diff --git a/engine/CMakeLists.txt b/engine/CMakeLists.txt
index aae1e58e2..e7ddbcc1e 100644
--- a/engine/CMakeLists.txt
+++ b/engine/CMakeLists.txt
@@ -152,7 +152,7 @@ set_source_files_properties(src/toast/debugger.cpp PROPERTIES SKIP_UNITY_BUILD_I
 file(GLOB _TOAST_PROTO_SOURCES "generated/*.pb.cc")
 set_source_files_properties(${_TOAST_PROTO_SOURCES} PROPERTIES SKIP_UNITY_BUILD_INCLUSION ON)
 # OFF for clang-tidy since unity TUs leave compile_commands.json without per file entries
-option(TOAST_UNITY_BUILD "Merge engine sources into unity translation units" ON)
+option(TOAST_UNITY_BUILD "Merge engine sources into unity translation units" OFF)
 if (TOAST_UNITY_BUILD)
     set_target_properties(toast_engine PROPERTIES UNITY_BUILD ON UNITY_BUILD_BATCH_SIZE 8)
 endif ()
diff --git a/engine/assets/textures/AABB.ktx2 b/engine/assets/textures/AABB.ktx2
new file mode 100644
index 000000000..404ad5712
Binary files /dev/null and b/engine/assets/textures/AABB.ktx2 differ
diff --git a/engine/assets/textures/AABB.ktx2.meta b/engine/assets/textures/AABB.ktx2.meta
new file mode 100644
index 000000000..8c6e521e4
--- /dev/null
+++ b/engine/assets/textures/AABB.ktx2.meta
@@ -0,0 +1,4 @@
+uid = "hI3aupwsoSA"
+type = "texture"
+created_at = "2026-10-31T10:28:00.0000000Z"
+modified_at = "2026-10-31T10:28:00.0000000Z"
diff --git a/engine/assets/textures/AimModifier.ktx2 b/engine/assets/textures/AimModifier.ktx2
new file mode 100644
index 000000000..380940c6b
Binary files /dev/null and b/engine/assets/textures/AimModifier.ktx2 differ
diff --git a/engine/assets/textures/AimModifier.ktx2.meta b/engine/assets/textures/AimModifier.ktx2.meta
new file mode 100644
index 000000000..d69d8490a
--- /dev/null
+++ b/engine/assets/textures/AimModifier.ktx2.meta
@@ -0,0 +1,4 @@
+uid = "ALz-iJ6F9yE"
+type = "texture"
+created_at = "2026-10-31T10:28:00.0000000Z"
+modified_at = "2026-10-31T10:28:00.0000000Z"
diff --git a/engine/assets/textures/Anchor.ktx2 b/engine/assets/textures/Anchor.ktx2
new file mode 100644
index 000000000..6c80c4168
Binary files /dev/null and b/engine/assets/textures/Anchor.ktx2 differ
diff --git a/engine/assets/textures/Anchor.ktx2.meta b/engine/assets/textures/Anchor.ktx2.meta
new file mode 100644
index 000000000..6e79aa14c
--- /dev/null
+++ b/engine/assets/textures/Anchor.ktx2.meta
@@ -0,0 +1,4 @@
+uid = "97yBbN-U0Vk"
+type = "texture"
+created_at = "2026-10-31T10:28:00.0000000Z"
+modified_at = "2026-10-31T10:28:00.0000000Z"
diff --git a/engine/assets/textures/AnimatableBody.ktx2 b/engine/assets/textures/AnimatableBody.ktx2
new file mode 100644
index 000000000..9fffe89c7
Binary files /dev/null and b/engine/assets/textures/AnimatableBody.ktx2 differ
diff --git a/engine/assets/textures/AnimatableBody.ktx2.meta b/engine/assets/textures/AnimatableBody.ktx2.meta
new file mode 100644
index 000000000..9c2c6c238
--- /dev/null
+++ b/engine/assets/textures/AnimatableBody.ktx2.meta
@@ -0,0 +1,4 @@
+uid = "wSrS5j2MLzc"
+type = "texture"
+created_at = "2026-10-31T10:28:00.0000000Z"
+modified_at = "2026-10-31T10:28:00.0000000Z"
diff --git a/engine/assets/textures/AnimatedSprite.ktx2 b/engine/assets/textures/AnimatedSprite.ktx2
new file mode 100644
index 000000000..1607b2dde
Binary files /dev/null and b/engine/assets/textures/AnimatedSprite.ktx2 differ
diff --git a/engine/assets/textures/AnimatedSprite.ktx2.meta b/engine/assets/textures/AnimatedSprite.ktx2.meta
new file mode 100644
index 000000000..79d420ce7
--- /dev/null
+++ b/engine/assets/textures/AnimatedSprite.ktx2.meta
@@ -0,0 +1,4 @@
+uid = "gbs1Rpeavq0"
+type = "texture"
+created_at = "2026-10-31T10:28:00.0000000Z"
+modified_at = "2026-10-31T10:28:00.0000000Z"
diff --git a/engine/assets/textures/AnimatedTexture.ktx2 b/engine/assets/textures/AnimatedTexture.ktx2
new file mode 100644
index 000000000..ec8921e1b
Binary files /dev/null and b/engine/assets/textures/AnimatedTexture.ktx2 differ
diff --git a/engine/assets/textures/AnimatedTexture.ktx2.meta b/engine/assets/textures/AnimatedTexture.ktx2.meta
new file mode 100644
index 000000000..5d26d9135
--- /dev/null
+++ b/engine/assets/textures/AnimatedTexture.ktx2.meta
@@ -0,0 +1,4 @@
+uid = "Im8gfO_qecQ"
+type = "texture"
+created_at = "2026-10-31T10:28:00.0000000Z"
+modified_at = "2026-10-31T10:28:00.0000000Z"
diff --git a/engine/assets/textures/Animation.ktx2 b/engine/assets/textures/Animation.ktx2
new file mode 100644
index 000000000..6e9a57de5
Binary files /dev/null and b/engine/assets/textures/Animation.ktx2 differ
diff --git a/engine/assets/textures/Animation.ktx2.meta b/engine/assets/textures/Animation.ktx2.meta
new file mode 100644
index 000000000..a4566a870
--- /dev/null
+++ b/engine/assets/textures/Animation.ktx2.meta
@@ -0,0 +1,4 @@
+uid = "XFtUVxMxH6I"
+type = "texture"
+created_at = "2026-10-31T10:28:00.0000000Z"
+modified_at = "2026-10-31T10:28:00.0000000Z"
diff --git a/engine/assets/textures/AnimationTreeDock.ktx2 b/engine/assets/textures/AnimationTreeDock.ktx2
new file mode 100644
index 000000000..7cc3e1e8d
Binary files /dev/null and b/engine/assets/textures/AnimationTreeDock.ktx2 differ
diff --git a/engine/assets/textures/AnimationTreeDock.ktx2.meta b/engine/assets/textures/AnimationTreeDock.ktx2.meta
new file mode 100644
index 000000000..3a9a58934
--- /dev/null
+++ b/engine/assets/textures/AnimationTreeDock.ktx2.meta
@@ -0,0 +1,4 @@
+uid = "pCgoGVRtb8c"
+type = "texture"
+created_at = "2026-10-31T10:28:00.0000000Z"
+modified_at = "2026-10-31T10:28:00.0000000Z"
diff --git a/engine/assets/textures/Area.ktx2 b/engine/assets/textures/Area.ktx2
new file mode 100644
index 000000000..5e955040c
Binary files /dev/null and b/engine/assets/textures/Area.ktx2 differ
diff --git a/engine/assets/textures/Area.ktx2.meta b/engine/assets/textures/Area.ktx2.meta
new file mode 100644
index 000000000..75e8b7483
--- /dev/null
+++ b/engine/assets/textures/Area.ktx2.meta
@@ -0,0 +1,4 @@
+uid = "waW6l_d0o-Q"
+type = "texture"
+created_at = "2026-10-31T10:28:00.0000000Z"
+modified_at = "2026-10-31T10:28:00.0000000Z"
diff --git a/engine/assets/textures/AreaLight.ktx2 b/engine/assets/textures/AreaLight.ktx2
new file mode 100644
index 000000000..13e81b72f
Binary files /dev/null and b/engine/assets/textures/AreaLight.ktx2 differ
diff --git a/engine/assets/textures/AreaLight.ktx2.meta b/engine/assets/textures/AreaLight.ktx2.meta
new file mode 100644
index 000000000..21ad5e53e
--- /dev/null
+++ b/engine/assets/textures/AreaLight.ktx2.meta
@@ -0,0 +1,4 @@
+uid = "zq2rUSFDVAw"
+type = "texture"
+created_at = "2026-10-31T10:28:00.0000000Z"
+modified_at = "2026-10-31T10:28:00.0000000Z"
diff --git a/engine/assets/textures/ArrayMesh.ktx2 b/engine/assets/textures/ArrayMesh.ktx2
new file mode 100644
index 000000000..0a3043ca5
Binary files /dev/null and b/engine/assets/textures/ArrayMesh.ktx2 differ
diff --git a/engine/assets/textures/ArrayMesh.ktx2.meta b/engine/assets/textures/ArrayMesh.ktx2.meta
new file mode 100644
index 000000000..4dd768bfd
--- /dev/null
+++ b/engine/assets/textures/ArrayMesh.ktx2.meta
@@ -0,0 +1,4 @@
+uid = "He_ypNsSEKQ"
+type = "texture"
+created_at = "2026-10-31T10:28:00.0000000Z"
+modified_at = "2026-10-31T10:28:00.0000000Z"
diff --git a/engine/assets/textures/ArrayOccluder.ktx2 b/engine/assets/textures/ArrayOccluder.ktx2
new file mode 100644
index 000000000..c18f858af
Binary files /dev/null and b/engine/assets/textures/ArrayOccluder.ktx2 differ
diff --git a/engine/assets/textures/ArrayOccluder.ktx2.meta b/engine/assets/textures/ArrayOccluder.ktx2.meta
new file mode 100644
index 000000000..3a15f3c58
--- /dev/null
+++ b/engine/assets/textures/ArrayOccluder.ktx2.meta
@@ -0,0 +1,4 @@
+uid = "uZpCeULEgMA"
+type = "texture"
+created_at = "2026-10-31T10:28:00.0000000Z"
+modified_at = "2026-10-31T10:28:00.0000000Z"
diff --git a/engine/assets/textures/AspectRatioContainer.ktx2 b/engine/assets/textures/AspectRatioContainer.ktx2
new file mode 100644
index 000000000..4584a830d
Binary files /dev/null and b/engine/assets/textures/AspectRatioContainer.ktx2 differ
diff --git a/engine/assets/textures/AspectRatioContainer.ktx2.meta b/engine/assets/textures/AspectRatioContainer.ktx2.meta
new file mode 100644
index 000000000..36df0be70
--- /dev/null
+++ b/engine/assets/textures/AspectRatioContainer.ktx2.meta
@@ -0,0 +1,4 @@
+uid = "OPQyo9-3_DM"
+type = "texture"
+created_at = "2026-10-31T10:28:00.0000000Z"
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diff --git a/engine/assets/textures/AtlasTexture.ktx2 b/engine/assets/textures/AtlasTexture.ktx2
new file mode 100644
index 000000000..83799db9c
Binary files /dev/null and b/engine/assets/textures/AtlasTexture.ktx2 differ
diff --git a/engine/assets/textures/AtlasTexture.ktx2.meta b/engine/assets/textures/AtlasTexture.ktx2.meta
new file mode 100644
index 000000000..23b8e6fa1
--- /dev/null
+++ b/engine/assets/textures/AtlasTexture.ktx2.meta
@@ -0,0 +1,4 @@
+uid = "zxsceD-jbLo"
+type = "texture"
+created_at = "2026-10-31T10:28:00.0000000Z"
+modified_at = "2026-10-31T10:28:00.0000000Z"
diff --git a/engine/assets/textures/AudioBusLayout.ktx2 b/engine/assets/textures/AudioBusLayout.ktx2
new file mode 100644
index 000000000..abe816244
Binary files /dev/null and b/engine/assets/textures/AudioBusLayout.ktx2 differ
diff --git a/engine/assets/textures/AudioBusLayout.ktx2.meta b/engine/assets/textures/AudioBusLayout.ktx2.meta
new file mode 100644
index 000000000..4298ad9bd
--- /dev/null
+++ b/engine/assets/textures/AudioBusLayout.ktx2.meta
@@ -0,0 +1,4 @@
+uid = "G6BzyWQyI7A"
+type = "texture"
+created_at = "2026-10-31T10:28:00.0000000Z"
+modified_at = "2026-10-31T10:28:00.0000000Z"
diff --git a/engine/assets/textures/AudioListener.ktx2 b/engine/assets/textures/AudioListener.ktx2
new file mode 100644
index 000000000..986bcf4f3
Binary files /dev/null and b/engine/assets/textures/AudioListener.ktx2 differ
diff --git a/engine/assets/textures/AudioListener.ktx2.meta b/engine/assets/textures/AudioListener.ktx2.meta
new file mode 100644
index 000000000..2c32be504
--- /dev/null
+++ b/engine/assets/textures/AudioListener.ktx2.meta
@@ -0,0 +1,4 @@
+uid = "GEkraOq8KaI"
+type = "texture"
+created_at = "2026-10-31T10:28:00.0000000Z"
+modified_at = "2026-10-31T10:28:00.0000000Z"
diff --git a/engine/assets/textures/AudioStream.ktx2 b/engine/assets/textures/AudioStream.ktx2
new file mode 100644
index 000000000..bac9f443c
Binary files /dev/null and b/engine/assets/textures/AudioStream.ktx2 differ
diff --git a/engine/assets/textures/AudioStream.ktx2.meta b/engine/assets/textures/AudioStream.ktx2.meta
new file mode 100644
index 000000000..f777f9b8b
--- /dev/null
+++ b/engine/assets/textures/AudioStream.ktx2.meta
@@ -0,0 +1,4 @@
+uid = "ATA8NBxPbKM"
+type = "texture"
+created_at = "2026-10-31T10:28:01.0000000Z"
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diff --git a/engine/assets/textures/AudioStreamGenerator.ktx2 b/engine/assets/textures/AudioStreamGenerator.ktx2
new file mode 100644
index 000000000..ab69ea783
Binary files /dev/null and b/engine/assets/textures/AudioStreamGenerator.ktx2 differ
diff --git a/engine/assets/textures/AudioStreamGenerator.ktx2.meta b/engine/assets/textures/AudioStreamGenerator.ktx2.meta
new file mode 100644
index 000000000..c4f8e96dd
--- /dev/null
+++ b/engine/assets/textures/AudioStreamGenerator.ktx2.meta
@@ -0,0 +1,4 @@
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+type = "texture"
+created_at = "2026-10-31T10:28:01.0000000Z"
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diff --git a/engine/assets/textures/AudioStreamMP3.ktx2 b/engine/assets/textures/AudioStreamMP3.ktx2
new file mode 100644
index 000000000..1e06cba52
Binary files /dev/null and b/engine/assets/textures/AudioStreamMP3.ktx2 differ
diff --git a/engine/assets/textures/AudioStreamMP3.ktx2.meta b/engine/assets/textures/AudioStreamMP3.ktx2.meta
new file mode 100644
index 000000000..e3e4ffcd6
--- /dev/null
+++ b/engine/assets/textures/AudioStreamMP3.ktx2.meta
@@ -0,0 +1,4 @@
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+created_at = "2026-10-31T10:28:01.0000000Z"
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diff --git a/engine/assets/textures/AudioStreamMicrophone.ktx2 b/engine/assets/textures/AudioStreamMicrophone.ktx2
new file mode 100644
index 000000000..eb1bd876c
Binary files /dev/null and b/engine/assets/textures/AudioStreamMicrophone.ktx2 differ
diff --git a/engine/assets/textures/AudioStreamMicrophone.ktx2.meta b/engine/assets/textures/AudioStreamMicrophone.ktx2.meta
new file mode 100644
index 000000000..fe01f16e1
--- /dev/null
+++ b/engine/assets/textures/AudioStreamMicrophone.ktx2.meta
@@ -0,0 +1,4 @@
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+created_at = "2026-10-31T10:28:01.0000000Z"
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diff --git a/engine/assets/textures/AudioStreamPlayer.ktx2 b/engine/assets/textures/AudioStreamPlayer.ktx2
new file mode 100644
index 000000000..38c398745
Binary files /dev/null and b/engine/assets/textures/AudioStreamPlayer.ktx2 differ
diff --git a/engine/assets/textures/AudioStreamPlayer.ktx2.meta b/engine/assets/textures/AudioStreamPlayer.ktx2.meta
new file mode 100644
index 000000000..b5c8ef8ab
--- /dev/null
+++ b/engine/assets/textures/AudioStreamPlayer.ktx2.meta
@@ -0,0 +1,4 @@
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+type = "texture"
+created_at = "2026-10-31T10:28:01.0000000Z"
+modified_at = "2026-10-31T10:28:01.0000000Z"
diff --git a/engine/assets/textures/AudioStreamPolyphonic.ktx2 b/engine/assets/textures/AudioStreamPolyphonic.ktx2
new file mode 100644
index 000000000..1063ba1bc
Binary files /dev/null and b/engine/assets/textures/AudioStreamPolyphonic.ktx2 differ
diff --git a/engine/assets/textures/AudioStreamPolyphonic.ktx2.meta b/engine/assets/textures/AudioStreamPolyphonic.ktx2.meta
new file mode 100644
index 000000000..57cda69dd
--- /dev/null
+++ b/engine/assets/textures/AudioStreamPolyphonic.ktx2.meta
@@ -0,0 +1,4 @@
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diff --git a/engine/assets/textures/AudioStreamRandomizer.ktx2 b/engine/assets/textures/AudioStreamRandomizer.ktx2
new file mode 100644
index 000000000..5396ce797
Binary files /dev/null and b/engine/assets/textures/AudioStreamRandomizer.ktx2 differ
diff --git a/engine/assets/textures/AudioStreamRandomizer.ktx2.meta b/engine/assets/textures/AudioStreamRandomizer.ktx2.meta
new file mode 100644
index 000000000..3e56a2085
--- /dev/null
+++ b/engine/assets/textures/AudioStreamRandomizer.ktx2.meta
@@ -0,0 +1,4 @@
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+created_at = "2026-10-31T10:28:01.0000000Z"
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diff --git a/engine/assets/textures/AudioStreamWAV.ktx2 b/engine/assets/textures/AudioStreamWAV.ktx2
new file mode 100644
index 000000000..1e06cba52
Binary files /dev/null and b/engine/assets/textures/AudioStreamWAV.ktx2 differ
diff --git a/engine/assets/textures/AudioStreamWAV.ktx2.meta b/engine/assets/textures/AudioStreamWAV.ktx2.meta
new file mode 100644
index 000000000..1b6f63d49
--- /dev/null
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@@ -0,0 +1,4 @@
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diff --git a/engine/assets/textures/BackBufferCopy.ktx2 b/engine/assets/textures/BackBufferCopy.ktx2
new file mode 100644
index 000000000..01cbea5c9
Binary files /dev/null and b/engine/assets/textures/BackBufferCopy.ktx2 differ
diff --git a/engine/assets/textures/BackBufferCopy.ktx2.meta b/engine/assets/textures/BackBufferCopy.ktx2.meta
new file mode 100644
index 000000000..4dce05586
--- /dev/null
+++ b/engine/assets/textures/BackBufferCopy.ktx2.meta
@@ -0,0 +1,4 @@
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diff --git a/engine/assets/textures/BezierHandlesBalanced.ktx2 b/engine/assets/textures/BezierHandlesBalanced.ktx2
new file mode 100644
index 000000000..cae05990d
Binary files /dev/null and b/engine/assets/textures/BezierHandlesBalanced.ktx2 differ
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new file mode 100644
index 000000000..8cdb6a5fe
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@@ -0,0 +1,4 @@
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diff --git a/engine/assets/textures/BitMap.ktx2 b/engine/assets/textures/BitMap.ktx2
new file mode 100644
index 000000000..5ea950a17
Binary files /dev/null and b/engine/assets/textures/BitMap.ktx2 differ
diff --git a/engine/assets/textures/BitMap.ktx2.meta b/engine/assets/textures/BitMap.ktx2.meta
new file mode 100644
index 000000000..6123bc3b7
--- /dev/null
+++ b/engine/assets/textures/BitMap.ktx2.meta
@@ -0,0 +1,4 @@
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+created_at = "2026-10-31T10:28:01.0000000Z"
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diff --git a/engine/assets/textures/Blend.ktx2 b/engine/assets/textures/Blend.ktx2
new file mode 100644
index 000000000..c803c5e53
Binary files /dev/null and b/engine/assets/textures/Blend.ktx2 differ
diff --git a/engine/assets/textures/Blend.ktx2.meta b/engine/assets/textures/Blend.ktx2.meta
new file mode 100644
index 000000000..d5745511d
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@@ -0,0 +1,4 @@
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diff --git a/engine/assets/textures/Bone.ktx2 b/engine/assets/textures/Bone.ktx2
new file mode 100644
index 000000000..d7201fad5
Binary files /dev/null and b/engine/assets/textures/Bone.ktx2 differ
diff --git a/engine/assets/textures/Bone.ktx2.meta b/engine/assets/textures/Bone.ktx2.meta
new file mode 100644
index 000000000..069074268
--- /dev/null
+++ b/engine/assets/textures/Bone.ktx2.meta
@@ -0,0 +1,4 @@
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+created_at = "2026-10-31T10:28:01.0000000Z"
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diff --git a/engine/assets/textures/BoneAttachment.ktx2 b/engine/assets/textures/BoneAttachment.ktx2
new file mode 100644
index 000000000..8300773d8
Binary files /dev/null and b/engine/assets/textures/BoneAttachment.ktx2 differ
diff --git a/engine/assets/textures/BoneAttachment.ktx2.meta b/engine/assets/textures/BoneAttachment.ktx2.meta
new file mode 100644
index 000000000..994b79e2d
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@@ -0,0 +1,4 @@
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diff --git a/engine/assets/textures/BoneConstraint.ktx2 b/engine/assets/textures/BoneConstraint.ktx2
new file mode 100644
index 000000000..682cb2786
Binary files /dev/null and b/engine/assets/textures/BoneConstraint.ktx2 differ
diff --git a/engine/assets/textures/BoneConstraint.ktx2.meta b/engine/assets/textures/BoneConstraint.ktx2.meta
new file mode 100644
index 000000000..48c669a0d
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@@ -0,0 +1,4 @@
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diff --git a/engine/assets/textures/VoxelGI.ktx2 b/engine/assets/textures/VoxelGI.ktx2
new file mode 100644
index 000000000..eca717e3f
Binary files /dev/null and b/engine/assets/textures/VoxelGI.ktx2 differ
diff --git a/engine/assets/textures/VoxelGI.ktx2.meta b/engine/assets/textures/VoxelGI.ktx2.meta
new file mode 100644
index 000000000..2b75e5909
--- /dev/null
+++ b/engine/assets/textures/VoxelGI.ktx2.meta
@@ -0,0 +1,4 @@
+uid = "23mAc9pnuFY"
+type = "texture"
+created_at = "2026-10-31T10:28:10.0000000Z"
+modified_at = "2026-10-31T10:28:10.0000000Z"
diff --git a/engine/assets/textures/VoxelGIData.ktx2 b/engine/assets/textures/VoxelGIData.ktx2
new file mode 100644
index 000000000..72d7603e7
Binary files /dev/null and b/engine/assets/textures/VoxelGIData.ktx2 differ
diff --git a/engine/assets/textures/VoxelGIData.ktx2.meta b/engine/assets/textures/VoxelGIData.ktx2.meta
new file mode 100644
index 000000000..a44408d3c
--- /dev/null
+++ b/engine/assets/textures/VoxelGIData.ktx2.meta
@@ -0,0 +1,4 @@
+uid = "lyvioN_UAo0"
+type = "texture"
+created_at = "2026-10-31T10:28:10.0000000Z"
+modified_at = "2026-10-31T10:28:10.0000000Z"
diff --git a/engine/assets/textures/WarningPattern.ktx2 b/engine/assets/textures/WarningPattern.ktx2
new file mode 100644
index 000000000..12371fe95
Binary files /dev/null and b/engine/assets/textures/WarningPattern.ktx2 differ
diff --git a/engine/assets/textures/WarningPattern.ktx2.meta b/engine/assets/textures/WarningPattern.ktx2.meta
new file mode 100644
index 000000000..b3345086e
--- /dev/null
+++ b/engine/assets/textures/WarningPattern.ktx2.meta
@@ -0,0 +1,4 @@
+uid = "sXqTql_Zd4k"
+type = "texture"
+created_at = "2026-10-31T10:28:10.0000000Z"
+modified_at = "2026-10-31T10:28:10.0000000Z"
diff --git a/engine/assets/textures/Window.ktx2 b/engine/assets/textures/Window.ktx2
new file mode 100644
index 000000000..3cdfa686b
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diff --git a/engine/assets/textures/Window.ktx2.meta b/engine/assets/textures/Window.ktx2.meta
new file mode 100644
index 000000000..0b57c9af2
--- /dev/null
+++ b/engine/assets/textures/Window.ktx2.meta
@@ -0,0 +1,4 @@
+uid = "hSX1I3L2LzY"
+type = "texture"
+created_at = "2026-10-31T10:28:10.0000000Z"
+modified_at = "2026-10-31T10:28:10.0000000Z"
diff --git a/engine/assets/textures/World.ktx2 b/engine/assets/textures/World.ktx2
new file mode 100644
index 000000000..3c25909f4
Binary files /dev/null and b/engine/assets/textures/World.ktx2 differ
diff --git a/engine/assets/textures/World.ktx2.meta b/engine/assets/textures/World.ktx2.meta
new file mode 100644
index 000000000..698b9dcc4
--- /dev/null
+++ b/engine/assets/textures/World.ktx2.meta
@@ -0,0 +1,4 @@
+uid = "3y4psaybYY0"
+type = "texture"
+created_at = "2026-10-31T10:28:10.0000000Z"
+modified_at = "2026-10-31T10:28:10.0000000Z"
diff --git a/engine/assets/textures/WorldBoundaryShape.ktx2 b/engine/assets/textures/WorldBoundaryShape.ktx2
new file mode 100644
index 000000000..b8b931a0a
Binary files /dev/null and b/engine/assets/textures/WorldBoundaryShape.ktx2 differ
diff --git a/engine/assets/textures/WorldBoundaryShape.ktx2.meta b/engine/assets/textures/WorldBoundaryShape.ktx2.meta
new file mode 100644
index 000000000..bfc974e89
--- /dev/null
+++ b/engine/assets/textures/WorldBoundaryShape.ktx2.meta
@@ -0,0 +1,4 @@
+uid = "vyI8W6tp2YI"
+type = "texture"
+created_at = "2026-10-31T10:28:10.0000000Z"
+modified_at = "2026-10-31T10:28:10.0000000Z"
diff --git a/engine/assets/textures/WorldEnvironment.ktx2 b/engine/assets/textures/WorldEnvironment.ktx2
new file mode 100644
index 000000000..46b9b3541
Binary files /dev/null and b/engine/assets/textures/WorldEnvironment.ktx2 differ
diff --git a/engine/assets/textures/WorldEnvironment.ktx2.meta b/engine/assets/textures/WorldEnvironment.ktx2.meta
new file mode 100644
index 000000000..a7a9a4f1c
--- /dev/null
+++ b/engine/assets/textures/WorldEnvironment.ktx2.meta
@@ -0,0 +1,4 @@
+uid = "op3nq8pmNVg"
+type = "texture"
+created_at = "2026-10-31T10:28:10.0000000Z"
+modified_at = "2026-10-31T10:28:10.0000000Z"
diff --git a/engine/assets/textures/XRAnchor.ktx2 b/engine/assets/textures/XRAnchor.ktx2
new file mode 100644
index 000000000..5bbae8d9f
Binary files /dev/null and b/engine/assets/textures/XRAnchor.ktx2 differ
diff --git a/engine/assets/textures/XRAnchor.ktx2.meta b/engine/assets/textures/XRAnchor.ktx2.meta
new file mode 100644
index 000000000..ddddbdb6c
--- /dev/null
+++ b/engine/assets/textures/XRAnchor.ktx2.meta
@@ -0,0 +1,4 @@
+uid = "-sR_OP0WH-w"
+type = "texture"
+created_at = "2026-10-31T10:28:10.0000000Z"
+modified_at = "2026-10-31T10:28:10.0000000Z"
diff --git a/engine/assets/textures/XRBodyModifier.ktx2 b/engine/assets/textures/XRBodyModifier.ktx2
new file mode 100644
index 000000000..756aa6fa4
Binary files /dev/null and b/engine/assets/textures/XRBodyModifier.ktx2 differ
diff --git a/engine/assets/textures/XRBodyModifier.ktx2.meta b/engine/assets/textures/XRBodyModifier.ktx2.meta
new file mode 100644
index 000000000..7b057ca6d
--- /dev/null
+++ b/engine/assets/textures/XRBodyModifier.ktx2.meta
@@ -0,0 +1,4 @@
+uid = "Q-ulWDYWVRQ"
+type = "texture"
+created_at = "2026-10-31T10:28:10.0000000Z"
+modified_at = "2026-10-31T10:28:10.0000000Z"
diff --git a/engine/assets/textures/XRCamera.ktx2 b/engine/assets/textures/XRCamera.ktx2
new file mode 100644
index 000000000..841b8e635
Binary files /dev/null and b/engine/assets/textures/XRCamera.ktx2 differ
diff --git a/engine/assets/textures/XRCamera.ktx2.meta b/engine/assets/textures/XRCamera.ktx2.meta
new file mode 100644
index 000000000..2c95f01e5
--- /dev/null
+++ b/engine/assets/textures/XRCamera.ktx2.meta
@@ -0,0 +1,4 @@
+uid = "XoXEEClx8QI"
+type = "texture"
+created_at = "2026-10-31T10:28:10.0000000Z"
+modified_at = "2026-10-31T10:28:10.0000000Z"
diff --git a/engine/assets/textures/XRController.ktx2 b/engine/assets/textures/XRController.ktx2
new file mode 100644
index 000000000..4d9cdea2c
Binary files /dev/null and b/engine/assets/textures/XRController.ktx2 differ
diff --git a/engine/assets/textures/XRController.ktx2.meta b/engine/assets/textures/XRController.ktx2.meta
new file mode 100644
index 000000000..2999c52ee
--- /dev/null
+++ b/engine/assets/textures/XRController.ktx2.meta
@@ -0,0 +1,4 @@
+uid = "rEOMN1zg3f8"
+type = "texture"
+created_at = "2026-10-31T10:28:10.0000000Z"
+modified_at = "2026-10-31T10:28:10.0000000Z"
diff --git a/engine/assets/textures/XRFaceModifier.ktx2 b/engine/assets/textures/XRFaceModifier.ktx2
new file mode 100644
index 000000000..c279aa394
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diff --git a/engine/assets/textures/XRFaceModifier.ktx2.meta b/engine/assets/textures/XRFaceModifier.ktx2.meta
new file mode 100644
index 000000000..dd6e5eac2
--- /dev/null
+++ b/engine/assets/textures/XRFaceModifier.ktx2.meta
@@ -0,0 +1,4 @@
+uid = "o_t6w2ODk6Y"
+type = "texture"
+created_at = "2026-10-31T10:28:10.0000000Z"
+modified_at = "2026-10-31T10:28:10.0000000Z"
diff --git a/engine/assets/textures/XRHandModifier.ktx2 b/engine/assets/textures/XRHandModifier.ktx2
new file mode 100644
index 000000000..52b8f0537
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diff --git a/engine/assets/textures/XRHandModifier.ktx2.meta b/engine/assets/textures/XRHandModifier.ktx2.meta
new file mode 100644
index 000000000..a2f1f851f
--- /dev/null
+++ b/engine/assets/textures/XRHandModifier.ktx2.meta
@@ -0,0 +1,4 @@
+uid = "xCTkGm2vrIQ"
+type = "texture"
+created_at = "2026-10-31T10:28:10.0000000Z"
+modified_at = "2026-10-31T10:28:10.0000000Z"
diff --git a/engine/assets/textures/XRNode.ktx2 b/engine/assets/textures/XRNode.ktx2
new file mode 100644
index 000000000..e71b7abf1
Binary files /dev/null and b/engine/assets/textures/XRNode.ktx2 differ
diff --git a/engine/assets/textures/XRNode.ktx2.meta b/engine/assets/textures/XRNode.ktx2.meta
new file mode 100644
index 000000000..cf16fa151
--- /dev/null
+++ b/engine/assets/textures/XRNode.ktx2.meta
@@ -0,0 +1,4 @@
+uid = "-lu-Gb-vUj4"
+type = "texture"
+created_at = "2026-10-31T10:28:10.0000000Z"
+modified_at = "2026-10-31T10:28:10.0000000Z"
diff --git a/engine/assets/textures/XROrigin.ktx2 b/engine/assets/textures/XROrigin.ktx2
new file mode 100644
index 000000000..4446cb374
Binary files /dev/null and b/engine/assets/textures/XROrigin.ktx2 differ
diff --git a/engine/assets/textures/XROrigin.ktx2.meta b/engine/assets/textures/XROrigin.ktx2.meta
new file mode 100644
index 000000000..4585c5278
--- /dev/null
+++ b/engine/assets/textures/XROrigin.ktx2.meta
@@ -0,0 +1,4 @@
+uid = "AVKqH81q-pA"
+type = "texture"
+created_at = "2026-10-31T10:28:10.0000000Z"
+modified_at = "2026-10-31T10:28:10.0000000Z"
diff --git a/engine/assets/textures/YSort.ktx2 b/engine/assets/textures/YSort.ktx2
new file mode 100644
index 000000000..3c1c0544e
Binary files /dev/null and b/engine/assets/textures/YSort.ktx2 differ
diff --git a/engine/assets/textures/YSort.ktx2.meta b/engine/assets/textures/YSort.ktx2.meta
new file mode 100644
index 000000000..1d0c8149c
--- /dev/null
+++ b/engine/assets/textures/YSort.ktx2.meta
@@ -0,0 +1,4 @@
+uid = "I9u9TDZTGfg"
+type = "texture"
+created_at = "2026-10-31T10:28:10.0000000Z"
+modified_at = "2026-10-31T10:28:10.0000000Z"
diff --git a/engine/assets/textures/Zoom.ktx2 b/engine/assets/textures/Zoom.ktx2
new file mode 100644
index 000000000..c37174c3b
Binary files /dev/null and b/engine/assets/textures/Zoom.ktx2 differ
diff --git a/engine/assets/textures/Zoom.ktx2.meta b/engine/assets/textures/Zoom.ktx2.meta
new file mode 100644
index 000000000..0270c51e4
--- /dev/null
+++ b/engine/assets/textures/Zoom.ktx2.meta
@@ -0,0 +1,4 @@
+uid = "7FPPSl53KWI"
+type = "texture"
+created_at = "2026-10-31T10:28:10.0000000Z"
+modified_at = "2026-10-31T10:28:10.0000000Z"
diff --git a/engine/src/toast/physics/body.hpp b/engine/src/toast/physics/body.hpp
index 79a24bbac..4ce9d2e08 100644
--- a/engine/src/toast/physics/body.hpp
+++ b/engine/src/toast/physics/body.hpp
@@ -57,6 +57,12 @@ struct BodyState {
 	glm::vec3 angular_velocity = {};
 };
 
