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diff --git a/cw 6/models/seafloor.obj b/cw 6/models/seafloor.obj
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index 0000000..9ba186d
--- /dev/null
+++ b/cw 6/models/seafloor.obj	
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+# www.blender.org
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diff --git a/cw 6/models/submarine.obj b/cw 6/models/submarine.obj
new file mode 100644
index 0000000..8e6081d
--- /dev/null
+++ b/cw 6/models/submarine.obj	
@@ -0,0 +1,30319 @@
+# Max2Obj Version 4.0 Mar 10th, 2001
+#
+mtllib ./submarine.mtl
+g
+# object Cylinder09 to come ...
+#
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+f 2005/2666/2005 2003/2688/2003 1999/2695/1999
+s 1
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+s 2
+f 2002/2664/2002 2000/2671/2000 2004/2674/2004
+f 2004/2674/2004 2006/2678/2006 2002/2664/2002
+s 1
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+f 2007/2673/2007 2008/2682/2008 2004/2672/2004
+s 4
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+f 2015/2676/2015 2013/2683/2013 2011/2690/2011
+s 1
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+s 2
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+f 2021/2700/2021 2028/2722/2028 2027/2719/2027
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+f 2039/2737/2039 2041/2740/2041 2040/2738/2040
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+f 5406/7497/5406 5405/7496/5405 5424/7515/5424
+f 5425/7516/5425 5426/7517/5426 5407/7498/5407
+f 5407/7498/5407 5406/7497/5406 5425/7516/5425
+f 5426/7517/5426 5427/7518/5427 5410/7501/5410
+f 5410/7501/5410 5407/7498/5407 5426/7517/5426
+f 5427/7518/5427 5428/7519/5428 5415/7506/5415
+f 5415/7506/5415 5410/7501/5410 5427/7518/5427
+f 5428/7519/5428 5429/7520/5429 5418/7509/5418
+f 5418/7509/5418 5415/7506/5415 5428/7519/5428
+f 5429/7520/5429 5430/7521/5430 5421/7512/5421
+f 5421/7512/5421 5418/7509/5418 5429/7520/5429
+f 5430/7521/5430 5431/7522/5431 5420/7511/5420
+f 5420/7511/5420 5421/7512/5421 5430/7521/5430
+f 5431/7522/5431 5441/7532/5441 5413/7504/5413
+f 5413/7504/5413 5420/7511/5420 5431/7522/5431
+f 5432/7523/5432 5433/7524/5433 5412/7503/5412
+f 5412/7503/5412 5439/7530/5439 5432/7523/5432
+f 5433/7524/5433 5434/7525/5434 5419/7510/5419
+f 5419/7510/5419 5412/7503/5412 5433/7524/5433
+f 5434/7525/5434 5435/7526/5435 5416/7507/5416
+f 5416/7507/5416 5419/7510/5419 5434/7525/5434
+f 5435/7526/5435 5436/7527/5436 5411/7502/5411
+f 5411/7502/5411 5416/7507/5416 5435/7526/5435
+f 5436/7527/5436 5437/7528/5437 5408/7499/5408
+f 5408/7499/5408 5411/7502/5411 5436/7527/5436
+f 5437/7528/5437 5422/7513/5422 5403/7494/5403
+f 5403/7494/5403 5408/7499/5408 5437/7528/5437
+s 2
+f 5439/7530/5439 5405/7496/5405 5413/7504/5413
+f 5405/7496/5405 5439/7530/5439 5438/7529/5438
+s 1
+f 5405/7496/5405 5438/7529/5438 5424/7515/5424
+f 5440/7531/5440 5424/7515/5424 5438/7529/5438
