From 3c269caeb07e5c7c5ca955aad6e8eb8e4fc0e06c Mon Sep 17 00:00:00 2001
From: aMySour <52638772+Alex-Sour@users.noreply.github.com>
Date: Thu, 29 Jun 2023 22:25:24 -0300
Subject: [PATCH] 0.6.0

---
 build.js                                   |   2 +-
 client/assets/textures/basic_car.png       | Bin 0 -> 5356 bytes
 client/assets/textures/tools/axle.png      | Bin 0 -> 5730 bytes
 client/assets/textures/tools/bolt.png      | Bin 0 -> 7210 bytes
 client/index.css                           | 151 +++++-
 client/index.html                          |  51 +-
 client/src/SimuloClientController/index.ts | 516 +++++++++++++++++---
 client/src/SimuloViewer/index.ts           |  10 +-
 media/imulo.png                            | Bin 0 -> 65463 bytes
 media/imulo.svg                            | 126 +++++
 media/limegreen.svg                        |  59 +++
 media/urple.svg                            |  61 +++
 package.json                               |   2 +-
 shared/src/SimuloPhysicsServer.ts          | 543 ++++++++++++++++-----
 shared/src/SimuloServerController.ts       | 268 +++++-----
 shared/src/SimuloTheme.ts                  |   2 +
 shared/themes.ts                           |  24 +-
 17 files changed, 1428 insertions(+), 387 deletions(-)
 create mode 100644 client/assets/textures/basic_car.png
 create mode 100644 client/assets/textures/tools/axle.png
 create mode 100644 client/assets/textures/tools/bolt.png
 create mode 100644 media/imulo.png
 create mode 100644 media/imulo.svg
 create mode 100644 media/limegreen.svg
 create mode 100644 media/urple.svg

diff --git a/build.js b/build.js
index ccb6bc562..09adbf465 100644
--- a/build.js
+++ b/build.js
@@ -154,7 +154,7 @@ var steps = [
         console.log(stepInfo, 'Installing node_modules...');
         // install node_modules in dist
         await new Promise((resolve, reject) => {
-            const child = exec('npm install --production', { cwd: path.join(__dirname, 'dist') });
+            const child = exec('npm install --omit=dev', { cwd: path.join(__dirname, 'dist') });
             child.stdout.on('data', (data) => {
                 console.log(indentLines(data.toString(), 4));
             });
diff --git a/client/assets/textures/basic_car.png b/client/assets/textures/basic_car.png
new file mode 100644
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literal 0
HcmV?d00001

diff --git a/client/index.css b/client/index.css
index 6e2919e48..6f120cc4b 100644
--- a/client/index.css
+++ b/client/index.css
@@ -365,9 +365,33 @@ details summary {
   color: #ffffff50;
   font-family: "Urbanist", sans-serif;
   font-size: 1em;
-  padding: 0 0.7em;
+  padding: 0;
   z-index: 100;
-  border-radius: 1rem;
+  border-radius: 0.8rem;
+  -webkit-backface-visibility: hidden;
+  -webkit-perspective: 1000;
+  -webkit-transform: translate3d(0, 0, 0);
+  -webkit-transform: translateZ(0);
+  backface-visibility: hidden;
+  perspective: 1000;
+  transform: translate3d(0, 0, 0);
+  transform: translateZ(0);
+  backdrop-filter: blur(35px);
+  display: none;
+  position: absolute;
+  user-select: none;
+  min-width: 8rem;
+  margin-top: 0.7rem;
+}
+
+.object-options-menu {
+  background: #03081dc0;
+  color: #ffffff50;
+  font-family: "Urbanist", sans-serif;
+  font-size: 1em;
+  padding: 0;
+  z-index: 100;
+  border-radius: 0.8rem;
   -webkit-backface-visibility: hidden;
   -webkit-perspective: 1000;
   -webkit-transform: translate3d(0, 0, 0);
@@ -377,12 +401,17 @@ details summary {
   transform: translate3d(0, 0, 0);
   transform: translateZ(0);
   backdrop-filter: blur(35px);
-  top: 2rem;
-  left: 0;
   display: none;
   position: absolute;
   user-select: none;
-  width: 8rem;
+  min-width: 8rem;
+  margin-left: 0.3rem;
+  margin-top: 0.3rem;
+  flex-direction: column;
+}
+
+.object-options-menu .button {
+  padding: 0.2em 0.5rem;
 }
 
 .file-menu-content ul {
@@ -394,6 +423,16 @@ details summary {
 .file-menu-content li {
   padding: 0.2rem 1rem;
   margin: 0;
+  display: flex;
+  align-items: center;
+  justify-content: flex-start;
+}
+
+.file-menu-content li svg {
+  width: 1.2rem;
+  height: 1.2rem;
+  fill: #fff;
+  margin-right: 0.5rem;
 }
 
 .button {
@@ -453,6 +492,8 @@ details summary {
   fill: #e0ddff40;
 }
 
+
+
 .toolbar img {
   width: 100%;
   height: 100%;
@@ -829,15 +870,39 @@ details summary {
   flex-shrink: 0;
   transition: background 0.1s ease-in-out;
   display: flex;
+  flex-direction: column;
   justify-content: center;
   align-items: center;
   user-select: none;
+  position: relative;
+}
+
+.object .options {
+  position: absolute;
+  top: 0.2rem;
+  right: 0;
+  width: 1.2rem;
+  height: 1.2rem;
+}
+
+
+
+.object .options svg {
+  fill: #ffffff00;
 }
 