+struct BodyMassProperties {
+	float mass = 0.0f;
+	glm::vec3 local_center_of_mass = {};
+	glm::mat3 inverse_inertia_local = {0.0f};
+};
+
 struct Body {
 	BodyType type = BodyType::dynamic_body;
 	bool enabled = true;
@@ -95,6 +101,11 @@ struct Body {
 	}
 };
 
+[[nodiscard]]
+inline auto movable(const Body& body) -> bool {
+	return body.inverse_mass > 0.0f && (body.awake || body.type != BodyType::dynamic_body);
+}
+
 struct BodySlot {
 	Body body;
 	uint32_t generation = 1;
diff --git a/engine/src/toast/physics/broad_phase.cpp b/engine/src/toast/physics/broad_phase.cpp
index c5cb9ee58..141090904 100644
--- a/engine/src/toast/physics/broad_phase.cpp
+++ b/engine/src/toast/physics/broad_phase.cpp
@@ -241,6 +241,7 @@ auto BroadPhase::findPairs(CollisionWorldView world) -> std::vector<BroadPhasePa
 			m_stats.rejected_invalid_bodies += chunk.stats.rejected_invalid_bodies;
 			m_stats.rejected_immovable_bodies += chunk.stats.rejected_immovable_bodies;
 			m_stats.rejected_layers += chunk.stats.rejected_layers;
+			m_stats.rejected_joint_excluded += chunk.stats.rejected_joint_excluded;
 			pairs.insert_range(pairs.end(), std::move(chunk.pairs));
 		}
 	}
@@ -293,6 +294,11 @@ auto BroadPhase::testPair(CollisionWorldView world, ShapeID shape_a_id, ShapeID
 		return std::nullopt;
 	}
 
+	if (world.pairExcluded(shape_a->owner, shape_b->owner)) {
+		++stats.rejected_joint_excluded;
+		return std::nullopt;
+	}
+
 	const Body* body_a = world.body(shape_a->owner);
 	const Body* body_b = world.body(shape_b->owner);
 	if (not body_a || not body_b || not body_a->enabled || not body_b->enabled) {
diff --git a/engine/src/toast/physics/broad_phase.hpp b/engine/src/toast/physics/broad_phase.hpp
index 97b223002..2b925ad82 100644
--- a/engine/src/toast/physics/broad_phase.hpp
+++ b/engine/src/toast/physics/broad_phase.hpp
@@ -41,6 +41,7 @@ struct BroadPhaseStats {
 	size_t rejected_invalid_bodies = 0;
 	size_t rejected_immovable_bodies = 0;
 	size_t rejected_layers = 0;
+	size_t rejected_joint_excluded = 0;
 	size_t tree_nodes = 0;
 };
 
diff --git a/engine/src/toast/physics/collision_world.hpp b/engine/src/toast/physics/collision_world.hpp
index 0967e882e..63f29612b 100644
--- a/engine/src/toast/physics/collision_world.hpp
+++ b/engine/src/toast/physics/collision_world.hpp
@@ -9,14 +9,29 @@
 #include "shape.hpp"
 #include "voxel_shape_data.hpp"
 
+#include <algorithm>
+#include <cstdint>
 #include <span>
 
 namespace physics {
 
+[[nodiscard]]
+constexpr auto bodyPairKey(BodyID a, BodyID b) -> uint64_t {
+	const uint32_t low = std::min(a.slot, b.slot);
+	const uint32_t high = std::max(a.slot, b.slot);
+	return (static_cast<uint64_t>(low) << 32) | high;
+}
+
 struct CollisionWorldView {
 	std::span<const BodySlot> bodies;
 	std::span<const ShapeSlot> shapes;
 	std::span<const VoxelShapeSlot> voxel_shapes;
+	std::span<const uint64_t> excluded_pairs;
+
+	[[nodiscard]]
+	auto pairExcluded(BodyID a, BodyID b) const -> bool {
+		return not excluded_pairs.empty() && std::binary_search(excluded_pairs.begin(), excluded_pairs.end(), bodyPairKey(a, b));
+	}
 
 	[[nodiscard]]
 	auto body(BodyID id) const -> const Body* {
diff --git a/engine/src/toast/physics/constraint.hpp b/engine/src/toast/physics/constraint.hpp
index 7724af480..136ea522f 100644
--- a/engine/src/toast/physics/constraint.hpp
+++ b/engine/src/toast/physics/constraint.hpp
@@ -34,6 +34,7 @@ struct Constraint {
 	float tangent_mass_1 = 0.0f;
 	float tangent_mass_2 = 0.0f;
 	float restitution_bias = 0.0f;
+	float closing_speed = 0.0f;
 