+f 5439/7530/5439 5413/7504/5413 5432/7523/5432
+f 5441/7532/5441 5432/7523/5432 5413/7504/5413
+s 4
+f 5443/7534/5443 5442/7533/5442 5447/7538/5447
+f 5444/7535/5444 5448/7539/5448 5445/7536/5445
+f 5445/7536/5445 5449/7540/5449 5446/7537/5446
+f 5449/7540/5449 5445/7536/5445 5448/7539/5448
+f 5450/7541/5450 5451/7542/5451 5443/7534/5443
+f 5443/7534/5443 5447/7538/5447 5450/7541/5450
+s 2
+f 5443/7534/5443 5462/7569/5462 5461/7568/5461
+f 5462/7569/5462 5443/7534/5443 5451/7542/5451
+s 4
+f 5444/7535/5444 5453/7544/5453 5448/7539/5448
+f 5453/7544/5453 5444/7535/5444 5452/7543/5452
+f 5448/7539/5448 5454/7545/5454 5449/7540/5449
+f 5454/7545/5454 5448/7539/5448 5453/7544/5453
+f 5451/7542/5451 5450/7541/5450 5455/7546/5455
+f 5452/7543/5452 5456/7547/5456 5453/7544/5453
+f 5453/7544/5453 5457/7548/5457 5454/7545/5454
+f 5457/7548/5457 5453/7544/5453 5456/7547/5456
+f 5451/7542/5451 5455/7546/5455 5458/7549/5458
+f 5452/7543/5452 5459/7550/5459 5456/7547/5456
+f 5456/7547/5456 5460/7551/5460 5457/7548/5457
+f 5460/7551/5460 5456/7547/5456 5459/7550/5459
+s 1
+f 5422/7552/5422 5443/7534/5443 5423/7553/5423
+f 5443/7534/5443 5422/7552/5422 5442/7533/5442
+f 5423/7553/5423 5461/7568/5461 5440/7570/5440
+f 5461/7568/5461 5423/7553/5423 5443/7534/5443
+f 5424/7554/5424 5445/7536/5445 5425/7555/5425
+f 5445/7536/5445 5424/7554/5424 5444/7535/5444
+f 5425/7555/5425 5446/7537/5446 5426/7556/5426
+f 5446/7537/5446 5425/7555/5425 5445/7536/5445
+f 5426/7556/5426 5449/7540/5449 5427/7557/5427
+f 5449/7540/5449 5426/7556/5426 5446/7537/5446
+f 5427/7557/5427 5454/7545/5454 5428/7558/5428
+f 5454/7545/5454 5427/7557/5427 5449/7540/5449
+f 5428/7558/5428 5457/7548/5457 5429/7559/5429
+f 5457/7548/5457 5428/7558/5428 5454/7545/5454
+f 5429/7559/5429 5460/7551/5460 5430/7560/5430
+f 5460/7551/5460 5429/7559/5429 5457/7548/5457
+f 5430/7560/5430 5459/7550/5459 5431/7561/5431
+f 5459/7550/5459 5430/7560/5430 5460/7551/5460
+f 5431/7561/5431 5452/7543/5452 5441/7571/5441
+f 5452/7543/5452 5431/7561/5431 5459/7550/5459
+f 5432/7562/5432 5451/7542/5451 5433/7563/5433
+f 5451/7542/5451 5432/7562/5432 5462/7569/5462
+f 5433/7563/5433 5458/7549/5458 5434/7564/5434
+f 5458/7549/5458 5433/7563/5433 5451/7542/5451
+f 5434/7564/5434 5455/7546/5455 5435/7565/5435
+f 5455/7546/5455 5434/7564/5434 5458/7549/5458
+f 5435/7565/5435 5450/7541/5450 5436/7566/5436
+f 5450/7541/5450 5435/7565/5435 5455/7546/5455
+f 5436/7566/5436 5447/7538/5447 5437/7567/5437
+f 5447/7538/5447 5436/7566/5436 5450/7541/5450
+f 5437/7567/5437 5442/7533/5442 5422/7552/5422
+f 5442/7533/5442 5437/7567/5437 5447/7538/5447
+s 2
+f 5462/7569/5462 5452/7543/5452 5444/7535/5444
+f 5444/7535/5444 5461/7568/5461 5462/7569/5462
+s 1
+f 5444/7535/5444 5424/7554/5424 5461/7568/5461
+f 5440/7570/5440 5461/7568/5461 5424/7554/5424
+f 5462/7569/5462 5432/7562/5432 5452/7543/5452
+f 5441/7571/5441 5452/7543/5452 5432/7562/5432
