t;
   struct rgba color;
   struct rgba emissive;
   int go; /* id of gameobject */
@@ -35,11 +34,10 @@ void sprite_setanim(struct sprite *sprite, struct TexAnim *anim, int frame);
 void sprite_setframe(struct sprite *sprite, struct glrect *frame);
 void sprite_initialize();
 void sprite_draw(struct sprite *sprite);
-void video_draw(struct datastream *ds, HMM_Vec2 pos, HMM_Vec2 size, float rotate, struct rgba color);
 void sprite_draw_all();
 unsigned int incrementAnimFrame(unsigned int interval, struct sprite *sprite);
 void sprite_flush();
 
-void gui_draw_img(const char *img, HMM_Vec2 pos, HMM_Vec2 scale, float angle, int wrap, HMM_Vec2 wrapoffset, float wrapscale, struct rgba color);
+void gui_draw_img(const char *img, transform2d t, int wrap, HMM_Vec2 wrapoffset, float wrapscale, struct rgba color);
 
 #endif
diff --git a/source/engine/transform.c b/source/engine/transform.c
index 4cb9594..47abd1e 100644
--- a/source/engine/transform.c
+++ b/source/engine/transform.c
@@ -1,42 +1,67 @@
 #include "transform.h"
 #include <string.h>
 
-struct mTransform MakeTransform(HMM_Vec3 pos, HMM_Quat rotation, float scale)
-{
-  struct mTransform newT = {
-    .pos = pos,
-    .rotation = rotation,
-    .scale = scale
-  };
-  return newT;
-}
+const transform2d t2d_unit = {
+  .pos = {0,0},
+  .scale = {1,1},
+  .angle = 0
+};
 
-HMM_Vec3 trans_forward(const struct mTransform *const trans)
+HMM_Vec3 trans_forward(const transform3d *const trans)
 {
   return HMM_QVRot(vFWD, trans->rotation);
 }
 
-HMM_Vec3 trans_back(const struct mTransform *trans)
+HMM_Vec3 trans_back(const transform3d *trans)
 {
   return HMM_QVRot(vBKWD, trans->rotation);
 }
 
-HMM_Vec3 trans_up(const struct mTransform *trans)
+HMM_Vec3 trans_up(const transform3d *trans)
 {
   return HMM_QVRot(vUP, trans->rotation);
 }
 
-HMM_Vec3 trans_down(const struct mTransform *trans)
+HMM_Vec3 trans_down(const transform3d *trans)
 {
   return HMM_QVRot(vDOWN, trans->rotation);
 }
 
-HMM_Vec3 trans_right(const struct mTransform *trans)
+HMM_Vec3 trans_right(const transform3d *trans)
 {
   return HMM_QVRot(vRIGHT, trans->rotation);
 }
 
-HMM_Vec3 trans_left(const struct mTransform *trans)
+HMM_Vec3 trans_left(const transform3d *trans)
 {
   return HMM_QVRot(vLEFT, trans->rotation);
 }
+
+HMM_Vec2 mat_t_pos(HMM_Mat3 m, HMM_Vec2 pos)
+{
+  return HMM_MulM3V3(m, (HMM_Vec3){pos.x, pos.y, 0}).XY;
+}
+
+HMM_Vec2 mat_t_dir(HMM_Mat3 m, HMM_Vec2 dir)
+{
+  m.Columns[2] = (HMM_Vec3){0,0,1};
+  return HMM_MulM3V3(m, (HMM_Vec3){dir.x, dir.y, 1}).XY;
+}
+
+HMM_Vec3 mat3_t_pos(HMM_Mat4 m, HMM_Vec3 pos)
+{
+  return HMM_MulM4V4(m, (HMM_Vec4){pos.X, pos.Y, pos.Z, 1}).XYZ;
+}
+
+HMM_Vec3 mat3_t_dir(HMM_Mat4 m, HMM_Vec3 dir)
+{
+  m.Columns[4] = (HMM_Vec4){0,0,0,1};
+  return mat3_t_pos(m, dir);
+}
+
+HMM_Mat3 transform2d2mat(transform2d t) {
+  HMM_Mat2 m = HMM_MulM2(HMM_RotateM2(t.angle), HMM_ScaleM2(t.scale));
+  return HMM_M2BasisPos(m, t.pos);
+}
+  
+HMM_Mat4 transform3d2mat(transform3d t) { return HMM_MulM4(HMM_Translate(t.pos), HMM_MulM4(HMM_QToM4(t.rotation), HMM_Scale(t.scale))); }
diff --git a/source/engine/transform.h b/source/engine/transform.h
index 0e4ff4a..68b42fd 100644
--- a/source/engine/transform.h
+++ b/source/engine/transform.h
@@ -3,23 +3,36 @@
 
 #include "HandmadeMath.h"
 
-struct mTransform {
+typedef struct {
     HMM_Vec3 pos;
+    HMM_Vec3 scale;
     HMM_Quat rotation;
-    float scale;
-};
+} transform3d;
 
+typedef struct {
+  HMM_Vec2 pos;
+  HMM_Vec2 scale;
+  float angle;
+} transform2d;
 
-struct mTransform MakeTransform(HMM_Vec3 pos, HMM_Quat rotation, float scale);
+extern const transform2d t2d_unit;
 
-HMM_Vec3 trans_forward(const struct mTransform *const trans);
-HMM_Vec3 trans_back(const struct mTransform *trans);
-HMM_Vec3 trans_up(const struct mTransform *trans);
-HMM_Vec3 trans_down(const struct mTransform *trans);
-HMM_Vec3 trans_right(const struct mTransform *trans);
-HMM_Vec3 trans_left(const struct mTransform *trans);
-void trans_drawgui(struct mTransform *T);
+HMM_Vec3 trans_forward(const transform3d *const trans);
+HMM_Vec3 trans_back(const transform3d *trans);
+HMM_Vec3 trans_up(const transform3d *trans);
+HMM_Vec3 trans_down(const transform3d *trans);
+HMM_Vec3 trans_right(const transform3d *trans);
+HMM_Vec3 trans_left(const transform3d *trans);
 
-//extern Serialize *make_transform();
+/* Transform a position via the matrix */
+HMM_Vec2 mat_t_pos(HMM_Mat3 m, HMM_Vec2 pos);
+/* Transform a direction via the matrix - does not take into account translation of matrix */
+HMM_Vec2 mat_t_dir(HMM_Mat3 m, HMM_Vec2 dir);
+
+HMM_Vec3 mat3_t_pos(HMM_Mat4 m, HMM_Vec3 pos);
+HMM_Vec3 mat3_t_dir(HMM_Mat4 m, HMM_Vec3 dir);
+
+HMM_Mat3 transform2d2mat(transform2d t);
+HMM_Mat4 transform3d2mat(transform3d t);
 
 #endif
diff --git a/source/engine/yugine.c b/source/engine/yugine.c
index 8bd7262..01788f9 100644
--- a/source/engine/yugine.c
+++ b/source/engine/yugine.c
@@ -1,5 +1,4 @@
 #include "yugine.h"
-#include "camera.h"
 #include "font.h"
 #include "gameobject.h"
 #include "input.h"
@@ -169,6 +168,11 @@ static void process_frame()
     /* Timers all update every frame - once per monitor refresh */
     timer_update(elapsed, timescale);
 
+  /* Update at a high level::
+   * Update scene graph
+   *
+  */
+
   if (sim_play == SIM_PLAY || sim_play == SIM_STEP) {
     if (stm_sec(stm_diff(frame_t, updatelast)) > updateMS) {
       double dt = stm_sec(stm_diff(frame_t, updatelast));