 	float static_friction = material_defaults::k_static_friction;
 	float dynamic_friction = material_defaults::k_dynamic_friction;
diff --git a/engine/src/toast/physics/joint.hpp b/engine/src/toast/physics/joint.hpp
new file mode 100644
index 000000000..b97fac7e4
--- /dev/null
+++ b/engine/src/toast/physics/joint.hpp
@@ -0,0 +1,156 @@
+/**
+ * @file joint.hpp
+ * @author Xein
+ * @date 31 Oct 2026
+ * @brief Joint parameters
+ */
+
+#pragma once
+
+#include "body.hpp"
+#include "shape.hpp"
+
+#include <array>
+#include <compare>
+#include <cstdint>
+#include <glm/glm.hpp>
+#include <glm/gtc/constants.hpp>
+#include <glm/gtc/quaternion.hpp>
+#include <limits>
+#include <variant>
+
+namespace physics {
+
+struct JointID {
+	uint32_t slot = std::numeric_limits<uint32_t>::max();
+	uint32_t generation = 0;
+	auto operator<=>(const JointID&) const = default;
+};
+
+enum class JointType : uint8_t {
+	pin,
+	hinge,
+	slider,
+	fixed
+};
+
+// Joint friction is the torque that holds the ends against turning per newton the joint carries, the friction of the
+// material times the radius of the pin, in metres
+constexpr float k_default_joint_friction = 0.01f;
+
+// The ends of a hinge or a pin with collision between them don't touch closer to the pin than this
+constexpr float k_joint_knuckle_radius = 0.1f;
+
+struct PinParams {
+	float bias = 0.3f;
+	float impulse_clamp = 0.0f;
+	float friction = k_default_joint_friction;
+	auto operator==(const PinParams&) const -> bool = default;
+};
+
+struct HingeParams {
+	float bias = 0.3f;
+	bool limit_enabled = false;
+	float limit_lower = -glm::half_pi<float>();    // radians
+	float limit_upper = glm::half_pi<float>();
+	float limit_bias = 0.3f;
+	float limit_restitution = 0.0f;
+	float friction = k_default_joint_friction;
+	bool motor_enabled = false;
+	float motor_target_velocity = 0.0f;    // rad/s
+	float motor_max_impulse = 1.0f;        // per step
+
+	auto operator==(const HingeParams&) const -> bool = default;
+};
+
+// todo: sliderjoint needs to be able to freely rotate
+struct SliderParams {
+	float bias = 0.3f;
+	float linear_limit_lower = -1.0f;
+	float linear_limit_upper = 1.0f;
+	float limit_restitution = 0.0f;
+
+	auto operator==(const SliderParams&) const -> bool = default;
+};
+
+struct FixedParams {
+	float bias = 0.3f;
+	auto operator==(const FixedParams&) const -> bool = default;
+};
+
+using JointParams = std::variant<PinParams, HingeParams, SliderParams, FixedParams>;
+
+struct JointFrame {
+	glm::vec3 position = {};
+	glm::quat rotation = glm::quat(1.0f, 0.0f, 0.0f, 0.0f);
+};
+
+struct VoxelAnchorSettings {
+	bool enabled = true;
+	int radius_voxels = 2;
+	float min_remaining = 0.5f;
+};
+
+enum class JointBreakReason : uint8_t {
+	requested,
+	force,
+	torque,
+	anchor_destroyed
+};
+
+struct JointDescriptor {
+	BodyID body_a;
+	BodyID body_b;
+	glm::vec3 anchor = {};
+	glm::quat frame = glm::quat(1.0f, 0.0f, 0.0f, 0.0f);
+	bool exclude_collision = true;
+	JointParams params = PinParams {};
+	float break_force = 0.0f;
+	float break_torque = 0.0f;
+	VoxelAnchorSettings voxel_anchor;
+};
+
+struct JointVoxelEnd {
+	ShapeID shape;
+	uint32_t baseline = 0;
+	uint32_t revision = 0;
+};
+
+struct JointImpulses {
+	glm::vec3 point = {};            // hinge and pin anchor
+	glm::vec2 perpendicular = {};    // hinge angular, slider linear, along the Y and Z of the frame of body a
+	glm::vec3 angular_lock = {};     // slider rotation
+	float limit_lower = 0.0f;
+	float limit_upper = 0.0f;
+	float motor = 0.0f;
+	glm::vec3 friction = {};    // along the axes of the frame of body a
+};
+
+struct Joint {
+	JointDescriptor descriptor;
+	JointFrame frame_a;
+	JointFrame frame_b;
+	JointImpulses impulses;
+	float hinge_raw = 0.0f;
+	float hinge_angle = 0.0f;
+	float slider_position = 0.0f;
+	JointVoxelEnd voxel_end_a;
+	JointVoxelEnd voxel_end_b;
+	float last_force = 0.0f;
+	float last_torque = 0.0f;
+};
+
+struct JointState {
+	float angle = 0.0f;
+	float position = 0.0f;
+	float force = 0.0f;
+	float torque = 0.0f;
+};
+
+struct JointSlot {
+	Joint joint;
+	uint32_t generation = 1;
+	bool occupied = false;
+};
+
+}
diff --git a/engine/src/toast/physics/joint_solver.cpp b/engine/src/toast/physics/joint_solver.cpp
new file mode 100644
index 000000000..efa651980
--- /dev/null
+++ b/engine/src/toast/physics/joint_solver.cpp
@@ -0,0 +1,590 @@
+#include "joint_solver.hpp"
+
+#include <algorithm>
+#include <cmath>
+#include <limits>
+
+namespace physics::_detail {
+
+namespace {
+
+constexpr float k_infinity = std::numeric_limits<float>::infinity();
+constexpr float k_max_position_correction = 0.2f;
+constexpr float k_min_hinge_arm = 0.01f;
+
+auto skew(const glm::vec3& v) -> glm::mat3 {
+	// skew(v) * x = cross(v, x)
+	return glm::mat3 {0.0f, v.z, -v.y, -v.z, 0.0f, v.x, v.y, -v.x, 0.0f};
+}
+
+auto inverseMass(const Body& body) -> float {
+	return movable(body) ? body.inverse_mass : 0.0f;
+}
+
+auto inverseInertia(const Body& body) -> glm::mat3 {
+	return movable(body) ? body.inverse_inertia_world : glm::mat3 {0.0f};
+}
+
+auto velocityAt(const Body& body, const glm::vec3& r) -> glm::vec3 {
+	return body.linear_velocity + glm::cross(body.angular_velocity, r);
+}
+
+void applyLinear(Body& a, Body& b, const glm::vec3& r_a, const glm::vec3& r_b, const glm::vec3& impulse) {
+	if (movable(a)) {
+		a.linear_velocity -= impulse * a.inverse_mass;
+		a.angular_velocity -= a.inverse_inertia_world * glm::cross(r_a, impulse);
+	}
+	if (movable(b)) {
+		b.linear_velocity += impulse * b.inverse_mass;
+		b.angular_velocity += b.inverse_inertia_world * glm::cross(r_b, impulse);
+	}
+}
+
+void applyAngular(Body& a, Body& b, const glm::vec3& impulse) {
+	if (movable(a)) {
+		a.angular_velocity -= a.inverse_inertia_world * impulse;
+	}
+	if (movable(b)) {
+		b.angular_velocity += b.inverse_inertia_world * impulse;
+	}
+}
+
+auto linearMass(const Body& a, const Body& b, const glm::vec3& r_a, const glm::vec3& r_b, const glm::vec3& direction) -> float {
+	const glm::vec3 angular_a = inverseInertia(a) * glm::cross(r_a, direction);
+	const glm::vec3 angular_b = inverseInertia(b) * glm::cross(r_b, direction);
+	const float denominator =
+	    inverseMass(a) + inverseMass(b) + glm::dot(direction, glm::cross(angular_a, r_a) + glm::cross(angular_b, r_b));
+	return std::isfinite(denominator) && denominator > 1.0e-8f ? 1.0f / denominator : 0.0f;
+}
+
+auto angularMass(const Body& a, const Body& b, const glm::vec3& axis) -> float {
+	const float denominator = glm::dot(axis, (inverseInertia(a) + inverseInertia(b)) * axis);
+	return std::isfinite(denominator) && denominator > 1.0e-8f ? 1.0f / denominator : 0.0f;
+}
+
+auto limitBias(float error, float inverse_dt) -> float {
+	return error > 0.0f ? error * inverse_dt : 0.0f;
+}
+
+constexpr float k_min_bounce_speed = 0.2f;
+
+auto bounce(float error, float speed, float restitution, float dt) -> float {
+	if (restitution <= 0.0f || speed > -k_min_bounce_speed || error + (speed * dt) > 0.0f) {
+		return 0.0f;
+	}
+	return restitution * speed;
+}
+
+auto limitTarget(float bounce_bias, float error, float inverse_dt) -> float {
+	return bounce_bias < 0.0f ? bounce_bias : limitBias(error, inverse_dt);
+}
+
+void solveLinear(
+    const JointRow& row, Body& a, Body& b, const glm::vec3& direction, float bias_velocity, float& accumulated, float lower,
+    float upper
+) {
+	const float mass = linearMass(a, b, row.r_a, row.r_b, direction);
+	if (mass <= 0.0f) {
+		return;
+	}
+
+	const float speed = glm::dot(velocityAt(b, row.r_b) - velocityAt(a, row.r_a), direction);
+	const float next = std::clamp(accumulated - ((speed + bias_velocity) * mass), lower, upper);
+	const float applied = next - accumulated;
+	accumulated = next;
+	applyLinear(a, b, row.r_a, row.r_b, direction * applied);
+}
+
+void solveAngular(Body& a, Body& b, const glm::vec3& axis, float bias_velocity, float& accumulated, float lower, float upper) {
+	const float mass = angularMass(a, b, axis);
+	if (mass <= 0.0f) {
+		return;
+	}
+
+	const float speed = glm::dot(b.angular_velocity - a.angular_velocity, axis);
+	const float next = std::clamp(accumulated - ((speed + bias_velocity) * mass), lower, upper);
+	const float applied = next - accumulated;
+	accumulated = next;
+	applyAngular(a, b, axis * applied);
+}
+
+auto turnInverse(const Body& body, const glm::vec3& r, const glm::vec3& axis) -> float {
+	if (not movable(body)) {
+		return 0.0f;
+	}
+	const float about_center = glm::dot(axis, body.inverse_inertia_world * axis);
+	if (not(about_center > 1.0e-12f)) {
+		return 0.0f;
+	}
+	const glm::vec3 lever = r - (axis * glm::dot(axis, r));
+	const float moment = (1.0f / about_center) + (body.inverse_mass > 0.0f ? glm::dot(lever, lever) / body.inverse_mass : 0.0f);
+	return std::isfinite(moment) && moment > 0.0f ? 1.0f / moment : 0.0f;
+}
+
+void applyTurn(Body& a, Body& b, const JointRow& row, const glm::vec3& axis, float impulse) {
+	if (movable(a)) {
+		const glm::vec3 change = axis * (impulse * turnInverse(a, row.r_a, axis));
+		a.angular_velocity -= change;
+		a.linear_velocity -= glm::cross(row.r_a, change);
+	}
+	if (movable(b)) {
+		const glm::vec3 change = axis * (impulse * turnInverse(b, row.r_b, axis));
+		b.angular_velocity += change;
+		b.linear_velocity += glm::cross(row.r_b, change);
+	}
+}
+
+void solveTurn(
+    const JointRow& row, Body& a, Body& b, const glm::vec3& axis, float bias_velocity, float& accumulated, float lower,
+    float upper
+) {
+	const float inverse = turnInverse(a, row.r_a, axis) + turnInverse(b, row.r_b, axis);
+	if (not(inverse > 0.0f)) {
+		return;
+	}
+
+	const float speed = glm::dot(b.angular_velocity - a.angular_velocity, axis);
+	const float next = std::clamp(accumulated - ((speed + bias_velocity) / inverse), lower, upper);
+	const float applied = next - accumulated;
+	accumulated = next;
+	applyTurn(a, b, row, axis, applied);
+}
+
+void solvePoint(const JointRow& row, Body& a, Body& b, glm::vec3& accumulated, float impulse_clamp) {
+	const glm::vec3 relative = velocityAt(b, row.r_b) - velocityAt(a, row.r_a);
+	glm::vec3 impulse = row.inverse_point_mass * -relative;
+	if (impulse_clamp > 0.0f) {
+		const float length = glm::length(impulse);
+		if (length > impulse_clamp) {
+			impulse *= impulse_clamp / length;
+		}
+	}
+	accumulated += impulse;
+	applyLinear(a, b, row.r_a, row.r_b, impulse);
+}
+
+// Friction in the pin holds the ends against turning with a torque that grows with the load the pin carries
+void solveFriction(const JointRow& row, JointImpulses& impulses, float friction, int first_axis, Body& a, Body& b) {
+	const float limit = friction * glm::length(impulses.point);
+	for (int index = first_axis; index < 3; ++index) {
+		solveTurn(row, a, b, row.axes_a[index], 0.0f, impulses.friction[index], -limit, limit);
+	}
+}
+
+void solvePin(const JointRow& row, Joint& joint, const PinParams& params, Body& a, Body& b) {
+	solvePoint(row, a, b, joint.impulses.point, params.impulse_clamp);
+	solveFriction(row, joint.impulses, params.friction, 0, a, b);
+}
+
+void solveHinge(const JointRow& row, Joint& joint, const HingeParams& params, Body& a, Body& b) {
+	JointImpulses& impulses = joint.impulses;
+	const glm::vec3 axis = row.axes_a[2];
+
+	if (params.motor_enabled) {
+		solveTurn(
+		    row, a, b, axis, -params.motor_target_velocity, impulses.motor, -params.motor_max_impulse, params.motor_max_impulse
+		);
+	}
+
+	solvePoint(row, a, b, impulses.point, 0.0f);
+	solveFriction(row, impulses, params.friction, 2, a, b);
+
+	for (int index = 0; index < 2; ++index) {
+		solveAngular(a, b, row.axes_a[index], 0.0f, impulses.perpendicular[index], -k_infinity, k_infinity);
+	}
+
+	if (params.limit_enabled) {
+		solveTurn(
+		    row,
+		    a,
+		    b,
+		    axis,
+		    limitTarget(row.bounce_lower, row.angle - params.limit_lower, row.inverse_dt),
+		    impulses.limit_lower,
+		    0.0f,
+		    k_infinity
+		);
+		solveTurn(
+		    row,
+		    a,
+		    b,
+		    -axis,
+		    limitTarget(row.bounce_upper, params.limit_upper - row.angle, row.inverse_dt),
+		    impulses.limit_upper,
+		    0.0f,
+		    k_infinity
+		);
+	}
+}
+
+void solveSlider(const JointRow& row, Joint& joint, const SliderParams& params, Body& a, Body& b) {
+	JointImpulses& impulses = joint.impulses;
+	const glm::vec3 axis = row.axes_a[0];
+
+	const glm::vec3 angular_impulse = row.inverse_angular_mass * -(b.angular_velocity - a.angular_velocity);
+	impulses.angular_lock += angular_impulse;
+	applyAngular(a, b, angular_impulse);
+
+	for (int index = 0; index < 2; ++index) {
+		solveLinear(row, a, b, row.axes_a[index + 1], 0.0f, impulses.perpendicular[index], -k_infinity, k_infinity);
+	}
+
+	solveLinear(
+	    row,
+	    a,
+	    b,
+	    axis,
+	    limitTarget(row.bounce_lower, row.position - params.linear_limit_lower, row.inverse_dt),
+	    impulses.limit_lower,
+	    0.0f,
+	    k_infinity
+	);
+	solveLinear(
+	    row,
+	    a,
+	    b,
+	    -axis,
+	    limitTarget(row.bounce_upper, params.linear_limit_upper - row.position, row.inverse_dt),
+	    impulses.limit_upper,
+	    0.0f,
+	    k_infinity
+	);
+}
+
+void solveFixed(const JointRow& row, Joint& joint, Body& a, Body& b) {
+	// Neither body turns relative to the other
+	const glm::vec3 angular_impulse = row.inverse_angular_mass * -(b.angular_velocity - a.angular_velocity);
+	joint.impulses.angular_lock += angular_impulse;
+	applyAngular(a, b, angular_impulse);
+
+	solvePoint(row, a, b, joint.impulses.point, 0.0f);
+}
+
+auto measure(const Joint& joint, const Body& body_a, const Body& body_b) -> JointRow {
+	JointRow row;
+
+	const glm::quat frame_a = body_a.rotation * joint.frame_a.rotation;
+	const glm::quat frame_b = body_b.rotation * joint.frame_b.rotation;
+	const glm::vec3 anchor_a = body_a.position + (body_a.rotation * joint.frame_a.position);
+	const glm::vec3 anchor_b = body_b.position + (body_b.rotation * joint.frame_b.position);
+	row.r_a = anchor_a - body_a.worldCenterOfMass();
+	row.r_b = anchor_b - body_b.worldCenterOfMass();
+	row.error = anchor_b - anchor_a;
+	row.axes_a = glm::mat3_cast(frame_a);
+	row.axes_b = glm::mat3_cast(frame_b);
+
+	if (movable(body_a) || movable(body_b)) {
+		const glm::mat3 skew_a = skew(row.r_a);
+		const glm::mat3 skew_b = skew(row.r_b);
+		const glm::mat3 point_mass = (glm::mat3 {1.0f} * (inverseMass(body_a) + inverseMass(body_b))) -
+		                             (skew_a * inverseInertia(body_a) * skew_a) - (skew_b * inverseInertia(body_b) * skew_b);
+		const glm::mat3 inverse = glm::inverse(point_mass);
+		if (std::isfinite(inverse[0][0]) && std::isfinite(inverse[1][1]) && std::isfinite(inverse[2][2])) {
+			row.inverse_point_mass = inverse;
+		}
+	}
+
+	if (std::holds_alternative<SliderParams>(joint.descriptor.params) ||
+	    std::holds_alternative<FixedParams>(joint.descriptor.params)) {
+		row.position = glm::dot(row.error, row.axes_a[0]);
+
+		glm::quat difference = frame_b * glm::conjugate(frame_a);
+		if (difference.w < 0.0f) {
+			difference = -difference;
+		}
+		row.angular_error = 2.0f * glm::vec3 {difference.x, difference.y, difference.z};
+
+		if (movable(body_a) || movable(body_b)) {
+			const glm::mat3 inverse = glm::inverse(inverseInertia(body_a) + inverseInertia(body_b));
+			if (std::isfinite(inverse[0][0]) && std::isfinite(inverse[1][1]) && std::isfinite(inverse[2][2])) {
+				row.inverse_angular_mass = inverse;
+			}
+		}
+	}
+	return row;
+}
+
+auto wrapToPi(float angle) -> float {
+	if (angle > glm::pi<float>()) {
+		return angle - glm::two_pi<float>();
+	}
+	if (angle < -glm::pi<float>()) {
+		return angle + glm::two_pi<float>();
+	}
+	return angle;
+}
+
+auto rawHingeAngle(const JointRow& row) -> float {
+	return std::atan2(glm::dot(glm::cross(row.axes_a[0], row.axes_b[0]), row.axes_a[2]), glm::dot(row.axes_a[0], row.axes_b[0]));
+}
+
+void displace(Body& body, const glm::vec3& translation, const glm::vec3& rotation_vector) {
+	const glm::vec3 center = body.worldCenterOfMass() + translation;
+	const glm::quat spin {0.0f, rotation_vector.x, rotation_vector.y, rotation_vector.z};
+	body.rotation = glm::normalize(body.rotation + (0.5f * (spin * body.rotation)));
+	body.position = center - (body.rotation * body.local_center_of_mass);
+	const glm::mat3 rotation = glm::mat3_cast(body.rotation);
+	body.inverse_inertia_world = rotation * body.inverse_inertia_local * glm::transpose(rotation);
+}
+
+void shiftLinear(Body& a, Body& b, const glm::vec3& r_a, const glm::vec3& r_b, const glm::vec3& push) {
+	if (movable(a)) {
+		displace(a, -push * a.inverse_mass, -(a.inverse_inertia_world * glm::cross(r_a, push)));
+	}
+	if (movable(b)) {
+		displace(b, push * b.inverse_mass, b.inverse_inertia_world * glm::cross(r_b, push));
+	}
+}
+
+void shiftAngular(Body& a, Body& b, const glm::vec3& push) {
+	if (movable(a)) {
+		displace(a, glm::vec3 {0.0f}, -(a.inverse_inertia_world * push));
+	}
+	if (movable(b)) {
+		displace(b, glm::vec3 {0.0f}, b.inverse_inertia_world * push);
+	}
+}
+
+auto clampLength(const glm::vec3& value, float limit) -> glm::vec3 {
+	const float length = glm::length(value);
+	return length > limit ? value * (limit / length) : value;
+}
+
+auto clampValue(float value) -> float {
+	return std::clamp(value, -k_max_position_correction, k_max_position_correction);
+}
+
+void correctLinear(const JointRow& row, Body& a, Body& b, const glm::vec3& direction, float error, float bias) {
+	const float mass = linearMass(a, b, row.r_a, row.r_b, direction);
+	if (mass > 0.0f) {
+		shiftLinear(a, b, row.r_a, row.r_b, direction * (-bias * clampValue(error) * mass));
+	}
+}
+
+void correctTurn(const JointRow& row, Body& a, Body& b, const glm::vec3& axis, float error, float bias) {
+	const float inverse_a = turnInverse(a, row.r_a, axis);
+	const float inverse_b = turnInverse(b, row.r_b, axis);
+	const float inverse = inverse_a + inverse_b;
+	if (not(inverse > 0.0f)) {
+		return;
+	}
+
+	const float push = -bias * clampValue(error) / inverse;
+	if (inverse_a > 0.0f) {
+		const glm::vec3 turn = axis * (-push * inverse_a);
+		displace(a, glm::cross(row.r_a, turn), turn);
+	}
+	if (inverse_b > 0.0f) {
+		const glm::vec3 turn = axis * (push * inverse_b);
+		displace(b, glm::cross(row.r_b, turn), turn);
+	}
+}
+
+void correctAngular(Body& a, Body& b, const glm::vec3& axis, float error, float bias) {
+	const float mass = angularMass(a, b, axis);
+	if (mass > 0.0f) {
+		shiftAngular(a, b, axis * (-bias * clampValue(error) * mass));
+	}
+}
+
+}
+
+auto makeJoint(const JointDescriptor& descriptor, const Body& body_a, const Body& body_b) -> Joint {
+	const auto frame_in = [&](const Body& body) {
+		const glm::quat inverse_rotation = glm::inverse(body.rotation);
+		return JointFrame {
+		  .position = inverse_rotation * (descriptor.anchor - body.position),
+		  .rotation = inverse_rotation * descriptor.frame,
+		};
+	};
+
+	Joint joint;
+	joint.descriptor = descriptor;
+	joint.frame_a = frame_in(body_a);
+	joint.frame_b = frame_in(body_b);
+
+	// A hinge angle is where b sits around the axis from the x of the frame, the way the limits are drawn. b is the end that
+	// moves when only one does. A body centred on the axis, like a wheel, has no side to sit on and starts at zero
+	if (const auto* hinge = std::get_if<HingeParams>(&descriptor.params); hinge != nullptr) {
+		const glm::mat3 axes = glm::mat3_cast(descriptor.frame);
+		const glm::vec3 arm = body_b.worldCenterOfMass() - descriptor.anchor;
+		const float along_x = glm::dot(arm, axes[0]);
+		const float along_y = glm::dot(arm, axes[1]);
+		if ((along_x * along_x) + (along_y * along_y) > k_min_hinge_arm * k_min_hinge_arm) {
+			joint.hinge_angle = std::atan2(along_y, along_x);
+		}
+
+		if (hinge->limit_enabled) {
+			const auto outside = [&](float angle) { return std::max({hinge->limit_lower - angle, angle - hinge->limit_upper, 0.0f}); };
+			const float start = joint.hinge_angle;
+			for (int turns = -2; turns <= 2; ++turns) {
+				const float angle = start + (static_cast<float>(turns) * glm::two_pi<float>());
+				if (outside(angle) < outside(joint.hinge_angle)) {
+					joint.hinge_angle = angle;
+				}
+			}
+		}
+	}
+	return joint;
+}
+
+auto prepareJoint(Joint& joint, const Body& body_a, const Body& body_b, float dt) -> JointRow {
+	JointRow row = measure(joint, body_a, body_b);
+	row.inverse_dt = 1.0f / dt;
+
+	if (const auto* hinge = std::get_if<HingeParams>(&joint.descriptor.params); hinge != nullptr) {
+		const float raw = rawHingeAngle(row);
+		joint.hinge_angle += wrapToPi(raw - joint.hinge_raw);
+		joint.hinge_raw = raw;
+		row.angle = joint.hinge_angle;
+		if (hinge->limit_enabled) {
+			const float speed = glm::dot(body_b.angular_velocity - body_a.angular_velocity, row.axes_a[2]);
+			row.bounce_lower = bounce(row.angle - hinge->limit_lower, speed, hinge->limit_restitution, dt);
+			row.bounce_upper = bounce(hinge->limit_upper - row.angle, -speed, hinge->limit_restitution, dt);
+		}
+	} else if (const auto* slider = std::get_if<SliderParams>(&joint.descriptor.params); slider != nullptr) {
+		joint.slider_position = row.position;
+		const float speed = glm::dot(velocityAt(body_b, row.r_b) - velocityAt(body_a, row.r_a), row.axes_a[0]);
+		row.bounce_lower = bounce(row.position - slider->linear_limit_lower, speed, slider->limit_restitution, dt);
+		row.bounce_upper = bounce(slider->linear_limit_upper - row.position, -speed, slider->limit_restitution, dt);
+	}
+	return row;
+}
+
+void warmStartJoint(const JointRow& row, const Joint& joint, Body& body_a, Body& body_b) {
+	const JointImpulses& impulses = joint.impulses;
+	if (std::holds_alternative<PinParams>(joint.descriptor.params)) {
+		applyLinear(body_a, body_b, row.r_a, row.r_b, impulses.point);
+		for (int index = 0; index < 3; ++index) {
+			applyTurn(body_a, body_b, row, row.axes_a[index], impulses.friction[index]);
+		}
+	} else if (std::holds_alternative<HingeParams>(joint.descriptor.params)) {
+		applyLinear(body_a, body_b, row.r_a, row.r_b, impulses.point);
+		applyAngular(body_a, body_b, (row.axes_a[0] * impulses.perpendicular.x) + (row.axes_a[1] * impulses.perpendicular.y));
+		applyTurn(
+		    body_a, body_b, row, row.axes_a[2], impulses.motor + impulses.limit_lower - impulses.limit_upper + impulses.friction.z
+		);
+	} else if (std::holds_alternative<FixedParams>(joint.descriptor.params)) {
+		applyAngular(body_a, body_b, impulses.angular_lock);
+		applyLinear(body_a, body_b, row.r_a, row.r_b, impulses.point);
+	} else {
+		applyAngular(body_a, body_b, impulses.angular_lock);
+		applyLinear(
+		    body_a,
+		    body_b,
+		    row.r_a,
+		    row.r_b,
+		    (row.axes_a[1] * impulses.perpendicular.x) + (row.axes_a[2] * impulses.perpendicular.y) +
+		        (row.axes_a[0] * (impulses.limit_lower - impulses.limit_upper))
+		);
+	}
+}
+
+void solveJoint(const JointRow& row, Joint& joint, Body& body_a, Body& body_b) {
+	if (const auto* pin = std::get_if<PinParams>(&joint.descriptor.params); pin != nullptr) {
+		solvePin(row, joint, *pin, body_a, body_b);
+	} else if (const auto* hinge = std::get_if<HingeParams>(&joint.descriptor.params); hinge != nullptr) {
+		solveHinge(row, joint, *hinge, body_a, body_b);
+	} else if (const auto* slider = std::get_if<SliderParams>(&joint.descriptor.params); slider != nullptr) {
+		solveSlider(row, joint, *slider, body_a, body_b);
+	} else if (std::holds_alternative<FixedParams>(joint.descriptor.params)) {
+		solveFixed(row, joint, body_a, body_b);
+	}
+}
+
+auto jointReaction(const Joint& joint) -> JointReaction {
+	const JointImpulses& impulses = joint.impulses;
+	// The frames of a joint are orthonormal
+	if (std::holds_alternative<HingeParams>(joint.descriptor.params)) {
+		const float axial = impulses.motor + impulses.limit_lower - impulses.limit_upper + impulses.friction.z;
+		return {
+		  .linear = glm::length(impulses.point),
+		  .angular = std::sqrt(
+		      (impulses.perpendicular.x * impulses.perpendicular.x) + (impulses.perpendicular.y * impulses.perpendicular.y) +
+		      (axial * axial)
+		  ),
+		};
+	}
+	if (std::holds_alternative<SliderParams>(joint.descriptor.params)) {
+		const float axial = impulses.limit_lower - impulses.limit_upper;
+		return {
+		  .linear = std::sqrt(
+		      (impulses.perpendicular.x * impulses.perpendicular.x) + (impulses.perpendicular.y * impulses.perpendicular.y) +
+		      (axial * axial)
+		  ),
+		  .angular = glm::length(impulses.angular_lock),
+		};
+	}
+	if (std::holds_alternative<FixedParams>(joint.descriptor.params)) {
+		return {.linear = glm::length(impulses.point), .angular = glm::length(impulses.angular_lock)};
+	}
+	return {.linear = glm::length(impulses.point), .angular = glm::length(impulses.friction)};
+}
+
+void correctJointPositions(Joint& joint, Body& body_a, Body& body_b) {
+	if (not movable(body_a) && not movable(body_b)) {
+		return;
+	}
+
+	const auto close_ends = [&](float bias) {
+		const JointRow row = measure(joint, body_a, body_b);
+		shiftLinear(
+		    body_a, body_b, row.r_a, row.r_b, row.inverse_point_mass * (clampLength(row.error, k_max_position_correction) * -bias)
+		);
+	};
+
+	if (const auto* pin = std::get_if<PinParams>(&joint.descriptor.params); pin != nullptr) {
+		close_ends(pin->bias);
+	} else if (const auto* hinge = std::get_if<HingeParams>(&joint.descriptor.params); hinge != nullptr) {
+		close_ends(hinge->bias);
+
+		// The axes of both ends back together
+		const JointRow aligned = measure(joint, body_a, body_b);
+		const glm::vec3 misalignment = glm::cross(aligned.axes_a[2], aligned.axes_b[2]);
+		for (int index = 0; index < 2; ++index) {
+			correctAngular(body_a, body_b, aligned.axes_a[index], glm::dot(misalignment, aligned.axes_a[index]), hinge->bias);
+		}
+
+		if (hinge->limit_enabled) {
+			const JointRow turned = measure(joint, body_a, body_b);
+			const float angle = joint.hinge_angle + wrapToPi(rawHingeAngle(turned) - joint.hinge_raw);
+			const glm::vec3 axis = turned.axes_a[2];
+			if (angle < hinge->limit_lower) {
+				correctTurn(turned, body_a, body_b, axis, angle - hinge->limit_lower, hinge->limit_bias);
+			} else if (angle > hinge->limit_upper) {
+				correctTurn(turned, body_a, body_b, -axis, hinge->limit_upper - angle, hinge->limit_bias);
+			}
+		}
+	} else if (const auto* slider = std::get_if<SliderParams>(&joint.descriptor.params); slider != nullptr) {
+		const JointRow before = measure(joint, body_a, body_b);
+		shiftAngular(
+		    body_a,
+		    body_b,
+		    before.inverse_angular_mass * (clampLength(before.angular_error, k_max_position_correction) * -slider->bias)
+		);
+
+		// Only the way along the axis is free
+		const JointRow turned = measure(joint, body_a, body_b);
+		for (int index = 1; index < 3; ++index) {
+			const glm::vec3 direction = turned.axes_a[index];
+			correctLinear(turned, body_a, body_b, direction, glm::dot(turned.error, direction), slider->bias);
+		}
+