+s 4
+f 5467/7576/5467 5468/7577/5468 5470/7579/5470
+f 5470/7579/5470 5469/7578/5469 5467/7576/5467
+s 8
+f 5463/7572/5463 5464/7573/5464 5468/7591/5468
+f 5468/7591/5468 5467/7590/5467 5463/7572/5463
+s 16
+f 5464/7580/5464 5466/7581/5466 5470/7583/5470
+f 5470/7583/5470 5468/7582/5468 5464/7580/5464
+s 32
+f 5466/7575/5466 5465/7574/5465 5469/7588/5469
+f 5469/7588/5469 5470/7589/5470 5466/7575/5466
+s 64
+f 5465/7585/5465 5463/7584/5463 5467/7586/5467
+f 5467/7586/5467 5469/7587/5469 5465/7585/5465
+s 8
+f 5471/7592/5471 5484/7605/5484 5483/7604/5483
+f 5471/7592/5471 5472/7593/5472 5484/7605/5484
+f 5472/7593/5472 5485/7606/5485 5484/7605/5484
+f 5472/7593/5472 5473/7594/5473 5485/7606/5485
+f 5473/7594/5473 5486/7607/5486 5485/7606/5485
+f 5473/7594/5473 5474/7595/5474 5486/7607/5486
+f 5474/7595/5474 5487/7608/5487 5486/7607/5486
+f 5474/7595/5474 5475/7596/5475 5487/7608/5487
+f 5475/7596/5475 5488/7609/5488 5487/7608/5487
+f 5475/7596/5475 5476/7597/5476 5488/7609/5488
+f 5476/7597/5476 5489/7610/5489 5488/7609/5488
+f 5476/7597/5476 5477/7598/5477 5489/7610/5489
+f 5477/7598/5477 5490/7611/5490 5489/7610/5489
+f 5477/7598/5477 5478/7599/5478 5490/7611/5490
+f 5478/7599/5478 5491/7612/5491 5490/7611/5490
+f 5478/7599/5478 5479/7600/5479 5491/7612/5491
+f 5479/7600/5479 5492/7613/5492 5491/7612/5491
+f 5479/7600/5479 5480/7601/5480 5492/7613/5492
+f 5480/7601/5480 5493/7614/5493 5492/7613/5492
+f 5480/7601/5480 5481/7602/5481 5493/7614/5493
+f 5481/7602/5481 5494/7615/5494 5493/7614/5493
+f 5481/7602/5481 5482/7603/5482 5494/7615/5494
+f 5482/7603/5482 5483/7604/5483 5494/7615/5494
+f 5482/7603/5482 5471/7592/5471 5483/7604/5483
+f 5483/7604/5483 5496/7617/5496 5495/7616/5495
+f 5483/7604/5483 5484/7605/5484 5496/7617/5496
+f 5484/7605/5484 5497/7618/5497 5496/7617/5496
+f 5484/7605/5484 5485/7606/5485 5497/7618/5497
+f 5485/7606/5485 5498/7619/5498 5497/7618/5497
+f 5485/7606/5485 5486/7607/5486 5498/7619/5498
+f 5486/7607/5486 5499/7620/5499 5498/7619/5498
+f 5486/7607/5486 5487/7608/5487 5499/7620/5499
+f 5487/7608/5487 5500/7621/5500 5499/7620/5499
+f 5487/7608/5487 5488/7609/5488 5500/7621/5500
+f 5488/7609/5488 5501/7622/5501 5500/7621/5500
+f 5488/7609/5488 5489/7610/5489 5501/7622/5501
+f 5489/7610/5489 5502/7623/5502 5501/7622/5501
+f 5489/7610/5489 5490/7611/5490 5502/7623/5502
+f 5490/7611/5490 5503/7624/5503 5502/7623/5502
+f 5490/7611/5490 5491/7612/5491 5503/7624/5503
+f 5491/7612/5491 5504/7625/5504 5503/7624/5503
+f 5491/7612/5491 5492/7613/5492 5504/7625/5504
+f 5492/7613/5492 5505/7626/5505 5504/7625/5504
+f 5492/7613/5492 5493/7614/5493 5505/7626/5505
+f 5493/7614/5493 5506/7627/5506 5505/7626/5505
+f 5493/7614/5493 5494/7615/5494 5506/7627/5506
+f 5494/7615/5494 5495/7616/5495 5506/7627/5506
+f 5494/7615/5494 5483/7604/5483 5495/7616/5495
+f 5507/7628/5507 5508/7629/5508 5495/7616/5495
+f 5495/7616/5495 5496/7617/5496 5507/7628/5507
+f 5509/7630/5509 5507/7628/5507 5496/7617/5496
+f 5496/7617/5496 5497/7618/5497 5509/7630/5509
+f 5510/7631/5510 5509/7630/5509 5497/7618/5497
+f 5497/7618/5497 5498/7619/5498 5510/7631/5510
+f 5511/7632/5511 5510/7631/5510 5498/7619/5498
+f 5498/7619/5498 5499/7620/5499 5511/7632/5511
+f 5512/7633/5512 5511/7632/5511 5499/7620/5499
+f 5499/7620/5499 5500/7621/5500 5512/7633/5512
+f 5513/7634/5513 5512/7633/5512 5500/7621/5500
+f 5500/7621/5500 5501/7622/5501 5513/7634/5513
+f 5514/7635/5514 5513/7634/5513 5501/7622/5501
+f 5501/7622/5501 5502/7623/5502 5514/7635/5514
+f 5515/7636/5515 5514/7635/5514 5502/7623/5502
+f 5502/7623/5502 5503/7624/5503 5515/7636/5515
+f 5516/7637/5516 5515/7636/5515 5503/7624/5503
+f 5503/7624/5503 5504/7625/5504 5516/7637/5516
+f 5517/7638/5517 5516/7637/5516 5504/7625/5504
+f 5504/7625/5504 5505/7626/5505 5517/7638/5517
+f 5518/7639/5518 5517/7638/5517 5505/7626/5505
+f 5505/7626/5505 5506/7627/5506 5518/7639/5518
+f 5508/7629/5508 5518/7639/5518 5506/7627/5506
+f 5506/7627/5506 5495/7616/5495 5508/7629/5508
+f 5519/7640/5519 5520/7641/5520 5508/7629/5508
+f 5508/7629/5508 5507/7628/5507 5519/7640/5519
+f 5521/7642/5521 5519/7640/5519 5507/7628/5507
+f 5507/7628/5507 5509/7630/5509 5521/7642/5521
+f 5522/7643/5522 5521/7642/5521 5509/7630/5509
+f 5509/7630/5509 5510/7631/5510 5522/7643/5522
+f 5523/7644/5523 5522/7643/5522 5510/7631/5510
+f 5510/7631/5510 5511/7632/5511 5523/7644/5523
+f 5524/7645/5524 5523/7644/5523 5511/7632/5511
+f 5511/7632/5511 5512/7633/5512 5524/7645/5524
+f 5525/7646/5525 5524/7645/5524 5512/7633/5512
+f 5512/7633/5512 5513/7634/5513 5525/7646/5525
+f 5526/7647/5526 5525/7646/5525 5513/7634/5513
+f 5513/7634/5513 5514/7635/5514 5526/7647/5526
+f 5527/7648/5527 5526/7647/5526 5514/7635/5514
+f 5514/7635/5514 5515/7636/5515 5527/7648/5527
+f 5528/7649/5528 5527/7648/5527 5515/7636/5515
+f 5515/7636/5515 5516/7637/5516 5528/7649/5528
+f 5529/7650/5529 5528/7649/5528 5516/7637/5516
+f 5516/7637/5516 5517/7638/5517 5529/7650/5529
+f 5530/7651/5530 5529/7650/5529 5517/7638/5517
+f 5517/7638/5517 5518/7639/5518 5530/7651/5530
+f 5520/7641/5520 5530/7651/5530 5518/7639/5518
+f 5518/7639/5518 5508/7629/5508 5520/7641/5520
+f 5531/7652/5531 5532/7653/5532 5520/7641/5520
+f 5520/7641/5520 5519/7640/5519 5531/7652/5531
+f 5533/7654/5533 5531/7652/5531 5519/7640/5519
+f 5519/7640/5519 5521/7642/5521 5533/7654/5533
+f 5534/7655/5534 5533/7654/5533 5521/7642/5521
+f 5521/7642/5521 5522/7643/5522 5534/7655/5534
+f 5535/7656/5535 5534/7655/5534 5522/7643/5522
+f 5522/7643/5522 5523/7644/5523 5535/7656/5535
+f 5536/7657/5536 5535/7656/5535 5523/7644/5523
+f 5523/7644/5523 5524/7645/5524 5536/7657/5536
+f 5537/7658/5537 5536/7657/5536 5524/7645/5524
+f 5524/7645/5524 5525/7646/5525 5537/7658/5537
+f 5538/7659/5538 5537/7658/5537 5525/7646/5525
+f 5525/7646/5525 5526/7647/5526 5538/7659/5538
+f 5539/7660/5539 5538/7659/5538 5526/7647/5526