+		const JointRow moved = measure(joint, body_a, body_b);
+		if (moved.position < slider->linear_limit_lower) {
+			correctLinear(moved, body_a, body_b, moved.axes_a[0], moved.position - slider->linear_limit_lower, slider->bias);
+		} else if (moved.position > slider->linear_limit_upper) {
+			correctLinear(moved, body_a, body_b, -moved.axes_a[0], slider->linear_limit_upper - moved.position, slider->bias);
+		}
+	} else if (const auto* fixed = std::get_if<FixedParams>(&joint.descriptor.params); fixed != nullptr) {
+		const JointRow before = measure(joint, body_a, body_b);
+		shiftAngular(
+		    body_a,
+		    body_b,
+		    before.inverse_angular_mass * (clampLength(before.angular_error, k_max_position_correction) * -fixed->bias)
+		);
+		close_ends(fixed->bias);
+	}
+}
+
+}
diff --git a/engine/src/toast/physics/joint_solver.hpp b/engine/src/toast/physics/joint_solver.hpp
new file mode 100644
index 000000000..9a20da042
--- /dev/null
+++ b/engine/src/toast/physics/joint_solver.hpp
@@ -0,0 +1,50 @@
+/**
+ * @file joint_solver.hpp
+ * @author Xein
+ * @date 31 Oct 2026
+ * @brief Sequential impulses of the joints
+ */
+
+#pragma once
+
+#include "joint.hpp"
+
+namespace physics::_detail {
+
+struct JointRow {
+	glm::vec3 r_a = {};
+	glm::vec3 r_b = {};
+	glm::vec3 error = {};
+	glm::mat3 axes_a = {1.0f};
+	glm::mat3 axes_b = {1.0f};
+	glm::mat3 inverse_point_mass = {0.0f};
+	glm::mat3 inverse_angular_mass = {0.0f};
+	glm::vec3 angular_error = {};    // slider
+	float position = 0.0f;           // slider
+	float angle = 0.0f;              // hinge
+	float bounce_lower = 0.0f;
+	float bounce_upper = 0.0f;
+	float inverse_dt = 0.0f;
+};
+
+[[nodiscard]]
+TOAST_API auto makeJoint(const JointDescriptor& descriptor, const Body& body_a, const Body& body_b) -> Joint;
+
+[[nodiscard]]
+TOAST_API auto prepareJoint(Joint& joint, const Body& body_a, const Body& body_b, float dt) -> JointRow;
+
+TOAST_API void warmStartJoint(const JointRow& row, const Joint& joint, Body& body_a, Body& body_b);
+
+TOAST_API void solveJoint(const JointRow& row, Joint& joint, Body& body_a, Body& body_b);
+
+struct JointReaction {
+	float linear = 0.0f;
+	float angular = 0.0f;
+};
+
+[[nodiscard]]
+TOAST_API auto jointReaction(const Joint& joint) -> JointReaction;
+
+TOAST_API void correctJointPositions(Joint& joint, Body& body_a, Body& body_b);
+
+}
diff --git a/engine/src/toast/physics/nodes/fixed_joint.cpp b/engine/src/toast/physics/nodes/fixed_joint.cpp
new file mode 100644
index 000000000..f8bddd095
--- /dev/null
+++ b/engine/src/toast/physics/nodes/fixed_joint.cpp
@@ -0,0 +1,12 @@
+#include "fixed_joint.hpp"
+
+#include <toast/renderer/debug/debug_draw.hpp>
+
+namespace physics {
+
+void FixedJoint::drawGizmo(const glm::vec3& origin, const glm::mat3& axes, const glm::vec4& color) const {
+	constexpr float k_half_size = 0.06f;
+	debug::drawBox(origin - glm::vec3(k_half_size), origin + glm::vec3(k_half_size), color);
+}
+
+}
diff --git a/engine/src/toast/physics/nodes/fixed_joint.hpp b/engine/src/toast/physics/nodes/fixed_joint.hpp
new file mode 100644
index 000000000..b67ca6fcd
--- /dev/null
+++ b/engine/src/toast/physics/nodes/fixed_joint.hpp
@@ -0,0 +1,27 @@
+/**
+ * @file fixed_joint.hpp
+ * @author Xein
+ * @date 31 Oct 2026
+ * @brief Welds two bodies
+ */
+
+#pragma once
+#include "joint3d.hpp"
+
+namespace physics {
+
+class [[ToastNode, Icon("Anchor"), Color("Green")]] TOAST_API FixedJoint : public physics::Joint3D {
+public:
+	[[Reflect, Range(0.0, 1.0)]]
+	float bias = 0.3f;
+
+	[[nodiscard]]
+	auto makeParams() const -> JointParams override {
+		return FixedParams {.bias = bias};
+	}
+
+protected:
+	void drawGizmo(const glm::vec3& origin, const glm::mat3& axes, const glm::vec4& color) const override;
+};
+
+}
diff --git a/engine/src/toast/physics/nodes/hinge_joint.cpp b/engine/src/toast/physics/nodes/hinge_joint.cpp
new file mode 100644
index 000000000..f10ed7ae0
--- /dev/null
+++ b/engine/src/toast/physics/nodes/hinge_joint.cpp
@@ -0,0 +1,138 @@
+#include "hinge_joint.hpp"
+
+#include <algorithm>
+#include <cmath>
+#include <glm/gtc/constants.hpp>
+#include <glm/gtc/quaternion.hpp>
+#include <toast/renderer/debug/debug_draw.hpp>
+
+namespace physics {
+
+void HingeJoint::setMotor(float target_velocity_degrees, float max_impulse) {
+	motor_target_velocity = target_velocity_degrees;
+	motor_max_impulse = max_impulse;
+	motor_enabled = true;
+}
+
+auto HingeJoint::makeParams() const -> JointParams {
+	return HingeParams {
+	  .bias = bias,
+	  .limit_enabled = limit_enabled,
+	  .limit_lower = glm::radians(limit_lower),
+	  .limit_upper = glm::radians(limit_upper),
+	  .limit_bias = limit_bias,
+	  .limit_restitution = limit_restitution,
+	  .friction = friction,
+	  .motor_enabled = motor_enabled,
+	  .motor_target_velocity = glm::radians(motor_target_velocity),
+	  .motor_max_impulse = motor_max_impulse,
+	};
+}
+
+auto HingeJoint::limitHandles() const -> LimitHandles {
+	if (not limit_enabled) {
+		return {{}, 0};
+	}
+
+	const auto at = [](float degrees) {
+		const float angle = glm::radians(degrees);
+		return glm::vec3 {std::cos(angle) * k_arc_radius, std::sin(angle) * k_arc_radius, 0.0f};
+	};
+	return {
+	  {LimitHandle {.handle = toast::GizmoHandle::size_neg_x, .local = at(limit_lower)},
+		 LimitHandle {.handle = toast::GizmoHandle::size_pos_x, .local = at(limit_upper)}},
+	  2,
+	};
+}
+
+auto HingeJoint::limitValue(toast::GizmoHandle handle) const -> float {
+	return handle == toast::GizmoHandle::size_neg_x ? limit_lower : limit_upper;
+}
+
+void HingeJoint::setLimitValue(toast::GizmoHandle handle, float value) {
+	value = std::clamp(value, -720.0f, 720.0f);
+	if (handle == toast::GizmoHandle::size_neg_x) {
+		limit_lower = std::min(value, limit_upper);
+	} else if (handle == toast::GizmoHandle::size_pos_x) {
+		limit_upper = std::max(value, limit_lower);
+	}
+}
+
+auto HingeJoint::limitField(toast::GizmoHandle handle) const -> const char* {
+	if (handle == toast::GizmoHandle::size_neg_x) {
+		return "limit_lower";
+	}
+	return handle == toast::GizmoHandle::size_pos_x ? "limit_upper" : nullptr;
+}
+
+void HingeJoint::applyState(const JointState& state) {
+	current_angle = glm::degrees(state.angle);
+}
+
+void HingeJoint::updateInspectorMessages() {
+	Joint3D::updateInspectorMessages();
+
+	static const toast::NodeMessage limits_message {
+	  .severity = toast::NodeMessage::warning,
+	  .id = 14,
+	  .text = "The lower limit is above the upper limit",
+	};
+	static const toast::NodeMessage axis_message {
+	  .severity = toast::NodeMessage::warning,
+	  .id = 15,
+	  .text = "Another hinge between the same two nodes turns around a different axis, the two would fight",
+	};
+
+	if (limit_enabled && limit_lower > limit_upper) {
+		addInspectorMessage(limits_message);
+	} else {
+		removeInspectorMessage(limits_message);
+	}
+
+	// Two hinges hold a door only when their axes are the same line
+	bool bent = false;
+	if (parent().exists()) {
+		syncWorldTransform();
+		const glm::vec3 axis = frameRotation() * glm::vec3(0.0f, 0.0f, 1.0f);
+		for (const auto& sibling : parent()->children()) {
+			const auto other = sibling.as<HingeJoint>();
+			if (other.exists() && not(other == box().as<HingeJoint>()) && other->node_a == node_a && other->node_b == node_b) {
+				other->syncWorldTransform();
+				const glm::vec3 other_axis = other->frameRotation() * glm::vec3(0.0f, 0.0f, 1.0f);
+				const glm::vec3 apart = other->world_position - world_position;
+				const bool parallel = std::abs(glm::dot(axis, other_axis)) > 0.999f;
+				const bool same_line = glm::length(glm::cross(apart, axis)) < 0.01f * std::max(1.0f, glm::length(apart));
+				bent = bent || not parallel || not same_line;
+			}
+		}
+	}
+	if (bent) {
+		addInspectorMessage(axis_message);
+	} else {
+		removeInspectorMessage(axis_message);
+	}
+}
+
+void HingeJoint::drawGizmo(const glm::vec3& origin, const glm::mat3& axes, const glm::vec4& color) const {
+	const glm::vec3 axis = axes[2];
+	debug::drawLine(origin - (axis * 0.4f), origin + (axis * 0.4f), color);
+	if (not limit_enabled) {
+		return;
+	}
+
+	constexpr float k_radius = k_arc_radius;
+	constexpr int k_segments = 16;
+	const float lower = glm::radians(limit_lower);
+	const float upper = glm::radians(limit_upper);
+	glm::vec3 previous = origin + (glm::angleAxis(lower, axis) * axes[0] * k_radius);
+	debug::drawLine(origin, previous, color);
+	for (int segment = 1; segment <= k_segments; ++segment) {
+		const float angle = lower + ((upper - lower) * static_cast<float>(segment) / static_cast<float>(k_segments));
+		const glm::vec3 point = origin + (glm::angleAxis(angle, axis) * axes[0] * k_radius);
+		debug::drawLine(previous, point, color);
+		previous = point;
+	}
+	debug::drawLine(origin, previous, color);
+}
+
+}
diff --git a/engine/src/toast/physics/nodes/hinge_joint.hpp b/engine/src/toast/physics/nodes/hinge_joint.hpp
new file mode 100644
index 000000000..44f3561e2
--- /dev/null
+++ b/engine/src/toast/physics/nodes/hinge_joint.hpp
@@ -0,0 +1,84 @@
+/**
+ * @file hinge_joint.hpp
+ * @author Xein
+ * @date 31 Oct 2026
+ * @brief Like a door hinge
+ */
+
+#pragma once
+#include "joint3d.hpp"
+
+namespace physics {
+
+class [[ToastNode, Icon("HingeJoint"), Color("Green")]] TOAST_API HingeJoint : public physics::Joint3D {
+public:
+	/// Share of the error that is closed every step
+	[[Reflect, Range(0.0, 1.0)]]
+	float bias = 0.3f;
+
+	/// Torque that holds the hinge against turning per newton it carries, the friction of the material times the radius of
+	/// the pin. Zero swings forever
+	[[Reflect, Unit("m"), Range(0.0, 0.1)]]
+	float friction = k_default_joint_friction;
+
+	[[Reflect, Group("Angular Limit")]]
+	bool limit_enabled = false;
+
+	/// Angles go around the axis from the x of the joint to the body that turns
+	[[Reflect, Group("Angular Limit"), Unit("°")]]
+	float limit_lower = -90.0f;
+
+	[[Reflect, Group("Angular Limit"), Unit("°")]]
+	float limit_upper = 90.0f;
+
+	[[Reflect, Group("Angular Limit"), Range(0.0, 1.0)]]
+	float limit_bias = 0.3f;
+
+	[[Reflect, Group("Angular Limit"), Range(0.0, 1.0)]]
+	float limit_restitution = 0.0f;
+
+	[[Reflect, Group("Motor")]]
+	bool motor_enabled = false;
+
+	[[Reflect, Group("Motor"), Unit("°/s")]]
+	float motor_target_velocity = 0.0f;
+
+	/// Most the motor pushes with in one step
+	[[Reflect, Group("Motor")]]
+	float motor_max_impulse = 1.0f;
+
+	[[Reflect, Group("State"), ReadOnly, Unit("°")]]
+	float current_angle = 0.0f;
+
+	/// Turns the motor on at the speed with the push it is allowed
+	[[Reflect]]
+	void setMotor(float target_velocity_degrees, float max_impulse);
+
+	[[nodiscard]]
+	auto makeParams() const -> JointParams override;
+
+	[[nodiscard]]
+	auto limitHandles() const -> LimitHandles override;
+
+	[[nodiscard]]
+	auto limitsAreAngles() const -> bool override {
+		return true;
+	}
+
+	[[nodiscard]]
+	auto limitValue(toast::GizmoHandle handle) const -> float override;
+	void setLimitValue(toast::GizmoHandle handle, float value) override;
+
+	[[nodiscard]]
+	auto limitField(toast::GizmoHandle handle) const -> const char* override;
+
+	static constexpr float k_arc_radius = 0.35f;
+
+protected:
+	void drawGizmo(const glm::vec3& origin, const glm::mat3& axes, const glm::vec4& color) const override;
+
+	void applyState(const JointState& state) override;
+	void updateInspectorMessages() override;
+};
+
+}
diff --git a/engine/src/toast/physics/nodes/joint3d.cpp b/engine/src/toast/physics/nodes/joint3d.cpp
new file mode 100644
index 000000000..bdddc3b1b
--- /dev/null
+++ b/engine/src/toast/physics/nodes/joint3d.cpp
@@ -0,0 +1,164 @@
+#include "joint3d.hpp"
+
+#include "rigidbody.hpp"
+
+#include <glm/gtc/quaternion.hpp>
+#include <toast/physics/simulator.hpp>
+#include <toast/renderer/debug/debug_draw.hpp>
+#include <toast/renderer/vulkan_renderer.hpp>
+#include <toast/voxel/nodes/voxel_node.hpp>
+
+namespace physics {
+
+namespace {
+
+const glm::vec4 k_color {1.0f, 0.6f, 0.1f, 1.0f};
+const glm::vec4 k_broken_color {0.5f, 0.5f, 0.5f, 1.0f};
+
+auto hasBody(const toast::Box<toast::Node3D>& node) -> bool {
+	for (toast::Box<toast::Node> current = toast::Box<toast::Node>(node); current.exists(); current = current->parent()) {
+		if (current.as<Rigidbody>().exists() || current.as<toast::VoxelNode>().exists()) {
+			return true;
+		}
+	}
+	return false;
+}
+
+}
+
+void Joint3D::updateInspectorMessages() {
+	static const toast::NodeMessage empty_message {
+	  .severity = toast::NodeMessage::warning,
+	  .id = 10,
+	  .text = "A joint needs node_a or node_b to hold something",
+	};
+	static const toast::NodeMessage same_message {
+	  .severity = toast::NodeMessage::error,
+	  .id = 11,
+	  .text = "node_a and node_b are the same node",
+	};
+
+	if (node_a.exists() || node_b.exists()) {
+		removeInspectorMessage(empty_message);
+	} else {
+		addInspectorMessage(empty_message);
+	}
+
+	if (node_a.exists() && node_b.exists() && node_a == node_b) {
+		addInspectorMessage(same_message);
+	} else {
+		removeInspectorMessage(same_message);
+	}
+	static const toast::NodeMessage no_body_a_message {
+	  .severity = toast::NodeMessage::warning,
+	  .id = 12,
+	  .text = "node_a can't find a rigidbody",
+	};
+	static const toast::NodeMessage no_body_b_message {
+	  .severity = toast::NodeMessage::warning,
+	  .id = 13,
+	  .text = "node_b can't find a rigidbody",
+	};
+	if (node_a.exists() && not hasBody(node_a)) {
+		addInspectorMessage(no_body_a_message);
+	} else {
+		removeInspectorMessage(no_body_a_message);
+	}
+	if (node_b.exists() && not hasBody(node_b)) {
+		addInspectorMessage(no_body_b_message);
+	} else {
+		removeInspectorMessage(no_body_b_message);
+	}
+}
+
+void Joint3D::init() {
+	if (renderer::VulkanRenderer::instance) {
+		renderer::VulkanRenderer::instance->registerDebugDraw(this, [](toast::Node3D& node) {
+			static_cast<Joint3D&>(node).drawDebug();
+		});
+	}
+}
+
+void Joint3D::destroy() {
+	if (renderer::VulkanRenderer::instance) {
+		renderer::VulkanRenderer::instance->unregisterDebugDraw(this);
+	}
+}
+
+void Joint3D::begin() {
+	if (not m_registered && participatesIn(toast::NodeOwnerParticipation::gameplay_tick)) {
+		m_registered = true;
+		Simulator::registerJointNode(*this);
+	}
+}
+
+void Joint3D::end() {
+	if (m_registered) {
+		m_registered = false;
+		Simulator::unregisterJointNode(*this);
+	}
+}
+
+void Joint3D::breakJoint() {
+	Simulator::breakJointNode(*this);
+}
+
+void Joint3D::repair() {
+	Simulator::repairJointNode(*this);
+}
+
+void Joint3D::publishState(const JointState& state) {
+	current_force = state.force;
+	current_torque = state.torque;
+	applyState(state);
+}
+
+void Joint3D::markBroken() {
+	broken = true;
+	current_force = 0.0f;
+	current_torque = 0.0f;
+	joint_broken.fire();
+}
+
+auto Joint3D::frameRotation() const -> glm::quat {
+	syncWorldTransform();
+	const glm::mat4& world = getWorldTransform();
+	glm::vec3 x {world[0]};
+	glm::vec3 y {world[1]};
+	glm::vec3 z {world[2]};
+
+	const auto usable = [](const glm::vec3& axis) { return glm::dot(axis, axis) > 1.0e-12f; };
+	if (not usable(x) && usable(y) && usable(z)) {
+		x = glm::cross(y, z);
+	} else if (not usable(y) && usable(x) && usable(z)) {
+		y = glm::cross(z, x);
+	}
+	if (not usable(x) || not usable(y)) {
+		return world_rotation;
+	}
+
+	x = glm::normalize(x);
+	y = glm::normalize(y - (x * glm::dot(x, y)));
+	return glm::normalize(glm::quat_cast(glm::mat3 {x, y, glm::cross(x, y)}));
+}
+
+void Joint3D::drawDebug() {
+	ZoneScoped;
+	if (not draw_debug) {
+		return;
+	}
+	syncWorldTransform();
+
+	const glm::vec4 color = broken ? k_broken_color : k_color;
+	const glm::mat3 axes = glm::mat3_cast(frameRotation());
+	drawGizmo(world_position, axes, color);
+	const glm::vec4 link {color.r, color.g, color.b, 0.35f};
+	for (const toast::Box<toast::Node3D>& end : {node_a, node_b}) {
+		if (end.exists()) {
+			end->syncWorldTransform();
+			debug::drawLine(world_position, end->world_position, link);
+		}
+	}
+}
+
+}
diff --git a/engine/src/toast/physics/nodes/joint3d.hpp b/engine/src/toast/physics/nodes/joint3d.hpp
new file mode 100644
index 000000000..e09b97ea2
--- /dev/null
+++ b/engine/src/toast/physics/nodes/joint3d.hpp
@@ -0,0 +1,130 @@
+/**
+ * @file joint3d.hpp
+ * @author Xein
+ * @date 31 Oct 2026
+ * @brief Interface for all joint types
+ */
+
+#pragma once
+#include "../joint.hpp"
+
+#include <array>
+#include <toast/world/gizmo_layout.hpp>
+#include <toast/world/node_3d.hpp>
+#include <utility>
+
+namespace physics {
+
+class Simulator;
+
+struct LimitHandle {
+	toast::GizmoHandle handle = toast::GizmoHandle::none;
+	glm::vec3 local {0.0f};
+};
+
+using LimitHandles = std::pair<std::array<LimitHandle, 2>, uint32_t>;
+
+class [[ToastNode, Hidden, Interface, Color("Green")]] TOAST_API Joint3D : public toast::Node3D {
+	friend class Simulator;
+
+public:
+	/// The joint broke because of what it held or because a script asked for it
+	signals::Signal<> joint_broken;
+
+	[[Reflect]]
+	toast::Box<toast::Node3D> node_a;
+
+	[[Reflect]]
+	toast::Box<toast::Node3D> node_b;
+
+	/// The two bodies do not collide with each other while the joint holds them
+	[[Reflect]]
+	bool exclude_nodes_from_collision = true;
+
+	[[Reflect, ReadOnly]]
+	bool broken = false;
+
+	[[Reflect]]
+	bool draw_debug = true;
+
+	/// 0 never breaks
+	[[Reflect, Group("Breaking"), Unit("N")]]
+	float break_force = 0.0f;
+
+	[[Reflect, Group("Breaking"), Unit("N•m")]]
+	float break_torque = 0.0f;
+
+	[[Reflect, Group("Breaking"), ReadOnly, Unit("N")]]
+	float current_force = 0.0f;
+
+	[[Reflect, Group("Breaking"), ReadOnly, Unit("N•m")]]
+	float current_torque = 0.0f;
+
+	/// Lets go when the voxels around its end in a voxel body are destroyed
+	[[Reflect, Group("Voxel Anchor")]]
+	bool break_when_anchor_destroyed = true;
+
+	/// How many voxels each way around the end are looked at
+	[[Reflect, Group("Voxel Anchor"), Range(1, 8)]]
+	int anchor_radius_voxels = 2;
+
+	/// Percentage that needs to be kept for it to still be alive
+	[[Reflect, Group("Voxel Anchor"), Range(0.0, 1.0)]]
+	float anchor_min_remaining = 0.5f;
+
+	[[Reflect]]
+	void breakJoint();
+
+	[[Reflect]]
+	void repair();
+
+	[[nodiscard]]
+	auto frameRotation() const -> glm::quat;
+
+	[[nodiscard]]
+	virtual auto makeParams() const -> JointParams {
+		return PinParams {};
+	}
+
+	[[nodiscard]]
+	virtual auto limitHandles() const -> LimitHandles {
+		return {{}, 0};
+	}
+
+	[[nodiscard]]
+	virtual auto limitsAreAngles() const -> bool {
+		return false;
+	}
+
+	[[nodiscard]]
+	virtual auto limitValue(toast::GizmoHandle handle) const -> float {
+		return 0.0f;
+	}
+
+	virtual void setLimitValue(toast::GizmoHandle handle, float value) { }
+
+	[[nodiscard]]
+	virtual auto limitField(toast::GizmoHandle handle) const -> const char* {
+		return nullptr;
+	}
+
+protected:
+	virtual void drawGizmo(const glm::vec3& origin, const glm::mat3& axes, const glm::vec4& color) const { }
+
+	virtual void applyState(const JointState& state) { }
+
+	void updateInspectorMessages() override;
+
+private:
+	void init();
+	void destroy();
+	void begin();
+	void end();
+	void drawDebug();
+	void publishState(const JointState& state);
+	void markBroken();
+
+	bool m_registered = false;
+};
+
+}
diff --git a/engine/src/toast/physics/nodes/pin_joint.cpp b/engine/src/toast/physics/nodes/pin_joint.cpp
new file mode 100644
index 000000000..e9919dc8b
--- /dev/null
+++ b/engine/src/toast/physics/nodes/pin_joint.cpp
@@ -0,0 +1,11 @@
+#include "pin_joint.hpp"
+
+#include <toast/renderer/debug/debug_draw.hpp>
+
+namespace physics {
+
+void PinJoint::drawGizmo(const glm::vec3& origin, const glm::mat3& axes, const glm::vec4& color) const {
+	debug::drawSphere(origin, 0.05f, color, 12);
+}
+
+}
diff --git a/engine/src/toast/physics/nodes/pin_joint.hpp b/engine/src/toast/physics/nodes/pin_joint.hpp
new file mode 100644
index 000000000..c528d9577
--- /dev/null
+++ b/engine/src/toast/physics/nodes/pin_joint.hpp
@@ -0,0 +1,35 @@
+/**
+ * @file pin_joint.hpp
+ * @author Xein
+ * @date 31 Oct 2026
+ * @brief Bodies are maintained by one single point
+ */
+
+#pragma once
+#include "joint3d.hpp"
+
+namespace physics {
+
+class [[ToastNode, Color("Green")]] TOAST_API PinJoint : public physics::Joint3D {
+public:
+	/// Percentage of the error between the two points
+	[[Reflect, Range(0.0, 1.0)]]
+	float bias = 0.3f;
+
+	/// Most the joint pushes with in one iteration
+	[[Reflect]]
+	float impulse_clamp = 0.0f;
+
+	[[Reflect, Unit("m"), Range(0.0, 0.1)]]
+	float friction = k_default_joint_friction;
+
+	[[nodiscard]]
+	auto makeParams() const -> JointParams override {
+		return PinParams {.bias = bias, .impulse_clamp = impulse_clamp, .friction = friction};
+	}
+
+protected:
+	void drawGizmo(const glm::vec3& origin, const glm::mat3& axes, const glm::vec4& color) const override;
+};
+
+}
diff --git a/engine/src/toast/physics/nodes/slider_joint.cpp b/engine/src/toast/physics/nodes/slider_joint.cpp
new file mode 100644
index 000000000..9badd5790
--- /dev/null
+++ b/engine/src/toast/physics/nodes/slider_joint.cpp
@@ -0,0 +1,19 @@
+#include "slider_joint.hpp"
+
+#include <toast/renderer/debug/debug_draw.hpp>
+
+namespace physics {
+
+void SliderJoint::drawGizmo(const glm::vec3& origin, const glm::mat3& axes, const glm::vec4& color) const {
+	// The rail it runs on with a stop at each end
+	const glm::vec3 axis = axes[0];
+	const glm::vec3 start = origin + (axis * linear_limit_lower);
+	const glm::vec3 end = origin + (axis * linear_limit_upper);
+	debug::drawLine(start, end, color);
+	for (const glm::vec3& stop : {start, end}) {
+		debug::drawLine(stop - (axes[1] * 0.05f), stop + (axes[1] * 0.05f), color);
+		debug::drawLine(stop - (axes[2] * 0.05f), stop + (axes[2] * 0.05f), color);
+	}
+}
+
+}
diff --git a/engine/src/toast/physics/nodes/slider_joint.hpp b/engine/src/toast/physics/nodes/slider_joint.hpp
new file mode 100644
index 000000000..e30a547db
--- /dev/null
+++ b/engine/src/toast/physics/nodes/slider_joint.hpp
@@ -0,0 +1,79 @@
+/**
+ * @file slider_joint.hpp
+ * @author Xein
+ * @date 31 Oct 2026
+ * @brief Lets two bodies slide along one axis
+ */
+
+#pragma once
+#include "joint3d.hpp"
+
+#include <algorithm>
+
+namespace physics {
+
+class [[ToastNode, Icon("SliderJoint"), Color("Green")]] TOAST_API SliderJoint : public physics::Joint3D {
+public:
+	/// Percentage of the error that is closed every step
+	[[Reflect, Range(0.0, 1.0)]]
+	float bias = 0.3f;
+
+	[[Reflect, Unit("m")]]
+	float linear_limit_lower = -1.0f;
+
+	[[Reflect, Unit("m")]]
+	float linear_limit_upper = 1.0f;
+
+	[[Reflect, Range(0.0, 1.0)]]
+	float limit_restitution = 0.0f;
+
+	[[Reflect, ReadOnly, Unit("m")]]
+	float current_distance = 0.0f;
+
+	[[nodiscard]]
+	auto makeParams() const -> JointParams override {
+		return SliderParams {
+		  .bias = bias,
+		  .linear_limit_lower = linear_limit_lower,
+		  .linear_limit_upper = linear_limit_upper,
+		  .limit_restitution = limit_restitution
+		};
+	}
+
+	[[nodiscard]]
+	auto limitHandles() const -> LimitHandles override {
+		return {
+		  {LimitHandle {.handle = toast::GizmoHandle::size_neg_x, .local = {linear_limit_lower, 0.0f, 0.0f}},
+			 LimitHandle {.handle = toast::GizmoHandle::size_pos_x, .local = {linear_limit_upper, 0.0f, 0.0f}}},
+		  2,
+		};
+	}
+
+	[[nodiscard]]
+	auto limitValue(toast::GizmoHandle handle) const -> float override {
+		return handle == toast::GizmoHandle::size_neg_x ? linear_limit_lower : linear_limit_upper;
+	}
+
+	void setLimitValue(toast::GizmoHandle handle, float value) override {
+		if (handle == toast::GizmoHandle::size_neg_x) {
+			linear_limit_lower = std::min(value, linear_limit_upper);
+		} else if (handle == toast::GizmoHandle::size_pos_x) {
+			linear_limit_upper = std::max(value, linear_limit_lower);
+		}
+	}
+
+	[[nodiscard]]
+	auto limitField(toast::GizmoHandle handle) const -> const char* override {
+		if (handle == toast::GizmoHandle::size_neg_x) {
+			return "linear_limit_lower";
+		}
+		return handle == toast::GizmoHandle::size_pos_x ? "linear_limit_upper" : nullptr;
+	}
+
+protected:
+	void drawGizmo(const glm::vec3& origin, const glm::mat3& axes, const glm::vec4& color) const override;
+
+	void applyState(const JointState& state) override { current_distance = state.position; }
+};
+
+}
diff --git a/engine/src/toast/physics/physics_settings.cpp b/engine/src/toast/physics/physics_settings.cpp
index c8a797614..a4251e37d 100644
--- a/engine/src/toast/physics/physics_settings.cpp
+++ b/engine/src/toast/physics/physics_settings.cpp
@@ -96,6 +96,17 @@ void registerPhysicsSettings() {
 			 .step = 1.0},
 	    &Tunables::position_iterations
 	);
+	uint_setting(
+	    "physics.solver.joint_substeps",
+	    4,
+	    {.label = "Joint substeps",
+			 .category = "Solver",
+			 .description = "Times a step is split for bodies held by joints so swinging keeps its speed",
+			 .min = 1.0,
+			 .max = 16.0,
+			 .step = 1.0},
+	    &Tunables::joint_substeps
+	);
 	flt("physics.solver.penetration_slop",
 	    0.005,
 	    {.label = "Penetration slop",
@@ -566,6 +577,17 @@ void registerPhysicsSettings() {
 			 .step = 1.0},
 	    &Tunables::min_wave_constraints_for_dispatch
 	);
+	uint_setting(
+	    "physics.jobs.min_wave_joints_for_dispatch",
+	    64,
+	    {.label = "Min wave joints per dispatch",
+			 .category = "Jobs",
+			 .description = "Joint waves below this size solve inline",
+			 .min = 1.0,
+			 .max = 65536.0,
+			 .step = 1.0},
+	    &Tunables::min_wave_joints_for_dispatch
+	);
 	uint_setting(
 	    "physics.jobs.box_voxel_split_min_voxels",
 	    500000,
diff --git a/engine/src/toast/physics/physics_settings.hpp b/engine/src/toast/physics/physics_settings.hpp
index bf280b206..03e4b4567 100644
--- a/engine/src/toast/physics/physics_settings.hpp
+++ b/engine/src/toast/physics/physics_settings.hpp
@@ -66,11 +66,13 @@ struct Tunables {
 	uint32_t min_shapes_per_query_job = 16;
 	uint32_t min_bodies_per_job = 64;
 	uint32_t min_wave_constraints_for_dispatch = 512;
+	uint32_t min_wave_joints_for_dispatch = 64;
 	uint32_t box_voxel_split_min_voxels = 500000;
 	uint32_t voxel_voxel_split_min_voxels = 250000;
 	uint32_t voxel_pair_split_regions = 8;
 	uint32_t sweep_refine_iterations = 6;
 	uint32_t position_iterations = 3;
+	uint32_t joint_substeps = 4;
 	float air_density = 1.225f;
 	glm::vec3 wind = {0.0f, 0.0f, 0.0f};
 	float wind_shelter_distance = 64.0f;
diff --git a/engine/src/toast/physics/simulator.cpp b/engine/src/toast/physics/simulator.cpp
index 54e5282cf..74efba273 100644
--- a/engine/src/toast/physics/simulator.cpp
+++ b/engine/src/toast/physics/simulator.cpp
@@ -27,6 +27,7 @@
 #include <glm/gtc/matrix_transform.hpp>
 #include <limits>
 #include <mutex>
+#include <numeric>
 #include <span>
 #include <thread>
 #include <toast/assets/assets.hpp>
@@ -699,6 +700,7 @@ void Simulator::tick() {
 