+f 5526/7647/5526 5527/7648/5527 5539/7660/5539
+f 5540/7661/5540 5539/7660/5539 5527/7648/5527
+f 5527/7648/5527 5528/7649/5528 5540/7661/5540
+f 5541/7662/5541 5540/7661/5540 5528/7649/5528
+f 5528/7649/5528 5529/7650/5529 5541/7662/5541
+f 5542/7663/5542 5541/7662/5541 5529/7650/5529
+f 5529/7650/5529 5530/7651/5530 5542/7663/5542
+f 5532/7653/5532 5542/7663/5542 5530/7651/5530
+f 5530/7651/5530 5520/7641/5520 5532/7653/5532
+s 0
+f 5540/7673/5540 5541/7674/5541 5542/7675/5542
+f 5540/7673/5540 5542/7675/5542 5532/7665/5532
+f 5540/7673/5540 5532/7665/5532 5531/7664/5531
+f 5540/7673/5540 5531/7664/5531 5533/7666/5533
+f 5540/7673/5540 5533/7666/5533 5534/7667/5534
+f 5540/7673/5540 5534/7667/5534 5535/7668/5535
+f 5540/7673/5540 5535/7668/5535 5536/7669/5536
+f 5540/7673/5540 5536/7669/5536 5537/7670/5537
+f 5540/7673/5540 5537/7670/5537 5538/7671/5538
+f 5540/7673/5540 5538/7671/5538 5539/7672/5539
+s 2
+f 5545/7681/5545 5544/7680/5544 3772/7683/3772
+f 3772/7683/3772 3773/7684/3773 5545/7681/5545
+s 4
+f 5545/7681/5545 3728/7679/3728 5546/7682/5546
+f 3728/7679/3728 5545/7681/5545 3727/7678/3727
+s 2
+f 5545/7681/5545 3726/7677/3726 3727/7678/3727
+f 3773/7684/3773 3726/7677/3726 5545/7681/5545
+f 5545/7681/5545 5552/7690/5552 5544/7680/5544
+s 4
+f 5545/7681/5545 5546/7682/5546 5553/7691/5553
+s 2
+f 5544/7680/5544 5551/7689/5551 5547/7685/5547
+f 5547/7685/5547 5551/7689/5551 5543/7676/5543
+f 5550/7688/5550 5548/7686/5548 5543/7676/5543
+f 5551/7689/5551 5550/7688/5550 5543/7676/5543
+f 5549/7687/5549 5550/7688/5550 5551/7689/5551
+f 5544/7680/5544 5552/7690/5552 5551/7689/5551
+f 5552/7690/5552 5549/7687/5549 5551/7689/5551
+f 5545/7681/5545 5553/7691/5553 5552/7690/5552
+f 5553/7691/5553 5549/7687/5549 5552/7690/5552
+s 4
+f 5553/7691/5553 5546/7682/5546 5554/7692/5554
+f 5553/7691/5553 5554/7692/5554 5549/7687/5549
+s 6
+f 5544/7680/5544 3798/7693/3798 3772/7683/3772
+f 3798/7693/3798 5544/7680/5544 5547/7685/5547
+s 2
+f 5557/7698/5557 4924/7699/4924 5556/7697/5556
+f 4924/7699/4924 5557/7698/5557 4925/7700/4925
+s 4
+f 5557/7698/5557 5546/7682/5546 3728/7679/3728
+f 3728/7679/3728 4902/7696/4902 5557/7698/5557
+s 2
+f 5557/7698/5557 4902/7696/4902 4901/7695/4901
+f 4925/7700/4925 5557/7698/5557 4901/7695/4901
+f 5557/7698/5557 5556/7697/5556 5560/7703/5560
+s 4
+f 5557/7698/5557 5561/7704/5561 5546/7682/5546
+s 2
+f 5556/7697/5556 5558/7701/5558 5559/7702/5559
+f 5558/7701/5558 5555/7694/5555 5559/7702/5559
+f 5550/7688/5550 5555/7694/5555 5548/7686/5548
+f 5559/7702/5559 5555/7694/5555 5550/7688/5550
+f 5549/7687/5549 5559/7702/5559 5550/7688/5550
+f 5556/7697/5556 5559/7702/5559 5560/7703/5560
+f 5560/7703/5560 5559/7702/5559 5549/7687/5549
+f 5557/7698/5557 5560/7703/5560 5561/7704/5561
+f 5561/7704/5561 5560/7703/5560 5549/7687/5549
+s 4
+f 5561/7704/5561 5554/7692/5554 5546/7682/5546
+f 5561/7704/5561 5549/7687/5549 5554/7692/5554
+s 6
+f 5556/7697/5556 4924/7699/4924 4934/7705/4934
+f 4934/7705/4934 5558/7701/5558 5556/7697/5556
+# 10164 faces
+
+g
diff --git a/cw 6/src/SOIL/Physics.cpp b/cw 6/src/SOIL/Physics.cpp
new file mode 100644
index 0000000..f5d2b8b
--- /dev/null
+++ b/cw 6/src/SOIL/Physics.cpp	
@@ -0,0 +1,48 @@
+#include "Physics.h"
+
+#define PX_RELEASE(x)	if(x)	{ x->release(); x = NULL; }
+
+Physics::Physics(float gravity)
+{
+    foundation = PxCreateFoundation(PX_PHYSICS_VERSION, allocator, errorCallback);
+
+    physics = PxCreatePhysics(PX_PHYSICS_VERSION, *foundation, PxTolerancesScale(), true);
+
+    PxSceneDesc sceneDesc(physics->getTolerancesScale());
+    sceneDesc.gravity = PxVec3(0.0f, -gravity, 0.0f);
+    dispatcher = PxDefaultCpuDispatcherCreate(2);
+    sceneDesc.cpuDispatcher = dispatcher;
+    sceneDesc.filterShader = PxDefaultSimulationFilterShader;
+    scene = physics->createScene(sceneDesc);
+}
+Physics::Physics(float gravity,
+    PxSimulationFilterShader simulationFilterShader,
+    PxSimulationEventCallback* simulationEventCallback)
+{
+    foundation = PxCreateFoundation(PX_PHYSICS_VERSION, allocator, errorCallback);
+
+    physics = PxCreatePhysics(PX_PHYSICS_VERSION, *foundation, PxTolerancesScale(), true);
+
+    PxSceneDesc sceneDesc(physics->getTolerancesScale());
+    sceneDesc.gravity = PxVec3(0.0f, -gravity, 0.0f);
+    dispatcher = PxDefaultCpuDispatcherCreate(2);
+    sceneDesc.cpuDispatcher = dispatcher;
+    sceneDesc.filterShader = simulationFilterShader;
+    sceneDesc.kineKineFilteringMode = PxPairFilteringMode::eKEEP; // So kin-kin contacts with be reported
+    sceneDesc.staticKineFilteringMode = PxPairFilteringMode::eKEEP; // So static-kin constacts will be reported
+    sceneDesc.simulationEventCallback = simulationEventCallback;
+    scene = physics->createScene(sceneDesc);
+}
+Physics::~Physics()
+{
+    PX_RELEASE(scene);
+    PX_RELEASE(dispatcher);
+    PX_RELEASE(physics);
+    PX_RELEASE(foundation);
+}
+
+void Physics::step(float dt)
+{
+    scene->simulate(dt);
+    scene->fetchResults(true);
+}
\ No newline at end of file
diff --git a/cw 6/src/SOIL/Physics.h b/cw 6/src/SOIL/Physics.h
new file mode 100644
index 0000000..90ba63c
--- /dev/null
+++ b/cw 6/src/SOIL/Physics.h	
@@ -0,0 +1,24 @@
+#pragma once
+
+#include "PxPhysicsAPI.h"
+using namespace physx;
+
+class Physics
+{
+public:
+    Physics(float gravity);
+    Physics(float gravity,
+        PxSimulationFilterShader simulationFilterShader,
+        PxSimulationEventCallback* simulationEventCallback);
+    virtual ~Physics();
+    PxPhysics*              physics = nullptr;
+    PxScene*				scene = nullptr;
+
+    void step(float dt);
+
+private:
+    PxDefaultAllocator		allocator;
+    PxDefaultErrorCallback	errorCallback;
+    PxFoundation*			foundation = nullptr;
+    PxDefaultCpuDispatcher*	dispatcher = nullptr;
+};
\ No newline at end of file
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