 	reapFragments();
 	syncEnabledState();
+	syncJointNodes();
 	applyDamageCommands();
 	const auto after_damage = std::chrono::steady_clock::now();
 	m_profile.damage_apply_ms = elapsed_ms(tick_start, after_damage);
@@ -711,15 +713,19 @@ void Simulator::tick() {
 	spawnBudgetedFragments();
 	enforceFragmentBudget(dt);
 	despawnSettledFragments(dt);
+	checkJointAnchors();
 	integrate(dt);
 	checkTriggers();
 
 	{
 		PhaseScope worker_phase {*this, SimulationPhase::mutation, SimulationPhase::worker_execution};
-		const CollisionWorldView world {.bodies = m_bodies, .shapes = m_shapes, .voxel_shapes = m_voxel_shapes};
+		const CollisionWorldView world {
+		  .bodies = m_bodies, .shapes = m_shapes, .voxel_shapes = m_voxel_shapes, .excluded_pairs = m_excluded_pairs
+		};
 		const auto candidates = m_broad_phase.findPairs(world);
 		m_manifolds = generateManifoldsAsync(world, candidates);
 	}
+	adjustJointContacts(m_manifolds);
 	const auto after_narrow = std::chrono::steady_clock::now();
 	m_profile.narrow_phase_ms = elapsed_ms(after_connectivity, after_narrow);
 
@@ -728,12 +734,14 @@ void Simulator::tick() {
 	m_profile.cache_update_ms = elapsed_ms(after_narrow, after_cache);
 
 	wakeDisturbedSleepers(dt);
+	wakeJointPartners();
 	unlockDisturbedFragments();
 	const auto after_wake = std::chrono::steady_clock::now();
 	m_profile.wake_groups_ms = elapsed_ms(after_cache, after_wake);
 
 	// resolve
 	auto constraints = prepareConstraints(m_manifolds);
+	prepareJoints(dt);
 	const auto after_prepare = std::chrono::steady_clock::now();
 	m_profile.prepare_constraints_ms = elapsed_ms(after_wake, after_prepare);
 
@@ -742,6 +750,7 @@ void Simulator::tick() {
 	m_profile.build_islands_ms = elapsed_ms(after_prepare, after_islands);
 
 	solveIslands(islands);
+	breakOverloadedJoints(dt);
 	const auto after_solve = std::chrono::steady_clock::now();
 	m_profile.island_solve_ms = elapsed_ms(after_islands, after_solve);
 
@@ -769,6 +778,7 @@ void Simulator::tick() {
 
 	// push poses after simulation settles
 	publishTransforms();
+	publishJoints();
 	publishVoxelRenderRecords();
 	m_profile.tick_ms = elapsed_ms(tick_start, std::chrono::steady_clock::now());
 	publishProfile(islands);
@@ -1334,11 +1344,6 @@ void Simulator::spawnBudgetedFragments() {
 
 namespace {
 
-/// Sleeping bodies are immovable in the solver
-auto movable(const Body& body) -> bool {
-	return body.inverse_mass > 0.0f && (body.awake || body.type != BodyType::dynamic_body);
-}
-
 /// Approach speed into a sleeper that wakes it in sleep thresholds
 constexpr float k_wake_approach = 0.75f;
 
@@ -1969,6 +1974,19 @@ void Simulator::wakeBodiesTouching(BodyID id) {
 			wakeBody(manifold.pair.a.body);
 		}
 	}
+
+	if (m_joint_count > 0) {
+		for (const JointSlot& slot : m_joints) {
+			if (not slot.occupied) {
+				continue;
+			}
+			if (slot.joint.descriptor.body_a == id) {
+				wakeBody(slot.joint.descriptor.body_b);
+			} else if (slot.joint.descriptor.body_b == id) {
+				wakeBody(slot.joint.descriptor.body_a);
+			}
+		}
+	}
 }
 
 void Simulator::wakeBodiesTouching(ShapeID id) {
@@ -1992,6 +2010,59 @@ void Simulator::markSupportedBodies() {
 		m_body_supported[manifold.pair.a.body.slot] = 1;
 		m_body_supported[manifold.pair.b.body.slot] = 1;
 	}
+
+	// A joint holds up what hangs from it
+	const auto holds_up = [this](BodyID id) {
+		const Body* body = tryGetBody(id);
+		return body == nullptr || body->type != BodyType::dynamic_body || m_body_supported[id.slot] != 0;
+	};
+	bool changed = m_joint_count > 0;
+	for (size_t pass = 0; changed && pass <= m_joint_count; ++pass) {
+		changed = false;
+		for (const JointSlot& slot : m_joints) {
+			if (not slot.occupied) {
+				continue;
+			}
+			const BodyID a = slot.joint.descriptor.body_a;
+			const BodyID b = slot.joint.descriptor.body_b;
+			const Body* body_a = tryGetBody(a);
+			const Body* body_b = tryGetBody(b);
+			if (body_a != nullptr && body_a->type == BodyType::dynamic_body && m_body_supported[a.slot] == 0 && holds_up(b)) {
+				m_body_supported[a.slot] = 1;
+				changed = true;
+			}
+			if (body_b != nullptr && body_b->type == BodyType::dynamic_body && m_body_supported[b.slot] == 0 && holds_up(a)) {
+				m_body_supported[b.slot] = 1;
+				changed = true;
+			}
+		}
+	}
+}
+
+void Simulator::wakeJointPartners() {
+	if (m_joint_count == 0) {
+		return;
+	}
+
+	// A chain of joints wakes from one end to the other
+	bool changed = true;
+	for (size_t pass = 0; changed && pass <= m_joint_count; ++pass) {
+		changed = false;
+		for (const JointSlot& slot : m_joints) {
+			if (not slot.occupied) {
+				continue;
+			}
+			const Body* body_a = tryGetBody(slot.joint.descriptor.body_a);
+			const Body* body_b = tryGetBody(slot.joint.descriptor.body_b);
+			if (body_a == nullptr || body_b == nullptr || body_a->type != BodyType::dynamic_body ||
+			    body_b->type != BodyType::dynamic_body || not body_a->enabled || not body_b->enabled ||
+			    body_a->awake == body_b->awake) {
+				continue;
+			}
+			wakeBody(body_a->awake ? slot.joint.descriptor.body_b : slot.joint.descriptor.body_a);
+			changed = true;
+		}
+	}
 }
 
 auto Simulator::sleepScale(size_t slot) const -> float {
@@ -2512,7 +2583,11 @@ auto Simulator::solveNormal(Constraint& constraint, Body& body_a, Body& body_b)
 		return false;
 	}
 
-	float impulse_delta = (constraint.restitution_bias - normal_speed) * constraint.normal_mass;
+	if (constraint.closing_speed > 0.0f && constraint.restitution_bias > 0.0f && normal_speed < -constraint.closing_speed) {
+		constraint.closing_speed = 0.0f;
+	}
+	const float target_speed = constraint.closing_speed > 0.0f ? -constraint.closing_speed : constraint.restitution_bias;
+	float impulse_delta = (target_speed - normal_speed) * constraint.normal_mass;
 	float old_impulse = constraint.accumulated_normal_impulse;
 	constraint.accumulated_normal_impulse = std::max(0.0f, old_impulse + impulse_delta);
 	float applied_impulse = constraint.accumulated_normal_impulse - old_impulse;
@@ -2967,6 +3042,30 @@ void Simulator::updateSleeping(float dt) {
 				m_contact_supported[cached.pair.b.body.slot] = 1;
 			}
 		}
+
+		const auto holds_up = [this](BodyID id) {
+			const Body* body = tryGetBody(id);
+			return body == nullptr || body->type != BodyType::dynamic_body || m_contact_supported[id.slot] != 0;
+		};
+		bool changed = m_joint_count > 0;
+		for (size_t pass = 0; changed && pass <= m_joint_count; ++pass) {
+			changed = false;
+			for (const JointSlot& slot : m_joints) {
+				if (not slot.occupied) {
+					continue;
+				}
+				for (const auto& [end, other] : {
+				       std::pair {slot.joint.descriptor.body_a, slot.joint.descriptor.body_b},
+				       std::pair {slot.joint.descriptor.body_b, slot.joint.descriptor.body_a}
+				}) {
+					const Body* body = tryGetBody(end);
+					if (body != nullptr && body->type == BodyType::dynamic_body && m_contact_supported[end.slot] == 0 && holds_up(other)) {
+						m_contact_supported[end.slot] = 1;
+						changed = true;
+					}
+				}
+			}
+		}
 	}
 
 	m_sleep_ready.assign(m_bodies.size(), 0);
@@ -3035,6 +3134,51 @@ void Simulator::updateSleeping(float dt) {
 		}
 	}
 
+	if (m_joint_count > 0) {
+		// Bodies in a joint sleep only when everyone is ready
+		std::vector<size_t> parents(m_bodies.size());
+		std::iota(parents.begin(), parents.end(), size_t {0});
+		const auto find_root = [&parents](size_t index) {
+			while (parents[index] != index) {
+				parents[index] = parents[parents[index]];
+				index = parents[index];
+			}
+			return index;
+		};
+		const auto jointed_dynamic = [this](const JointSlot& slot) {
+			const Body* body_a = tryGetBody(slot.joint.descriptor.body_a);
+			const Body* body_b = tryGetBody(slot.joint.descriptor.body_b);
+			return slot.occupied && body_a != nullptr && body_b != nullptr && body_a->type == BodyType::dynamic_body &&
+			       body_b->type == BodyType::dynamic_body;
+		};
+
+		for (const JointSlot& slot : m_joints) {
+			if (jointed_dynamic(slot)) {
+				parents[find_root(slot.joint.descriptor.body_a.slot)] = find_root(slot.joint.descriptor.body_b.slot);
+			}
+		}
+
+		std::vector<uint8_t> group_ready(m_bodies.size(), 1);
+		const auto vote = [&](BodyID id) {
+			const Body* body = tryGetBody(id);
+			if (body != nullptr && body->enabled && body->awake && (m_sleep_ready[id.slot] == 0 || m_sleep_blocked[id.slot] != 0)) {
+				group_ready[find_root(id.slot)] = 0;
+			}
+		};
+		for (const JointSlot& slot : m_joints) {
+			if (jointed_dynamic(slot)) {
+				vote(slot.joint.descriptor.body_a);
+				vote(slot.joint.descriptor.body_b);
+			}
+		}
+		for (const JointSlot& slot : m_joints) {
+			if (jointed_dynamic(slot) && group_ready[find_root(slot.joint.descriptor.body_a.slot)] == 0) {
+				m_sleep_ready[slot.joint.descriptor.body_a.slot] = 0;
+				m_sleep_ready[slot.joint.descriptor.body_b.slot] = 0;
+			}
+		}
+	}
+
 	for (size_t index = 0; index < m_bodies.size(); ++index) {
 		if (m_sleep_ready[index] != 0 && m_sleep_blocked[index] == 0) {
 			sleepBody(BodyID {.slot = static_cast<uint32_t>(index), .generation = m_bodies[index].generation});
@@ -3467,6 +3611,15 @@ void Simulator::destroyBody(BodyID body) {
 		return;
 	}
 
+	if (m_joint_count > 0) {
+		for (uint32_t index = 0; index < m_joints.size(); ++index) {
+			const JointSlot& joint_slot = m_joints[index];
+			if (joint_slot.occupied && (joint_slot.joint.descriptor.body_a == body || joint_slot.joint.descriptor.body_b == body)) {
+				destroyJoint({.slot = index, .generation = joint_slot.generation});
+			}
+		}
+	}
+
 	for (uint32_t index = 0; index < m_shapes.size(); ++index) {
 		ShapeSlot& shape_slot = m_shapes[index];
 		if (shape_slot.occupied && shape_slot.shape.owner == body) {
@@ -3484,6 +3637,231 @@ void Simulator::destroyBody(BodyID body) {
 	m_free_body_slots.emplace_back(body.slot);
 }
 
+auto Simulator::createJoint(const JointDescriptor& descriptor) -> JointID {
+	ZoneScopedN("physics::CreateJoint");
+	if (not mainThreadMutationAllowed()) {
+		return {};
+	}
+
+	// An end without a body is the world
+	JointDescriptor made = descriptor;
+	const bool a_is_body = valid(made.body_a);
+	const bool b_is_body = valid(made.body_b);
+	if (not a_is_body && not b_is_body) {
+		TOAST_WARN("Physics", "Rejected joint without a valid body");
+		return {};
+	}
+	const bool holds_world = not(a_is_body && b_is_body);
+	if (holds_world) {
+		made.body_b = a_is_body ? made.body_a : made.body_b;
+		made.body_a = {};
+	} else if (made.body_a == made.body_b) {
+		TOAST_WARN("Physics", "Rejected joint between a body and itself");
+		return {};
+	} else if (tryGetBody(made.body_a)->type == BodyType::dynamic_body && tryGetBody(made.body_b)->type != BodyType::dynamic_body) {
+		std::swap(made.body_a, made.body_b);
+	}
+
+	const float frame_length_squared = glm::dot(made.frame, made.frame);
+	if (not std::isfinite(frame_length_squared) || frame_length_squared <= 0.0f || not std::isfinite(made.anchor.x) ||
+	    not std::isfinite(made.anchor.y) || not std::isfinite(made.anchor.z)) {
+		TOAST_WARN("Physics", "Rejected joint with a non-finite anchor or a zero-length frame");
+		return {};
+	}
+	made.frame = glm::normalize(made.frame);
+
+	Body* body_a = holds_world ? &m_world_body : tryGetBody(made.body_a);
+	Body* body_b = tryGetBody(made.body_b);
+
+	Joint made_joint = _detail::makeJoint(made, *body_a, *body_b);
+	if (not holds_world) {
+		made_joint.voxel_end_a = voxelEndOf(made.body_a, made_joint.frame_a, made.voxel_anchor);
+	}
+	made_joint.voxel_end_b = voxelEndOf(made.body_b, made_joint.frame_b, made.voxel_anchor);
+	JointSlot joint_slot {.joint = made_joint, .occupied = true};
+	JointID id;
+	if (not m_free_joint_slots.empty()) {
+		id.slot = m_free_joint_slots.back();
+		m_free_joint_slots.pop_back();
+		joint_slot.generation = m_joints[id.slot].generation;
+		m_joints[id.slot] = joint_slot;
+	} else {
+		id.slot = static_cast<uint32_t>(m_joints.size());
+		m_joints.emplace_back(joint_slot);
+	}
+	id.generation = m_joints[id.slot].generation;
+	++m_joint_count;
+
+	if (made.exclude_collision && not holds_world) {
+		addExclusion(made.body_a, made.body_b);
+	}
+	wakeBody(made.body_a);
+	wakeBody(made.body_b);
+	return id;
+}
+
+void Simulator::destroyJoint(JointID joint) {
+	ZoneScopedN("physics::DestroyJoint");
+	if (not mainThreadMutationAllowed() || not valid(joint)) {
+		return;
+	}
+
+	JointSlot& slot = m_joints[joint.slot];
+	const JointDescriptor descriptor = slot.joint.descriptor;
+	slot.occupied = false;
+	slot.joint = {};
+	++slot.generation;
+	if (slot.generation == 0) {
+		++slot.generation;
+	}
+	m_free_joint_slots.emplace_back(joint.slot);
+	--m_joint_count;
+
+	if (descriptor.exclude_collision && valid(descriptor.body_a) && valid(descriptor.body_b)) {
+		removeExclusion(descriptor.body_a, descriptor.body_b);
+	}
+	// What hung from it falls
+	wakeBody(descriptor.body_a);
+	wakeBody(descriptor.body_b);
+}
+
+auto Simulator::valid(JointID joint) const -> bool {
+	return joint.slot < m_joints.size() && m_joints[joint.slot].occupied && m_joints[joint.slot].generation == joint.generation;
+}
+
+auto Simulator::jointState(JointID joint) const -> std::optional<JointState> {
+	if (not valid(joint)) {
+		return std::nullopt;
+	}
+	const Joint& value = m_joints[joint.slot].joint;
+	return JointState {.angle = value.hinge_angle, .position = value.slider_position};
+}
+
+auto Simulator::setJointParams(JointID joint, const JointParams& params) -> bool {
+	if (not valid(joint)) {
+		return false;
+	}
+	JointParams& current = m_joints[joint.slot].joint.descriptor.params;
+	if (current.index() != params.index()) {
+		return false;
+	}
+	current = params;
+	wakeBody(m_joints[joint.slot].joint.descriptor.body_a);
+	wakeBody(m_joints[joint.slot].joint.descriptor.body_b);
+	return true;
+}
+
+void Simulator::addExclusion(BodyID a, BodyID b) {
+	const uint64_t key = bodyPairKey(a, b);
+	m_excluded_pairs.insert(std::upper_bound(m_excluded_pairs.begin(), m_excluded_pairs.end(), key), key);
+}
+
+void Simulator::removeExclusion(BodyID a, BodyID b) {
+	const uint64_t key = bodyPairKey(a, b);
+	const auto found = std::lower_bound(m_excluded_pairs.begin(), m_excluded_pairs.end(), key);
+	if (found != m_excluded_pairs.end() && *found == key) {
+		m_excluded_pairs.erase(found);
+	}
+}
+
+// The ends of a joint that collide with each other
+// - A hinge or a pin turns in a knuckle around its pin, so the two ends it holds never press on each other right there. A
+//   contact between them that close to the pin fights the joint, the joint pulls the ends back in and the contact pushes
+//   them out, and each push lifts the bodies a little for free, which keeps them swinging forever
+// - The other end is a stop like the limits, a hinge or a slider bounces off it at least as much as off its limits
+void Simulator::adjustJointContacts(std::vector<Manifold>& manifolds) {
+	if (m_joint_count == 0 || manifolds.empty()) {
+		return;
+	}
+
+	for (const JointSlot& slot : m_joints) {
+		const Joint& joint = slot.joint;
+		if (not slot.occupied || joint.descriptor.exclude_collision || std::holds_alternative<FixedParams>(joint.descriptor.params)) {
+			continue;
+		}
+		const bool hinge = std::holds_alternative<HingeParams>(joint.descriptor.params);
+		const bool knuckle = hinge || std::holds_alternative<PinParams>(joint.descriptor.params);
+		float restitution = 0.0f;
+		if (const auto* hinge_params = std::get_if<HingeParams>(&joint.descriptor.params); hinge_params != nullptr) {
+			restitution = hinge_params->limit_restitution;
+		} else if (const auto* slider_params = std::get_if<SliderParams>(&joint.descriptor.params); slider_params != nullptr) {
+			restitution = slider_params->limit_restitution;
+		}
+		const Body* body_a = tryGetBody(joint.descriptor.body_a);
+		const Body* body_b = tryGetBody(joint.descriptor.body_b);
+		if (body_a == nullptr || body_b == nullptr) {
+			continue;
+		}
+
+		const glm::vec3 anchor = body_a->position + (body_a->rotation * joint.frame_a.position);
+		const glm::vec3 axis = body_a->rotation * joint.frame_a.rotation * glm::vec3(0.0f, 0.0f, 1.0f);
+		const auto in_knuckle = [&](const ContactPoint& contact) {
+			const glm::vec3 offset = contact.position - anchor;
+			const float distance = hinge ? glm::length(glm::cross(offset, axis)) : glm::length(offset);
+			return knuckle && distance < k_joint_knuckle_radius;
+		};
+
+		for (Manifold& manifold : manifolds) {
+			const bool between = (manifold.pair.a.body == joint.descriptor.body_a && manifold.pair.b.body == joint.descriptor.body_b) ||
+			                     (manifold.pair.a.body == joint.descriptor.body_b && manifold.pair.b.body == joint.descriptor.body_a);
+			if (not between) {
+				continue;
+			}
+			uint8_t kept = 0;
+			for (uint8_t index = 0; index < manifold.contact_count; ++index) {
+				ContactPoint& contact = manifold.contacts[index];
+				if (not in_knuckle(contact)) {
+					contact.material.restitution = std::max(contact.material.restitution, restitution);
+					manifold.contacts[kept++] = contact;
+				}
+			}
+			manifold.contact_count = kept;
+		}
+	}
+	std::erase_if(manifolds, [](const Manifold& manifold) { return manifold.contact_count == 0; });
+}
+
+void Simulator::jointBodies(const Joint& joint, Body*& body_a, Body*& body_b) {
+	body_a = tryGetBody(joint.descriptor.body_a);
+	body_b = tryGetBody(joint.descriptor.body_b);
+	if (body_a == nullptr) {
+		body_a = &m_world_body;
+	}
+	if (body_b == nullptr) {
+		body_b = &m_world_body;
+	}
+}
+
+void Simulator::prepareJoints(float dt) {
+	m_joint_rows.resize(m_joints.size());
+	m_joint_active.assign(m_joints.size(), 0);
+	if (m_joint_count == 0) {
+		return;
+	}
+	ZoneScopedN("physics::PrepareJoints");
+
+	const auto awake_dynamic = [](const Body* body) {
+		return body->type == BodyType::dynamic_body && body->enabled && body->awake;
+	};
+	for (size_t index = 0; index < m_joints.size(); ++index) {
+		JointSlot& slot = m_joints[index];
+		if (not slot.occupied) {
+			continue;
+		}
+
+		Body* body_a = nullptr;
+		Body* body_b = nullptr;
+		jointBodies(slot.joint, body_a, body_b);
+		if (body_a == nullptr || not body_a->enabled || not body_b->enabled || not(awake_dynamic(body_a) || awake_dynamic(body_b))) {
+			continue;
+		}
+
+		m_joint_rows[index] = _detail::prepareJoint(slot.joint, *body_a, *body_b, dt);
+		m_joint_active[index] = 1;
+		++m_profile.joint_count;
+	}
+}
+
 auto Simulator::createSphere(BodyID owner, const SphereShape& sphere, PhysicsMaterial material) -> ShapeID {
 	ZoneScopedN("physics::CreateSphere");
 	ZoneValue(static_cast<uint64_t>(owner.slot));
@@ -3951,6 +4329,154 @@ auto dragBoxAreaAxis(const glm::vec3& h) -> glm::vec3 {
 	return 4.0f * glm::vec3 {h.y * h.z, h.x * h.z, h.x * h.y};
 }
 
+struct PrimitiveMass {
+	float volume = 0.0f;
+	glm::vec3 center = {};
+	glm::mat3 unit_inertia = {0.0f};
+	glm::vec3 half_extents = {};
+	float radius = 0.0f;
+};
+
+[[nodiscard]]
+auto primitiveMass(const Shape& shape) -> std::optional<PrimitiveMass> {
+	PrimitiveMass part;
+	part.center = shape.getLocalCenter();
+
+	glm::vec3 unit_diagonal = {};
+	glm::vec3 local_half = {};
+	switch (shape.type) {
+		case ShapeType::sphere: {
+			const float radius = shape.sphere.radius;
+			part.volume = (4.0f / 3.0f) * glm::pi<float>() * radius * radius * radius;
+			// I = 2/5 m r2
+			unit_diagonal = glm::vec3 {0.4f * radius * radius};
+			local_half = glm::vec3 {radius};
+			part.radius = radius;
+			break;
+		}
+		case ShapeType::box: {
+			const glm::vec3 size = shape.box.size;
+			part.volume = size.x * size.y * size.z;
+			// Ix = 1/12 m (h2 + d2)
+			unit_diagonal =
+			    glm::vec3 {
+			      (size.y * size.y) + (size.z * size.z),
+			      (size.x * size.x) + (size.z * size.z),
+			      (size.x * size.x) + (size.y * size.y),
+			    } /
+			    12.0f;
+			local_half = size * 0.5f;
+			part.radius = 0.5f * glm::length(size);
+			break;
+		}
+		case ShapeType::capsule: {
+			const float radius = shape.capsule.radius;
+			const float height = shape.capsule.height;
+			part.volume = (glm::pi<float>() * radius * radius * height) + ((4.0f / 3.0f) * glm::pi<float>() * radius * radius * radius);
+			const float diameter_sq = 4.0f * radius * radius;
+			const float side = (diameter_sq + (height * height)) / 12.0f;
+			unit_diagonal = glm::vec3 {side, side, (diameter_sq + diameter_sq) / 12.0f};
+			local_half = glm::vec3 {radius, radius, (0.5f * height) + radius};
+			part.radius = (0.5f * height) + radius;
+			break;
+		}
+		default: return std::nullopt;
+	}
+
+	const auto usable = [](float value) { return std::isfinite(value) && value > 0.0f; };
+	if (not usable(part.volume) || not usable(unit_diagonal.x) || not usable(unit_diagonal.y) || not usable(unit_diagonal.z)) {
+		return std::nullopt;
+	}
+
+	glm::mat3 diagonal = {0.0f};
+	diagonal[0][0] = unit_diagonal.x;
+	diagonal[1][1] = unit_diagonal.y;
+	diagonal[2][2] = unit_diagonal.z;
+	const glm::mat3 rotation = glm::mat3_cast(shape.getLocalRotation());
+	part.unit_inertia = rotation * diagonal * glm::transpose(rotation);
+
+	const glm::mat3 absolute_rotation {glm::abs(rotation[0]), glm::abs(rotation[1]), glm::abs(rotation[2])};
+	part.half_extents = absolute_rotation * local_half;
+	return part;
+}
+
+[[nodiscard]]
+auto combinePrimitiveMass(Body& body, std::span<const Shape* const> shapes) -> bool {
+	std::vector<PrimitiveMass> parts;
+	parts.reserve(shapes.size());
+	float total_volume = 0.0f;
+	for (const Shape* shape : shapes) {
+		std::optional<PrimitiveMass> part = primitiveMass(*shape);
+		if (not part) {
+			TOAST_WARN("Physics", "rebuildMassProperties() was aborted: invalid or unknown shape");
+			return false;
+		}
+		total_volume += part->volume;
+		parts.push_back(*part);
+	}
+
+	const float mass = 1.0f / body.inverse_mass;
+	glm::vec3 center = {};
+	for (const PrimitiveMass& part : parts) {
+		center += part.center * (part.volume / total_volume);
+	}
+
+	// its own inertia plus steiner
+	glm::mat3 inertia = {0.0f};
+	for (const PrimitiveMass& part : parts) {
+		const glm::vec3 offset = part.center - center;
+		const float part_mass = mass * part.volume / total_volume;
+		inertia +=
+		    part_mass * (part.unit_inertia + (glm::dot(offset, offset) * glm::mat3 {1.0f}) - glm::outerProduct(offset, offset));
+	}
+
+	const glm::mat3 inverse_inertia = glm::inverse(inertia);
+	if (not std::isfinite(inverse_inertia[0][0]) || not std::isfinite(inverse_inertia[1][1]) ||
+	    not std::isfinite(inverse_inertia[2][2])) {
+		TOAST_WARN("Physics", "rebuildMassProperties() was aborted: singular inertia");
+		return false;
+	}
+
+	body.local_center_of_mass = center;
+	body.inverse_inertia_local = inverse_inertia;
+	const glm::mat3 rotation = glm::mat3_cast(body.rotation);
+	body.inverse_inertia_world = rotation * body.inverse_inertia_local * glm::transpose(rotation);
+
+	body.extent_radius = 0.0f;
+	glm::vec3 box_min = glm::vec3 {std::numeric_limits<float>::max()};
+	glm::vec3 box_max = glm::vec3 {std::numeric_limits<float>::lowest()};
+	for (const PrimitiveMass& part : parts) {
+		body.extent_radius = std::max(body.extent_radius, glm::length(part.center - center) + part.radius);
+		box_min = glm::min(box_min, part.center - part.half_extents);
+		box_max = glm::max(box_max, part.center + part.half_extents);
+	}
+
+	// Drag
+	if (shapes.size() == 1) {
+		const Shape& shape = *shapes[0];
+		switch (shape.type) {
+			case ShapeType::sphere:
+				body.drag_area_base = glm::pi<float>() * shape.sphere.radius * shape.sphere.radius;
+				body.drag_coefficient = 0.47f;
+				break;
+			case ShapeType::box:
+				body.drag_area_axis = dragBoxAreaAxis(shape.box.size * 0.5f);
+				body.drag_coefficient = 1.05f;
+				break;
+			case ShapeType::capsule:
+				// just treat like a box ngl
+				body.drag_area_axis = dragBoxAreaAxis({shape.capsule.radius, shape.capsule.radius, 0.5f * shape.capsule.height});
+				body.drag_coefficient = 0.82f;
+				break;
+			default: break;
+		}
+	} else {
+		body.drag_area_axis = dragBoxAreaAxis((box_max - box_min) * 0.5f);
+		body.drag_coefficient = 1.05f;
+	}
+	return true;
+}
+
 }
 
 void Simulator::rebuildMassProperties(BodyID id) {
@@ -3997,8 +4523,6 @@ void Simulator::rebuildMassProperties(BodyID id) {
 		return;
 	}
 
-	// TODO: Add support to multishapes
-	// right now just pick the first one
 	auto* shape = tryGetShape(shapes[0]);
 	if (not shape) {
 		TOAST_WARN("Physics", "rebuildMassProperties() was aborted: invalid shape");
@@ -4006,68 +4530,6 @@ void Simulator::rebuildMassProperties(BodyID id) {
 	}
 
 	switch (shape->type) {
-		case ShapeType::sphere: {
-			float radius_sq = shape->sphere.radius * shape->sphere.radius;
-			if (not std::isfinite(radius_sq) || radius_sq <= 0.0f) {
-				TOAST_WARN("Physics", "rebuildMassProperties() was aborted: invalid sphere inertia denominator");
-				return;
-			}
-
-			// I = 2/5 m r2
-			// inv(I) = 5/(2 m r2)
-			float inverse_inertia = 2.5f * body->inverse_mass / radius_sq;
-			body->inverse_inertia_local = {inverse_inertia};
-			glm::mat3 rotation = glm::mat3_cast(body->rotation);
-			body->inverse_inertia_world = rotation * body->inverse_inertia_local * glm::transpose(rotation);
-
-			body->extent_radius = glm::length(shape->sphere.local_center) + shape->sphere.radius;
-
-			// drag
-			body->drag_area_base = glm::pi<float>() * radius_sq;
-			body->drag_coefficient = 0.47f;
-
-			break;
-		}
-		case ShapeType::box: {
-			float width_sq = shape->box.size.x * shape->box.size.x;
-			float height_sq = shape->box.size.y * shape->box.size.y;
-			float depth_sq = shape->box.size.z * shape->box.size.z;
-			float denominator_x = height_sq + depth_sq;
-			float denominator_y = width_sq + depth_sq;
-			float denominator_z = width_sq + height_sq;
-			if (not std::isfinite(denominator_x) || denominator_x <= 0.0f || not std::isfinite(denominator_y) ||
-			    denominator_y <= 0.0f || not std::isfinite(denominator_z) || denominator_z <= 0.0f) {
-				TOAST_WARN("Physics", "rebuildMassProperties() was aborted: invalid box inertia denominator");
-				return;
-			}
-
-			// Ix = 1/12 m (h2 + d2)
-			// inv(Ix) = 12/(m (h2 + d2))
-			float inverse_inertia_x = 12.0f * body->inverse_mass / denominator_x;
-			// Iy = 1/12 m (w2 + d2)
-			// inv(Iy) = 12/(m (w2 + d2))
-			float inverse_inertia_y = 12.0f * body->inverse_mass / denominator_y;
-			// Iz = 1/12 m (w2 + h2)
-			// inv(Iz) = 12/(m (w2 + h2))
-			float inverse_inertia_z = 12.0f * body->inverse_mass / denominator_z;
-
-			glm::mat3 inverse_inertia = {0.0f};
-			inverse_inertia[0][0] = inverse_inertia_x;
-			inverse_inertia[1][1] = inverse_inertia_y;
-			inverse_inertia[2][2] = inverse_inertia_z;
-			glm::mat3 local_rotation = glm::mat3_cast(shape->box.local_rotation);
-			body->inverse_inertia_local = local_rotation * inverse_inertia * glm::transpose(local_rotation);
-			glm::mat3 rotation = glm::mat3_cast(body->rotation);
-			body->inverse_inertia_world = rotation * body->inverse_inertia_local * glm::transpose(rotation);
-
-			body->extent_radius = glm::length(shape->box.local_center) + (0.5f * glm::length(shape->box.size));
-
-			// Drag
-			body->drag_area_axis = dragBoxAreaAxis(shape->box.size * 0.5f);
-			body->drag_coefficient = 1.05f;
-
-			break;
-		}
 		case ShapeType::voxel: {
 			const VoxelShapeData* voxel_data = tryGetVoxelData(shape->voxel.data);
 			if (voxel_data == nullptr || voxel_data->volume == nullptr) {
@@ -4124,51 +4586,22 @@ void Simulator::rebuildMassProperties(BodyID id) {
 
 			break;
 		}
-		case ShapeType::capsule: {
-			// Conservative approximation using a box with dimensions (2r, 2r, height)
-			float diameter = 2.0f * shape->capsule.radius;
-			float diameter_sq = diameter * diameter;
-			float height_sq = shape->capsule.height * shape->capsule.height;
-			float denominator_xy = diameter_sq + height_sq;
-			float denominator_z = diameter_sq + diameter_sq;
-			if (not std::isfinite(denominator_xy) || denominator_xy <= 0.0f || not std::isfinite(denominator_z) ||
-			    denominator_z <= 0.0f) {
-				TOAST_WARN("Physics", "rebuildMassProperties() was aborted: invalid capsule inertia denominator");
+		default: {
+			std::vector<const Shape*> primitives;
+			primitives.reserve(shapes.size());
+			for (const ShapeID shape_id : shapes) {
+				const Shape* primitive = tryGetShape(shape_id);
+				if (not primitive) {
+					TOAST_WARN("Physics", "rebuildMassProperties() was aborted: invalid shape");
+					return;
+				}
+				primitives.push_back(primitive);
+			}
+			if (not combinePrimitiveMass(*body, primitives)) {
 				return;
 			}
-
-			// Ix = 1/12 m (d2 + h2)
-			// inv(Ix) = 12/(m (d2 + h2))
-			float inverse_inertia_x = 12.0f * body->inverse_mass / denominator_xy;
-			// Iy = 1/12 m (d2 + h2)
-			// inv(Iy) = 12/(m (d2 + h2))
-			float inverse_inertia_y = 12.0f * body->inverse_mass / denominator_xy;
-			// Iz = 1/12 m (d2 + d2)
-			// inv(Iz) = 12/(m (d2 + d2))
-			float inverse_inertia_z = 12.0f * body->inverse_mass / denominator_z;
-
-			glm::mat3 inverse_inertia = {0.0f};
-			inverse_inertia[0][0] = inverse_inertia_x;
-			inverse_inertia[1][1] = inverse_inertia_y;
-			inverse_inertia[2][2] = inverse_inertia_z;
-			glm::mat3 local_rotation = glm::mat3_cast(shape->capsule.local_rotation);
-			body->inverse_inertia_local = local_rotation * inverse_inertia * glm::transpose(local_rotation);
-			glm::mat3 rotation = glm::mat3_cast(body->rotation);
-			body->inverse_inertia_world = rotation * body->inverse_inertia_local * glm::transpose(rotation);
-
-			body->extent_radius = glm::length(shape->capsule.local_center) + (0.5f * shape->capsule.height) + shape->capsule.radius;
-
-			// Drag
-			// just treat like a box ngl
-			body->drag_area_axis = dragBoxAreaAxis({shape->capsule.radius, shape->capsule.radius, 0.5f * shape->capsule.height});
-			body->drag_coefficient = 0.82;
-
 			break;
 		}
-		default: {
-			TOAST_WARN("Physics", "rebuildMassProperties() was aborted: unknown shape");
-			return;
-		}
 	}
 
 	const glm::vec3 center_shift = body->rotation * (body->local_center_of_mass - previous_center_of_mass);
@@ -4198,6 +4631,19 @@ auto Simulator::state(BodyID body) const -> std::optional<BodyState> {
 	};
 }
 
+auto Simulator::massProperties(BodyID body) const -> std::optional<BodyMassProperties> {
+	const Body* value = tryGetBody(body);
+	if (not value) {
+		return std::nullopt;
+	}
+
+	return BodyMassProperties {
+	  .mass = value->inverse_mass > 0.0f ? 1.0f / value->inverse_mass : 0.0f,
+	  .local_center_of_mass = value->local_center_of_mass,
+	  .inverse_inertia_local = value->inverse_inertia_local,
+	};
+}
+
 auto Simulator::shapeWorldBounds(ShapeID shape) -> std::optional<AABB> {
 	if (not instance) {
 		return std::nullopt;
@@ -5782,6 +6228,34 @@ auto Simulator::buildIslands(std::span<const Manifold> manifolds, const std::vec
 		}
 	}
 
+	// Force all objects in a joint in one island
+	for (size_t joint_index = 0; joint_index < m_joints.size(); ++joint_index) {
+		if (m_joint_active[joint_index] == 0) {
+			continue;
+		}
+
+		const Joint& joint = m_joints[joint_index].joint;
+		const BodyID id_a = joint.descriptor.body_a;
+		const BodyID id_b = joint.descriptor.body_b;
+		const bool a_is_dynamic = is_active_dynamic(tryGetBody(id_a));
+		const bool b_is_dynamic = is_active_dynamic(tryGetBody(id_b));
+		if (a_is_dynamic) {
+			m_island_participates[id_a.slot] = true;
+		}
+		if (b_is_dynamic) {
+			m_island_participates[id_b.slot] = true;
+		}
+		if (a_is_dynamic && b_is_dynamic) {
+			const size_t root_a = find_root(id_a.slot);
+			const size_t root_b = find_root(id_b.slot);
+			if (root_a < root_b) {
+				m_island_parents[root_b] = root_a;
+			} else if (root_b < root_a) {
+				m_island_parents[root_a] = root_b;
+			}
+		}
+	}
+
 	const size_t no_island = m_bodies.size();
 	m_island_by_root.assign(m_bodies.size(), no_island);
 	std::vector<SimulationIsland> islands;
@@ -5840,6 +6314,20 @@ auto Simulator::buildIslands(std::span<const Manifold> manifolds, const std::vec
 		}
 	}
 
+	for (size_t joint_index = 0; joint_index < m_joints.size(); ++joint_index) {
+		if (m_joint_active[joint_index] == 0) {
+			continue;
+		}
+
+		const Joint& joint = m_joints[joint_index].joint;
+		const bool a_is_dynamic = is_active_dynamic(tryGetBody(joint.descriptor.body_a));
+		const BodyID anchor_body = a_is_dynamic ? joint.descriptor.body_a : joint.descriptor.body_b;
+		const size_t island_index = m_island_by_root[find_root(anchor_body.slot)];
+		if (island_index != no_island) {
+			islands[island_index].joint_indices.emplace_back(static_cast<uint32_t>(joint_index));
+		}
+	}
+
 	// Shared across islands since none share a dynamic body so never reset between them, only once per call
 	m_island_next_free_batch.assign(m_bodies.size(), 0);
 
@@ -5918,6 +6406,55 @@ auto Simulator::buildIslands(std::span<const Manifold> manifolds, const std::vec
 		island.constraints.swap(m_island_reordered_scratch);
 	}
 
+	// one joint at a time
+	m_joint_next_free_batch.assign(m_bodies.size(), 0);
+	for (SimulationIsland& island : islands) {
+		if (island.joint_indices.empty()) {
+			continue;
+		}
+
+		std::ranges::sort(island.joint_indices);
+		std::vector<uint32_t> batch_of(island.joint_indices.size(), 0);
+		uint32_t batch_count = 1;
+		for (size_t position = 0; position < island.joint_indices.size(); ++position) {
+			const Joint& joint = m_joints[island.joint_indices[position]].joint;
+			const Body* body_a = tryGetBody(joint.descriptor.body_a);
+			const Body* body_b = tryGetBody(joint.descriptor.body_b);
+			const bool a_moves = body_a != nullptr && movable(*body_a);
+			const bool b_moves = body_b != nullptr && movable(*body_b);
+
+			uint32_t batch = 0;
+			if (a_moves) {
+				batch = std::max(batch, m_joint_next_free_batch[joint.descriptor.body_a.slot]);
+			}
+			if (b_moves) {
+				batch = std::max(batch, m_joint_next_free_batch[joint.descriptor.body_b.slot]);
+			}
+			batch_of[position] = batch;
+			batch_count = std::max(batch_count, batch + 1);
+			if (a_moves) {
+				m_joint_next_free_batch[joint.descriptor.body_a.slot] = batch + 1;
+			}
+			if (b_moves) {
+				m_joint_next_free_batch[joint.descriptor.body_b.slot] = batch + 1;
+			}
+		}
+
+		island.joint_batch_offsets.assign(batch_count + 1, 0);
+		for (const uint32_t batch : batch_of) {
+			++island.joint_batch_offsets[batch + 1];
+		}
+		for (size_t i = 1; i < island.joint_batch_offsets.size(); ++i) {
+			island.joint_batch_offsets[i] += island.joint_batch_offsets[i - 1];
+		}
+		std::vector<uint32_t> reordered(island.joint_indices.size());
+		std::vector<size_t> cursor(island.joint_batch_offsets.begin(), island.joint_batch_offsets.end() - 1);
+		for (size_t position = 0; position < island.joint_indices.size(); ++position) {
+			reordered[cursor[batch_of[position]]++] = island.joint_indices[position];
+		}
+		island.joint_indices.swap(reordered);
+	}
+
 	std::ranges::sort(islands, [](const SimulationIsland& lhs, const SimulationIsland& rhs) {
 		return lhs.sort_key < rhs.sort_key;
 	});
@@ -6107,15 +6644,67 @@ void Simulator::solveIslands(std::vector<SimulationIsland>& islands) {
 	}
 	m_profile.max_constraint_batches = max_batches;
 
+	// Runs the function on every joint wave by wave
+	size_t max_joint_batches = 0;
+	for (const SimulationIsland& island : islands) {
+		max_joint_batches =
+		    std::max(max_joint_batches, island.joint_batch_offsets.empty() ? size_t {0} : island.joint_batch_offsets.size() - 1);
+	}
+	const auto run_joint_waves = [&](const auto& per_joint) {
+		for (size_t wave = 0; wave < max_joint_batches; ++wave) {
+			m_joint_wave.clear();
+			for (const SimulationIsland& island : islands) {
+				if (wave + 1 < island.joint_batch_offsets.size()) {
+					m_joint_wave.insert(
+					    m_joint_wave.end(),
+					    island.joint_indices.begin() + static_cast<std::ptrdiff_t>(island.joint_batch_offsets[wave]),
+					    island.joint_indices.begin() + static_cast<std::ptrdiff_t>(island.joint_batch_offsets[wave + 1])
+					);
+				}
+			}
+			if (m_joint_wave.empty()) {
+				continue;
+			}
+
+			const size_t chunk_count = std::min(worker_count, m_joint_wave.size());
+			if (m_joint_wave.size() < tunables().min_wave_joints_for_dispatch || chunk_count <= 1) {
+				for (const uint32_t joint_index : m_joint_wave) {
+					per_joint(joint_index);
+				}
+				continue;
+			}
+
+			const size_t per_chunk = (m_joint_wave.size() + chunk_count - 1) / chunk_count;
+			std::atomic<size_t> chunks_remaining {chunk_count};
+			for (size_t chunk = 0; chunk < chunk_count; ++chunk) {
+				const size_t begin = chunk * per_chunk;
+				const size_t end = std::min(m_joint_wave.size(), begin + per_chunk);
+				toast::ThreadPool::pushRaw([this, begin, end, &per_joint, &chunks_remaining] {
+					ZoneScopedN("physics::JointWaveChunk");    // NOLINT
+					for (size_t position = begin; position < end; ++position) {
+						per_joint(m_joint_wave[position]);
+					}
+					chunks_remaining.fetch_sub(1, std::memory_order_acq_rel);
+				});
+			}
+			while (chunks_remaining.load(std::memory_order_acquire) != 0) {
+				std::this_thread::yield();
+			}
+		}
+	};
+
+	std::vector<size_t> plain_islands;
+	std::vector<size_t> jointed_islands;
+	for (size_t island_index = 0; island_index < islands.size(); ++island_index) {
+		(islands[island_index].joint_indices.empty() ? plain_islands : jointed_islands).push_back(island_index);
+	}
+
 	size_t invalid_constraint_count = 0;
 	std::vector<std::span<Constraint>> wave_spans;
 	std::vector<size_t> active_islands;
-	for (uint32_t iteration = 0; iteration < solver_iterations; ++iteration) {
-		ZoneScopedN("iteration");
-		ZoneValue(static_cast<uint64_t>(iteration));
-
+	const auto solve_contact_waves = [&](std::span<const size_t> island_set) {
 		active_islands.clear();
-		for (size_t island_index = 0; island_index < islands.size(); ++island_index) {
+		for (const size_t island_index : island_set) {
 			if (islands[island_index].batch_offsets.size() > 1) {
 				active_islands.push_back(island_index);
 			}
@@ -6177,6 +6766,131 @@ void Simulator::solveIslands(std::vector<SimulationIsland>& islands) {
 				invalid_constraint_count += invalid;
 			}
 		}
+	};
+
+	for (uint32_t iteration = 0; iteration < solver_iterations; ++iteration) {
+		ZoneScopedN("iteration");
+		ZoneValue(static_cast<uint64_t>(iteration));
+		solve_contact_waves(plain_islands);
+	}
+
+	std::vector<glm::vec3> predicted_centers;
+	if (not jointed_islands.empty()) {
+		ZoneScopedN("physics::JointSubsteps");
+		const uint32_t substeps = std::max(tunables().joint_substeps, 1u);
+		const float substep_dt = static_cast<float>(Accumulator::fixedDelta()) / static_cast<float>(substeps);
+		const uint32_t substep_iterations = std::max((solver_iterations + substeps - 1) / substeps, 1u);
+
+		const auto settle_inertia = [](Body& body) {
+			const glm::mat3 rotation = glm::mat3_cast(body.rotation);
+			body.inverse_inertia_world = rotation * body.inverse_inertia_local * glm::transpose(rotation);
+		};
+		const auto advance = [&settle_inertia, substep_dt](Body& body) {
+			for (int axis = 0; axis < 3; ++axis) {
+				if (body.lock_position[axis]) {
+					body.linear_velocity[axis] = 0.0f;
+				}
+				if (body.lock_rotation[axis]) {
+					body.angular_velocity[axis] = 0.0f;
+				}
+			}
+			const glm::vec3 center = body.worldCenterOfMass() + (body.linear_velocity * substep_dt);
+			const glm::quat spin {0.0f, body.angular_velocity.x, body.angular_velocity.y, body.angular_velocity.z};
+			const glm::quat next = body.rotation + ((0.5f * substep_dt) * (spin * body.rotation));
+			const float length_squared = glm::dot(next, next);
+			if (std::isfinite(length_squared) && length_squared > 1.0e-10f) {
+				body.rotation = glm::normalize(next);
+			}
+			body.position = center - (body.rotation * body.local_center_of_mass);
+			settle_inertia(body);
+		};
+		const auto for_each_jointed_body = [&](const auto& per_body) {
+			for (const size_t island_index : jointed_islands) {
+				for (const BodyID id : islands[island_index].dynamic_bodies) {
+					if (Body* body = tryGetBody(id); body != nullptr) {
+						per_body(id, *body);
+					}
+				}
+			}
+		};
+
+		for_each_jointed_body([&](BodyID, Body& body) {
+			predicted_centers.push_back(body.worldCenterOfMass());
+			body.position = body.previous_position;
+			body.rotation = body.previous_rotation;
+			settle_inertia(body);
+		});
+
+		if (m_position_shift.size() < m_bodies.size()) {
+			m_position_shift.resize(m_bodies.size(), glm::vec3(0.0f));
+		}
+		const auto measure_shift = [&] {
+			size_t body_index = 0;
+			for_each_jointed_body([&](BodyID id, Body& body) {
+				m_position_shift[id.slot] = body.worldCenterOfMass() - predicted_centers[body_index++];
+			});
+		};
+		const auto open_contacts = [&](bool first) {
+			for (const size_t island_index : jointed_islands) {
+				for (Constraint& constraint : islands[island_index].constraints) {
+					const float separation =
+					    -constraint.penetration +
+					    glm::dot(m_position_shift[constraint.body_b.slot] - m_position_shift[constraint.body_a.slot], constraint.normal);
+					const float closing = std::max(separation, 0.0f) / substep_dt;
+					constraint.closing_speed = first ? closing : std::min(constraint.closing_speed, closing);
+				}
+			}
+		};
+		measure_shift();
+
+		for (uint32_t substep = 0; substep < substeps; ++substep) {
+			run_joint_waves([this, substep, substep_dt](uint32_t joint_index) {
+				JointSlot& slot = m_joints[joint_index];
+				Body* body_a = nullptr;
+				Body* body_b = nullptr;
+				jointBodies(slot.joint, body_a, body_b);
+				const _detail::JointRow previous = m_joint_rows[joint_index];
+				m_joint_rows[joint_index] = _detail::prepareJoint(slot.joint, *body_a, *body_b, substep_dt);
+				if (substep == 0) {
+					_detail::warmStartJoint(m_joint_rows[joint_index], slot.joint, *body_a, *body_b);
+				} else {
+					m_joint_rows[joint_index].bounce_lower = std::min(m_joint_rows[joint_index].bounce_lower, previous.bounce_lower);
+					m_joint_rows[joint_index].bounce_upper = std::min(m_joint_rows[joint_index].bounce_upper, previous.bounce_upper);
+				}
+			});
+
+			open_contacts(substep == 0);
+			for (uint32_t iteration = 0; iteration < substep_iterations; ++iteration) {
+				run_joint_waves([this](uint32_t joint_index) {
+					JointSlot& slot = m_joints[joint_index];
+					Body* body_a = nullptr;
+					Body* body_b = nullptr;
+					jointBodies(slot.joint, body_a, body_b);
+					_detail::solveJoint(m_joint_rows[joint_index], slot.joint, *body_a, *body_b);
+				});
+				solve_contact_waves(jointed_islands);
+			}
+
+			for_each_jointed_body([&](BodyID, Body& body) { advance(body); });
+
+			const uint32_t passes = substep + 1 == substeps ? tunables().position_iterations : 1u;
+			for (uint32_t pass = 0; pass < passes; ++pass) {
+				run_joint_waves([this](uint32_t joint_index) {
+					JointSlot& slot = m_joints[joint_index];
+					Body* body_a = nullptr;
+					Body* body_b = nullptr;
+					jointBodies(slot.joint, body_a, body_b);
+					_detail::correctJointPositions(slot.joint, *body_a, *body_b);
+				});
+			}
+			measure_shift();
+		}
+
+		for (const size_t island_index : jointed_islands) {
+			for (Constraint& constraint : islands[island_index].constraints) {
+				constraint.closing_speed = 0.0f;
+			}
+		}
 	}
 
 	if (invalid_constraint_count > 0) {
@@ -6189,6 +6903,13 @@ void Simulator::solveIslands(std::vector<SimulationIsland>& islands) {
 	for (SimulationIsland& island : islands) {
 		position_correction_count += correctPositions(island.manifold_indices);
 	}
+	if (not predicted_centers.empty()) {
+		for (const size_t island_index : jointed_islands) {
+			for (const BodyID id : islands[island_index].dynamic_bodies) {
+				m_position_shift[id.slot] = glm::vec3(0.0f);
+			}
+		}
+	}
 	m_profile.position_corrections = position_correction_count;
 
 	m_profile.island_jobs = islands.size();
diff --git a/engine/src/toast/physics/simulator.hpp b/engine/src/toast/physics/simulator.hpp
index bb4b1e1a2..7e38767ae 100644
--- a/engine/src/toast/physics/simulator.hpp
+++ b/engine/src/toast/physics/simulator.hpp
@@ -13,6 +13,8 @@
 #include "damage_command.hpp"
 #include "debris.hpp"
 #include "fragment_extraction.hpp"
+#include "joint.hpp"
+#include "joint_solver.hpp"
 #include "manifold.hpp"
 #include "narrow_phase.hpp"
 #include "physics_material.hpp"
@@ -47,6 +49,8 @@ class Trigger;
 class Rigidbody;
 class DynamicRigidbody;
 class Collider;
+class Joint3D;
+struct SimulatorTestAccess;
 struct SmashVolume;
 struct SmashPieces;
 
@@ -59,6 +63,7 @@ class TOAST_API Simulator {
 	friend class Rigidbody;
 	friend class DynamicRigidbody;
 	friend class toast::VoxelNode;
+	friend struct SimulatorTestAccess;
 
 public:
 	struct DebugDirtyBrick {
@@ -85,6 +90,27 @@ class TOAST_API Simulator {
 	auto createBody(const BodyDescriptor& descriptor) -> BodyID;
 	void destroyBody(BodyID body);
 
+	[[nodiscard]]
+	auto createJoint(const JointDescriptor& descriptor) -> JointID;
+	void destroyJoint(JointID joint);
+
+	[[nodiscard]]
+	auto valid(JointID joint) const -> bool;
+	[[nodiscard]]
+
+	auto jointState(JointID joint) const -> std::optional<JointState>;
+	auto setJointParams(JointID joint, const JointParams& params) -> bool;
+
+	[[nodiscard]]
+	auto jointCount() const -> size_t {
+		return m_joint_count;
+	}
+
+	static void registerJointNode(Joint3D& node);
+	static void unregisterJointNode(Joint3D& node);
+	static void breakJointNode(Joint3D& node);
+	static void repairJointNode(Joint3D& node);
+
 	/// @param layers Only bodies including one of these layers are hit
 	static auto raycast(
 	    glm::vec3 origin, glm::vec3 direction, float max_distance = -1.0f, BodyID ignored = {}, uint32_t layers = k_all_layers
@@ -103,6 +129,8 @@ class TOAST_API Simulator {
 	auto valid(BodyID body) const -> bool;
 	[[nodiscard]]
 	auto state(BodyID body) const -> std::optional<BodyState>;
+	[[nodiscard]]
+	auto massProperties(BodyID body) const -> std::optional<BodyMassProperties>;
 
 	auto setTransform(BodyID body, const glm::vec3& position, const glm::quat& rotation) -> bool;
 	auto setLinearVelocity(BodyID body, const glm::vec3& velocity) -> bool;
@@ -175,6 +203,8 @@ class TOAST_API Simulator {
 		size_t island_jobs = 0;
 		size_t invalid_constraints = 0;
 		size_t position_corrections = 0;
+		size_t joint_count = 0;
+		size_t joints_broken = 0;
 
 		double tick_ms = 0.0;
 		double damage_apply_ms = 0.0;
@@ -380,6 +410,8 @@ class TOAST_API Simulator {
 		std::vector<BodyID> dynamic_bodies;
 		std::vector<Constraint> constraints;
 		std::vector<size_t> manifold_indices;
+		std::vector<uint32_t> joint_indices;
+		std::vector<size_t> joint_batch_offsets;
 
 		/// constraints[batch_offsets[i] .. batch_offsets[i + 1]) only share a dynamic body within one body pair run
 		/// and each body pair run is contiguous, so a batch can be split anywhere except inside a run
@@ -524,6 +556,23 @@ class TOAST_API Simulator {
 	void releaseSleeper(BodyID sleeper, BodyID other, const glm::vec3& normal_to_other);
 	void wakeBodiesTouching(BodyID id);
 	void wakeBodiesTouching(ShapeID id);
+	void wakeJointPartners();
+	void prepareJoints(float dt);
+	void syncJointNodes();
+	void checkJointAnchors();
+	void breakOverloadedJoints(float dt);
+	void breakJoint(JointID joint, JointBreakReason reason);
+	void publishJoints();
+	[[nodiscard]]
+	auto findVoxelShape(BodyID body) const -> ShapeID;
+	[[nodiscard]]
+	auto voxelEndOf(BodyID body, const JointFrame& frame, const VoxelAnchorSettings& settings) const -> JointVoxelEnd;
+	[[nodiscard]]
+	auto countSolidAround(ShapeID shape, const glm::vec3& body_local, int radius_voxels) const -> std::optional<uint32_t>;
+	void jointBodies(const Joint& joint, Body*& body_a, Body*& body_b);
+	void addExclusion(BodyID a, BodyID b);
+	void removeExclusion(BodyID a, BodyID b);
+	void adjustJointContacts(std::vector<Manifold>& manifolds);
 	void wakeBodiesInBounds(const AABB& bounds);
 	void convertImpulsesToDamage(std::span<const SimulationIsland> islands);
 	void wakeDisturbedSleepers(float dt);
@@ -666,6 +715,30 @@ class TOAST_API Simulator {
 
 	std::vector<BodySlot> m_bodies;
 	std::deque<uint32_t> m_free_body_slots;
+
+	std::vector<JointSlot> m_joints;
+	std::deque<uint32_t> m_free_joint_slots;
+	size_t m_joint_count = 0;
+	std::vector<_detail::JointRow> m_joint_rows;
+	std::vector<uint8_t> m_joint_active;
+	std::vector<uint32_t> m_joint_next_free_batch;
+	std::vector<uint32_t> m_joint_wave;
+	std::vector<uint64_t> m_excluded_pairs;
+	Body m_world_body {.type = BodyType::static_body, .inverse_mass = 0.0f};
+
+	struct JointBinding {
+		JointID joint;
+		toast::Box<Joint3D> node;
+		bool broken = false;
+	};
+
+	struct BrokenJoint {
+		JointID joint;
+		JointBreakReason reason = JointBreakReason::requested;
+	};
+
+	std::vector<JointBinding> m_joint_bindings;
+	std::vector<BrokenJoint> m_broken_joints;
 	std::vector<NodeBinding> m_node_bindings;
 	std::vector<VoxelNodeBinding> m_voxel_bindings;
 
diff --git a/engine/src/toast/physics/simulator_joints.cpp b/engine/src/toast/physics/simulator_joints.cpp
new file mode 100644
index 000000000..cdf02498d
--- /dev/null
+++ b/engine/src/toast/physics/simulator_joints.cpp
@@ -0,0 +1,345 @@
+#include "joint_solver.hpp"
+#include "nodes/joint3d.hpp"
+#include "simulator.hpp"
+
+#include <algorithm>
+#include <cmath>
+#include <toast/voxel/voxel_constants.hpp>
+#include <tracy/Tracy.hpp>
+
+namespace physics {
+
+void Simulator::registerJointNode(Joint3D& node) {
+	if (not instance) {
+		return;
+	}
+	if (not onSimulatorThread()) {
+		request([box = node.box().as<Joint3D>()]() mutable {
+			if (box.exists()) {
+				registerJointNode(*box);
+			}
+		});
+		return;
+	}
+	runPendingRequests();
+
+	const toast::Box<Joint3D> box = node.box().as<Joint3D>();
+	const bool known =
+	    std::ranges::any_of(instance->m_joint_bindings, [&](const JointBinding& binding) { return binding.node == box; });
+	if (not known) {
+		instance->m_joint_bindings.push_back(JointBinding {.node = box});
+	}
+}
+
+void Simulator::unregisterJointNode(Joint3D& node) {
+	if (not instance) {
+		return;
+	}
+	if (not onSimulatorThread()) {
+		request([box = node.box().as<Joint3D>()]() mutable {
+			if (box.exists()) {
+				unregisterJointNode(*box);
+			}
+		});
+		return;
+	}
+	runPendingRequests();
+
+	const toast::Box<Joint3D> box = node.box().as<Joint3D>();
+	std::vector<JointBinding>& bindings = instance->m_joint_bindings;
+	const auto found = std::ranges::find_if(bindings, [&](const JointBinding& binding) { return binding.node == box; });
+	if (found != bindings.end()) {
+		instance->destroyJoint(found->joint);
+		bindings.erase(found);
+	}
+}
+
+void Simulator::breakJointNode(Joint3D& node) {
+	if (not instance) {
+		return;
+	}
+	if (not onSimulatorThread()) {
+		request([box = node.box().as<Joint3D>()]() mutable {
+			if (box.exists()) {
+				breakJointNode(*box);
+			}
+		});
+		return;
+	}
+	runPendingRequests();
+
+	const toast::Box<Joint3D> box = node.box().as<Joint3D>();
+	for (const JointBinding& binding : instance->m_joint_bindings) {
+		if (binding.node == box && instance->valid(binding.joint)) {
+			instance->breakJoint(binding.joint, JointBreakReason::requested);
+		}
+	}
+}
+
+void Simulator::repairJointNode(Joint3D& node) {
+	if (not instance) {
+		return;
+	}
+	if (not onSimulatorThread()) {
+		request([box = node.box().as<Joint3D>()]() mutable {
+			if (box.exists()) {
+				repairJointNode(*box);
+			}
+		});
+		return;
+	}
+	runPendingRequests();
+
+	const toast::Box<Joint3D> box = node.box().as<Joint3D>();
+	for (JointBinding& binding : instance->m_joint_bindings) {
+		if (binding.node == box && binding.broken) {
+			binding.broken = false;
+			node.broken = false;
+		}
+	}
+}
+
+void Simulator::syncJointNodes() {
+	if (m_joint_bindings.empty()) {
+		return;
+	}
+	ZoneScopedN("physics::SyncJointNodes");
+
+	for (size_t index = 0; index < m_joint_bindings.size();) {
+		JointBinding& binding = m_joint_bindings[index];
+		if (not binding.node.exists()) {
+			destroyJoint(binding.joint);
+			m_joint_bindings.erase(m_joint_bindings.begin() + static_cast<std::ptrdiff_t>(index));
+			continue;
+		}
+		++index;
+
+		Joint3D& node = *binding.node;
+		const JointParams params = node.makeParams();
+		const VoxelAnchorSettings anchor {
+		  .enabled = node.break_when_anchor_destroyed,
+		  .radius_voxels = std::max(node.anchor_radius_voxels, 1),
+		  .min_remaining = node.anchor_min_remaining,
+		};
+
+		if (valid(binding.joint)) {
+			// What the node says now is what the joint does
+			Joint& joint = m_joints[binding.joint.slot].joint;
+			if (joint.descriptor.params.index() == params.index() && joint.descriptor.params != params) {
+				setJointParams(binding.joint, params);
+			}
+			joint.descriptor.break_force = node.break_force;
+			joint.descriptor.break_torque = node.break_torque;
+			joint.descriptor.voxel_anchor = anchor;
+			continue;
+		}
+		if (binding.broken) {
+			continue;
+		}
+
+		const BodyID body_a = node.node_a.exists() ? bodyFor(*node.node_a) : BodyID {};
+		const BodyID body_b = node.node_b.exists() ? bodyFor(*node.node_b) : BodyID {};
+		if ((node.node_a.exists() && not valid(body_a)) || (node.node_b.exists() && not valid(body_b))) {
+			continue;
+		}
+		if (not valid(body_a) && not valid(body_b)) {
+			continue;
+		}
+
+		node.syncWorldTransform();
+		binding.joint = createJoint(
+		    JointDescriptor {
+		      .body_a = body_a,
+		      .body_b = body_b,
+		      .anchor = node.world_position,
+		      .frame = node.frameRotation(),
+		      .exclude_collision = node.exclude_nodes_from_collision,
+		      .params = params,
+		      .break_force = node.break_force,
+		      .break_torque = node.break_torque,
+		      .voxel_anchor = anchor,
+		    }
+		);
+	}
+}
+
+void Simulator::publishJoints() {
+	for (JointBinding& binding : m_joint_bindings) {
+		if (binding.node.exists() && valid(binding.joint)) {
+			const Joint& joint = m_joints[binding.joint.slot].joint;
+			binding.node->publishState(
+			    JointState {
+			      .angle = joint.hinge_angle,
+			      .position = joint.slider_position,
+			      .force = joint.last_force,
+			      .torque = joint.last_torque,
+			    }
+			);
+		}
+	}
+
+	for (const BrokenJoint& broken : m_broken_joints) {
+		for (JointBinding& binding : m_joint_bindings) {
+			if (binding.joint == broken.joint) {
+				binding.broken = true;
+				if (binding.node.exists()) {
+					binding.node->markBroken();
+				}
+			}
+		}
+	}
+	m_broken_joints.clear();
+}
+
+void Simulator::breakJoint(JointID joint, JointBreakReason reason) {
+	if (not valid(joint)) {
+		return;
+	}
+	m_broken_joints.push_back(BrokenJoint {.joint = joint, .reason = reason});
+	// not when the node hears of it
+	for (JointBinding& binding : m_joint_bindings) {
+		if (binding.joint == joint) {
+			binding.broken = true;
+		}
+	}
+	destroyJoint(joint);
+	++m_profile.joints_broken;
+}
+
+void Simulator::breakOverloadedJoints(float dt) {
+	if (m_joint_count == 0) {
+		return;
+	}
+
+	for (uint32_t index = 0; index < m_joints.size(); ++index) {
+		if (index >= m_joint_active.size() || m_joint_active[index] == 0 || not m_joints[index].occupied) {
+			continue;
+		}
+
+		Joint& joint = m_joints[index].joint;
+		const _detail::JointReaction reaction = _detail::jointReaction(joint);
+		joint.last_force = reaction.linear / dt;
+		joint.last_torque = reaction.angular / dt;
+
+		const JointID id {.slot = index, .generation = m_joints[index].generation};
+		if (joint.descriptor.break_force > 0.0f && joint.last_force > joint.descriptor.break_force) {
+			breakJoint(id, JointBreakReason::force);
+		} else if (joint.descriptor.break_torque > 0.0f && joint.last_torque > joint.descriptor.break_torque) {
+			breakJoint(id, JointBreakReason::torque);
+		}
+	}
+}
+
+auto Simulator::findVoxelShape(BodyID body) const -> ShapeID {
+	for (uint32_t index = 0; index < m_shapes.size(); ++index) {
+		const ShapeSlot& slot = m_shapes[index];
+		if (slot.occupied && slot.shape.owner == body && slot.shape.type == ShapeType::voxel) {
+			return {.slot = index, .generation = slot.generation};
+		}
+	}
+	return {};
+}
+
+auto Simulator::countSolidAround(ShapeID shape_id, const glm::vec3& body_local, int radius_voxels) const
+    -> std::optional<uint32_t> {
+	const Shape* shape = tryGetShape(shape_id);
+	if (shape == nullptr || shape->type != ShapeType::voxel) {
+		return std::nullopt;
+	}
+	const VoxelShapeData* data = tryGetVoxelDataConst(shape->voxel.data);
+	if (data == nullptr || data->volume == nullptr) {
+		return std::nullopt;
+	}
+
+	const glm::vec3 lattice = glm::inverse(shape->voxel.local_rotation) * (body_local - shape->voxel.local_center);
+	const glm::ivec3 center = glm::ivec3(glm::floor(lattice / voxel::k_voxel_size));
+	uint32_t count = 0;
+	for (int z = -radius_voxels; z <= radius_voxels; ++z) {
+		for (int y = -radius_voxels; y <= radius_voxels; ++y) {
+			for (int x = -radius_voxels; x <= radius_voxels; ++x) {
+				const glm::ivec3 cell = center + glm::ivec3(x, y, z);
+				if (data->volume->containsVoxel(cell) && data->volume->isSolidAt(cell)) {
+					++count;
+				}
+			}
+		}
+	}
+	return count;
+}
+
+auto Simulator::voxelEndOf(BodyID body, const JointFrame& frame, const VoxelAnchorSettings& settings) const -> JointVoxelEnd {
+	if (not settings.enabled) {
+		return {};
+	}
+
+	const ShapeID shape = findVoxelShape(body);
+	const std::optional<uint32_t> count = countSolidAround(shape, frame.position, settings.radius_voxels);
+	if (not count) {
+		return {};
+	}
+
+	const Shape* value = tryGetShape(shape);
+	const VoxelShapeData* data = tryGetVoxelDataConst(value->voxel.data);
+	return JointVoxelEnd {.shape = shape, .baseline = *count, .revision = data->volume->revision()};
+}
+
+void Simulator::checkJointAnchors() {
+	if (m_joint_count == 0) {
+		return;
+	}
+	ZoneScopedN("physics::CheckJointAnchors");
+
+	for (uint32_t index = 0; index < m_joints.size(); ++index) {
+		JointSlot& slot = m_joints[index];
+		if (not slot.occupied || not slot.joint.descriptor.voxel_anchor.enabled) {
+			continue;
+		}
+
+		Joint& joint = slot.joint;
+		const VoxelAnchorSettings& settings = joint.descriptor.voxel_anchor;
+		bool let_go = false;
+		const auto check = [&](BodyID body, const JointFrame& frame, JointVoxelEnd& end) {
+			if (end.shape.generation == 0) {
+				return;    // not a voxel body
+			}
+
+			const Shape* shape = tryGetShape(end.shape);
+			if (shape == nullptr) {
+				end.shape = findVoxelShape(body);
+				end.revision = 0;
+				shape = tryGetShape(end.shape);
+			}
+			if (shape == nullptr) {
+				let_go = true;
+				return;
+			}
+
+			const VoxelShapeData* data = tryGetVoxelDataConst(shape->voxel.data);
+			if (data == nullptr || data->volume == nullptr) {
+				let_go = true;
+				return;
+			}
+			if (data->volume->revision() == end.revision) {
+				return;    // nothing changedd
+			}
+			end.revision = data->volume->revision();
+
+			const std::optional<uint32_t> count = countSolidAround(end.shape, frame.position, settings.radius_voxels);
+			if (not count || static_cast<float>(*count) < static_cast<float>(end.baseline) * settings.min_remaining) {
+				let_go = true;
+			}
+		};
+
+		if (valid(joint.descriptor.body_a)) {
+			check(joint.descriptor.body_a, joint.frame_a, joint.voxel_end_a);
+		}
+		if (valid(joint.descriptor.body_b)) {
+			check(joint.descriptor.body_b, joint.frame_b, joint.voxel_end_b);
+		}
+		if (let_go) {
+			breakJoint({.slot = index, .generation = slot.generation}, JointBreakReason::anchor_destroyed);
+		}
+	}
+}
+
+}
diff --git a/engine/src/toast/reflect/reflect.hpp b/engine/src/toast/reflect/reflect.hpp
index 2a6c5c34d..90b2c89ce 100644
--- a/engine/src/toast/reflect/reflect.hpp
+++ b/engine/src/toast/reflect/reflect.hpp
@@ -89,6 +89,15 @@ struct TOAST_API FieldInfo {
 	FieldGetterPtr get;
 	FieldSetterPtr set;
 
+	[[nodiscard]]
+	auto isNodeReference() const -> bool {
+		std::string_view bare = type;
+		if (bare.starts_with("toast::")) {
+			bare.remove_prefix(std::string_view("toast::").size());
+		}
+		return value_type == FieldType::uid_t && not is_array && bare.starts_with("Box<");
+	}
+
 	/**
 	 * @brief Returns the generated attribute objectpr
 	 */
diff --git a/engine/src/toast/renderer/debug/voxel_debug.cpp b/engine/src/toast/renderer/debug/voxel_debug.cpp
index 25576af89..a065a7a52 100644
--- a/engine/src/toast/renderer/debug/voxel_debug.cpp
+++ b/engine/src/toast/renderer/debug/voxel_debug.cpp
@@ -559,15 +559,15 @@ void Monitor::drawPanel(const RenderFrame& frame) const {
 	ImGui::TextDisabled("%u pool slots, %u palettes, %u records", info.packed_slots, info.packed_palettes, storage.recordCount());
 	size_t occupied = 0;
 	size_t glass = 0;
-	uint32_t small = 0;
+	uint32_t on_unit_box = 0;
 	for (uint32_t record = 0; record < storage.recordCount(); ++record) {
 		if (const auto& list = storage.brickList(record)) {
 			occupied += list->occupied.size();
 			glass += list->glass.size();
-			small += list->occupied.size() <= VoxelBlasCache::k_unit_box_bricks ? 1u : 0u;
+			on_unit_box += list->occupied.size() <= VoxelBlasCache::k_unit_box_bricks ? 1u : 0u;
 		}
 	}
-	ImGui::TextDisabled("%zu occupied bricks, %zu glass, %u records on the unit box", occupied, glass, small);
+	ImGui::TextDisabled("%zu occupied bricks, %zu glass, %u records on the unit box", occupied, glass, on_unit_box);
 	if (const VoxelBlasCache* blas = VulkanRenderer::instance->voxelBlasCache()) {
 		const VoxelBlasCache::Stats s = blas->stats();
 		ImGui::TextDisabled(
diff --git a/engine/src/toast/scripting/node_proxy.cpp b/engine/src/toast/scripting/node_proxy.cpp
index 35cec25e9..03347da7d 100644
--- a/engine/src/toast/scripting/node_proxy.cpp
+++ b/engine/src/toast/scripting/node_proxy.cpp
@@ -405,12 +405,19 @@ auto proxyMethodDispatch(lua_State* l) -> int;
 
 // Strips the outer "Box<" ... ">" from a field.type string and returns the inner type name
 auto innerBoxType(std::string_view type) -> std::string_view {
+	constexpr std::string_view toast_prefix = "toast::";
 	constexpr std::string_view prefix = "Box<";
+	if (type.starts_with(toast_prefix)) {
+		type.remove_prefix(toast_prefix.size());
+	}
 	if (!type.starts_with(prefix) || !type.ends_with('>')) {
 		return {};
 	}
 	type.remove_prefix(prefix.size());
 	type.remove_suffix(1);
+	if (type.starts_with(toast_prefix)) {
+		type.remove_prefix(toast_prefix.size());
+	}
 	return type;
 }
 
@@ -1598,7 +1605,7 @@ auto nodeProxyNewindex(NodeProxy& proxy, const luabridge::LuaRef& key, const lua
 		case FieldType::uid_t: {
 			const std::string_view type_str = f->type;
 
-			if (!f->is_array && type_str.starts_with("Box<")) {
+			if (f->isNodeReference()) {
 				if (!value.isInstance<NodeProxy>()) {
 					luaL_error(l, "Field '%s' expects Node", key_str.c_str());
 				}
diff --git a/engine/src/toast/world/node_3d.cpp b/engine/src/toast/world/node_3d.cpp
index 6bc0409fb..db0796948 100644
--- a/engine/src/toast/world/node_3d.cpp
+++ b/engine/src/toast/world/node_3d.cpp
@@ -3,6 +3,7 @@
 #include "toast/physics/simulator.hpp"
 #include "world.hpp"
 
+#include <array>
 #include <tracy/Tracy.hpp>
 
 namespace toast {
@@ -18,10 +19,37 @@ void composeTransform(glm::mat4& transform, glm::vec3 position, glm::quat rotati
 }
 
 void decomposeTransform(const glm::mat4& transform, glm::vec3& position, glm::quat& rotation, glm::vec3& scale) {
+	glm::mat4 patched = transform;
+	std::array<bool, 3> collapsed {};
+	int collapsed_count = 0;
+	for (int axis = 0; axis < 3; ++axis) {
+		collapsed[axis] = glm::dot(glm::vec3(transform[axis]), glm::vec3(transform[axis])) < 1.0e-12f;
+		collapsed_count += collapsed[axis] ? 1 : 0;
+	}
+	if (collapsed_count == 1) {
+		for (int axis = 0; axis < 3; ++axis) {
+			if (collapsed[axis]) {
+				patched[axis] = glm::vec4(glm::cross(glm::vec3(transform[(axis + 1) % 3]), glm::vec3(transform[(axis + 2) % 3])), 0.0f);
+			}
+		}
+	} else if (collapsed_count > 1) {
+		position = glm::vec3(transform[3]);
+		rotation = glm::quat(1.0f, 0.0f, 0.0f, 0.0f);
+		for (int axis = 0; axis < 3; ++axis) {
+			scale[axis] = glm::length(glm::vec3(transform[axis]));
+		}
+		return;
+	}
+
 	glm::vec3 skew;
 	glm::vec4 perspective;
-	glm::decompose(transform, scale, rotation, position, skew, perspective);
+	glm::decompose(patched, scale, rotation, position, skew, perspective);
 	rotation = glm::normalize(rotation);
+	for (int axis = 0; axis < 3; ++axis) {
+		if (collapsed[axis]) {
+			scale[axis] = 0.0f;
+		}
+	}
 }
 
 }
diff --git a/engine/src/toast/world/node_owner.cpp b/engine/src/toast/world/node_owner.cpp
index 5f382ef58..00f086b98 100644
--- a/engine/src/toast/world/node_owner.cpp
+++ b/engine/src/toast/world/node_owner.cpp
@@ -681,6 +681,37 @@ auto INodeOwner::buildTree(std::vector<Box<Node>>&& nodes, const assets::Handle<
 		}
 	}
 
+	for (size_t i = 0; i < nodes.size(); ++i) {
+		const NodeInfo* info = nodes[i]->info();
+		if (not info) {
+			continue;
+		}
+		const auto& data = file->nodes[i];
+		info->forEachBaseType([&](const NodeInfo& level) {
+			for (const auto& field : level.all_fields) {
+				if (not field.isNodeReference() || not field.set || field.name == "m_parent" || field.hasAttribute("ReadOnly") ||
+				    field.hasAttribute("NoSerialize")) {
+					continue;
+				}
+
+				const auto stored = data.find(field.name);
+				const auto* uid = stored.has_value() ? std::any_cast<UID>(&stored->value) : nullptr;
+				if (uid == nullptr || uid->data() == 0) {
+					continue;
+				}
+
+				const auto target = uid_map.find(uid->data());
+				if (target == uid_map.end()) {
+					TOAST_WARN(
+					    "World", "Field '{}' of '{}' references UID {} which is not in this prefab", field.name, nodes[i]->name(), *uid
+					);
+					continue;
+				}
+				field.set(&*nodes[i], std::any {target->second});
+			}
+		});
+	}
+
 	// Signals are restored after every node has been allocated and indexed, so connection targets
 	// can be resolved regardless of their order in the prefab file.
 	for (size_t i = 0; i < nodes.size(); ++i) {
diff --git a/engine/src/toast/world/workspace.cpp b/engine/src/toast/world/workspace.cpp
index 48223f58c..f017f076e 100644
--- a/engine/src/toast/world/workspace.cpp
+++ b/engine/src/toast/world/workspace.cpp
@@ -31,6 +31,7 @@
 #include <toast/log.hpp>
 #include <toast/physics/nodes/box_collider.hpp>
 #include <toast/physics/nodes/capsule_collider.hpp>
+#include <toast/physics/nodes/joint3d.hpp>
 #include <toast/physics/nodes/rigidbody.hpp>
 #include <toast/physics/nodes/sphere_collider.hpp>
 #include <toast/renderer/debug/editor_overlays.hpp>
@@ -329,6 +330,10 @@ static auto gizmoField(GizmoTool tool, GizmoHandle handle, Node& node) -> const
 			const char* name = light_gizmo::handleField(*light, handle);
 			return name != nullptr ? node.info()->getField(name) : nullptr;
 		}
+		if (const auto joint = box.as<physics::Joint3D>(); joint.exists()) {
+			const char* name = joint->limitField(handle);
+			return name != nullptr ? node.info()->getField(name) : nullptr;
+		}
 		if (box.as<physics::BoxCollider>().exists()) {
 			return node.info()->getField("size");
 		}
@@ -351,6 +356,17 @@ static auto gizmoField(GizmoTool tool, GizmoHandle handle, Node& node) -> const
 	}
 }
 
+static auto hingeRayAngle(const Ray& ray, const glm::vec3& origin, const glm::quat& rotation, float fallback) -> float {
+	const auto hit_t = rayPlaneIntersect(ray, origin, rotation * glm::vec3(0.0f, 0.0f, 1.0f));
+	if (not hit_t.has_value()) {
+		return fallback;
+	}
+	const glm::vec3 hit = ray.origin + (ray.direction * (*hit_t)) - origin;
+	return glm::degrees(
+	    std::atan2(glm::dot(hit, rotation * glm::vec3(0.0f, 1.0f, 0.0f)), glm::dot(hit, rotation * glm::vec3(1.0f, 0.0f, 0.0f)))
+	);
+}
+
 Workspace::Workspace(UID handle, EmptyTag) : m_handle(handle) {
 	m_editor_camera = std::make_unique<Camera>();
 	m_editor_camera->position = {0.0f, -10.0f, 10.0f};
@@ -1122,6 +1138,15 @@ auto Workspace::collectSizeHandles() const -> std::pair<std::array<SizeHandlePoi
 		return {out, count};
 	}
 
+	// limits of a joint
+	if (auto joint = m_focused_node.as<physics::Joint3D>(); joint.exists()) {
+		const auto [entries, entry_count] = joint->limitHandles();
+		for (uint32_t i = 0; i < entry_count; ++i) {
+			out[count++] = SizeHandlePoint {.world_position = origin + rotation * entries[i].local, .handle = entries[i].handle};
+		}
+		return {out, count};
+	}
+
 	if (auto volume = m_focused_node.as<VoxelVolume>(); volume.exists()) {
 		const glm::vec3 half = glm::vec3(volume->sizeVoxels()) * voxel::k_voxel_size * 0.5f;
 		const glm::mat4& world = node3d->getWorldTransform();
@@ -1187,6 +1212,15 @@ void Workspace::gizmoApplySizeDrag(float delta) {
 		return;
 	}
 
+	if (auto joint = m_focused_node.as<physics::Joint3D>(); joint.exists()) {
+		float value = m_gizmo_drag_start_size[0] + delta;
+		if (m_translate_snap.enabled && m_translate_snap.value > 0.0001f) {
+			value = std::round(value / m_translate_snap.value) * m_translate_snap.value;
+		}
+		joint->setLimitValue(m_gizmo_drag, value);
+		return;
+	}
+
 	// Volumes grow a whole voxel at a time and the negative faces move the corner
 	if (auto volume = m_focused_node.as<VoxelVolume>(); volume.exists()) {
 		const int32_t start = static_cast<int32_t>(m_gizmo_drag_start_size[axis]);
@@ -1303,6 +1337,8 @@ void Workspace::gizmoBeginDrag(GizmoHandle handle) {
 	if (gizmo_layout::isSizeHandle(handle)) {
 		if (auto light = m_focused_node.as<Light>(); light.exists()) {
 			m_gizmo_drag_start_size[gizmo_layout::sizeHandleAxis(handle)] = light_gizmo::handleDistance(*light, handle);
+		} else if (auto joint = m_focused_node.as<physics::Joint3D>(); joint.exists()) {
+			m_gizmo_drag_start_size[0] = joint->limitValue(handle);
 		} else if (auto volume = m_focused_node.as<VoxelVolume>(); volume.exists()) {
 			m_gizmo_drag_start_size = glm::vec3(volume->sizeVoxels());
 		} else if (auto box = m_focused_node.as<physics::BoxCollider>(); box.exists()) {
@@ -1333,6 +1369,16 @@ void Workspace::gizmoBeginDrag(GizmoHandle handle) {
 	const glm::vec2 viewport_size {static_cast<float>(extent.width), static_cast<float>(extent.height)};
 	const Ray ray = camera->screenPointToRay(m_gizmo_mouse_pos, viewport_size);
 
+	// hinge limit
+	if (gizmo_layout::isSizeHandle(handle)) {
+		if (auto joint = m_focused_node.as<physics::Joint3D>(); joint.exists() && joint->limitsAreAngles()) {
+			m_gizmo_drag_axis = glm::normalize(node3d->world_rotation * glm::vec3(0.0f, 0.0f, 1.0f));
+			m_gizmo_drag_plane_normal = m_gizmo_drag_axis;
+			m_gizmo_drag_start_angle = hingeRayAngle(ray, origin, node3d->world_rotation, m_gizmo_drag_start_size[0]);
+			return;
+		}
+	}
+
 	if (gizmo_layout::isSizeHandle(handle)) {
 		glm::vec3 axis {0.0f};
 		axis[gizmo_layout::sizeHandleAxis(handle)] = 1.0f;
@@ -1398,13 +1444,31 @@ void Workspace::gizmoUpdateDrag() {
 	    m_gizmo_drag == GizmoHandle::axis_x || m_gizmo_drag == GizmoHandle::axis_y || m_gizmo_drag == GizmoHandle::axis_z;
 
 	if (gizmo_layout::isSizeHandle(m_gizmo_drag)) {
+		auto joint = m_focused_node.as<physics::Joint3D>();
+
+		if (joint.exists() && joint->limitsAreAngles()) {
+			const float angle = hingeRayAngle(ray, origin, m_gizmo_drag_start_rotation, m_gizmo_drag_start_angle);
+			float value = m_gizmo_drag_start_size[0] + std::remainder(angle - m_gizmo_drag_start_angle, 360.0f);
+			if (m_rotate_snap.enabled && m_rotate_snap.value > 0.0001f) {
+				value = std::round(value / m_rotate_snap.value) * m_rotate_snap.value;
+			}
+			joint->setLimitValue(m_gizmo_drag, value);
+			if (const char* field = joint->limitField(m_gizmo_drag); field != nullptr) {
+				m_focused_node->onReflectedFieldChanged(field);
+			}
+			return;
+		}
+
 		const auto [_, t2] = closestPointsBetweenLines(ray.origin, ray.direction, origin, m_gizmo_drag_axis);
 		const glm::vec3 current = origin + m_gizmo_drag_axis * t2;
 		gizmoApplySizeDrag(glm::dot(current - m_gizmo_drag_anchor, m_gizmo_drag_axis));
 
 		const auto light = m_focused_node.as<Light>();
-		const char* light_field = light.exists() ? light_gizmo::handleField(*light, m_gizmo_drag) : nullptr;
-		m_focused_node->onReflectedFieldChanged(light_field != nullptr ? light_field : "size");
+		const char* field = light.exists() ? light_gizmo::handleField(*light, m_gizmo_drag) : nullptr;
+		if (field == nullptr && joint.exists()) {
+			field = joint->limitField(m_gizmo_drag);
+		}
+		m_focused_node->onReflectedFieldChanged(field != nullptr ? field : "size");
 		return;
 	}
 
@@ -2078,7 +2142,7 @@ void Workspace::eventSubscriptions() {
 			std::istringstream ss(e.value);
 			ss >> deg.x >> deg.y >> deg.z;
 			value = std::any {glm::quat(glm::radians(deg))};
-		} else if (field->value_type == FieldType::uid_t && not field->is_array && field->type.starts_with("Box<")) {
+		} else if (field->isNodeReference()) {
 			auto parsed = assets::Prefab::valueFromString(field->value_type, false, e.value);
 			if (not parsed.has_value()) {
 				TOAST_WARN("World", "NodeChangeParam: couldn't parse '{}' for parameter '{}'", e.value, e.parameter);