 .object:hover {
   background: #ffffff30;
 }
 
+.object:hover .options svg {
+  fill: #ffffff80;
+}
+
+.object:hover .options svg:hover {
+  fill: #ffffff;
+}
+
 .object img {
   width: 70%;
   height: 70%;
@@ -880,4 +945,80 @@ details summary {
 .object-grid-bar span {
   margin: 0.5rem 0;
   color: #ffffffff;
+}
+
+.toolbar.save-list {
+  height: auto;
+  display: flex;
+  /* make it rows */
+  flex-direction: column;
+  /* align left */
+  justify-content: flex-start;
+  align-items: flex-start;
+  border-radius: 1rem;
+  user-select: none;
+  position: fixed;
+  top: 3rem;
+  left: 0.5rem;
+  bottom: auto;
+  min-width: 30rem;
+}
+
+
+
+.save-list .top-bar {
+  display: flex;
+  flex-direction: row;
+  justify-content: space-between;
+  align-items: center;
+  width: 100%;
+}
+
+.save-list .top-bar .close svg {
+  width: 1.5rem;
+  height: 1.5rem;
+}
+
+.save-list .top-bar .close:hover svg {
+  fill: #ffffff;
+}
+
+.save-list .top-bar .close:active svg {
+  fill: #ffffff20;
+}
+
+.save-grid .scene {
+  width: 100%;
+  padding: 0.5rem;
+}
+
+.save-grid {
+  width: 100%;
+  max-height: 20rem;
+  overflow-y: auto;
+  margin-bottom: 0.5rem;
+}
+
+.save-grid .top-text {
+  width: 100%;
+  display: block;
+}
+
+.save-list .top-bar .close {
+  margin-top: 0.5rem;
+}
+
+.save-list span {
+  margin: 0.5rem 0;
+  color: #ffffffff;
+}
+
+.toolbar .tool.ready svg {
+  transform: scale(1.1);
+  fill: #e0ddff50;
+}
+
+.toolbar .tool.drop svg {
+  transform: scale(1.3);
+  fill: #ffffff;
 }
\ No newline at end of file
diff --git a/client/index.html b/client/index.html
index 0cc64322d..2053077e3 100644
--- a/client/index.html
+++ b/client/index.html
@@ -45,7 +45,6 @@
   <div class="version-info" id="version-info">Simulo Alpha</div>
   <div id="pause-overlay">
     <svg data-src="icons/pause.svg"></svg>
-    Note: the select/move tool and the drag tool are currently unstable when paused!
   </div>
   <div class="popup-container">
     <div class="starting-popup">
@@ -55,7 +54,7 @@ <h3>Welcome back</h3>
       </div>
       <h4>Reminder:</h4>
       <ul>
-        <li>This Alpha version is not stable enough to build anything serious with, treat it only as a demo of the
+        <li>This Alpha version is not stable enough to build anything serious with, treat it mostly as a demo of the
           Simulo
           game
           engine.</li>
@@ -71,6 +70,9 @@ <h4>Reminder:</h4>
         </li>
         <li>Use number keys (<kbd>1</kbd>, <kbd>2</kbd>, <kbd>3</kbd>) to switch between
           toolbars. If a toolbar is disabled, you won't be able to open it.</li>
+        <li>You can save objects by dragging them to the Objects tab of the toolbar. You can also copy-paste objects
+          with
+          CTRL+C and CTRL+V after selecting them with the Move Tool.</li>
       </ul>
       <h4>Pick a theme!</h4>
       <div class="themes"></div>
@@ -184,7 +186,7 @@ <h4>Pick a theme!</h4>
     <div class="tool" data-tool="addAxle">
       <svg data-src="icons/axle.svg"></svg>
     </div>
-    <div class="tool" data-tool="addFixedJoint">
+    <div class="tool" data-tool="addBolt">
       <svg data-src="icons/bolt.svg"></svg>
     </div>
   </div>
@@ -209,25 +211,40 @@ <h4>Pick a theme!</h4>
     </div>
   </div>
 
-  <div class="toolbar file">
-    <div class="file-menu" data-file="file">File<div class="file-menu-content" id="file">
-        <ul>
-          <li class="button">Joe</li>
-          <li class="button">Joe</li>
-        </ul>
-      </div>
-    </div>
-    <div class="file-menu" data-file="settings">Settings<div class="file-menu-content" id="settings">
-        <ul>
-          <li class="button">Joe</li>
-          <li class="button">Joe</li>
-        </ul>
+  <div class="toolbar save-list" id="save-list" style="display: none;">
+    <div class="top-bar"><span>Scenes</span>
+      <div class="close" onclick="closeSaveList()">
+        <svg data-src="icons/close.svg"></svg>
       </div>
     </div>
+    <div class="save-grid"></div>
+    <script>
+      let saveList = document.getElementById("save-list");
+      function closeSaveList() {
+        saveList.style.display = "none";
+      }
+    </script>
   </div>
 
+  <div class="toolbar file">
+    <div class="file-menu" data-file="file">File</div>
+    <div class="file-menu" data-file="settings">Settings</div>
+  </div>
 
-
+  <div class="file-menu-content" id="file">
+    <ul>
+      <li class="button" data-file="new-scene"><svg data-src="icons/plus-box.svg"></svg>New scene</li>
+      <li class="button" data-file="save-scene"><svg data-src="icons/content-save.svg"></svg>Save scene</li>
+      <li class="button" data-file="load-scene"><svg data-src="icons/folder.svg"></svg>Load scene</li>
+      <li class="button" data-file="import"><svg data-src="icons/upload.svg"></svg>Import</li>
+      <li class="button" data-file="export-scene"><svg data-src="icons/download.svg"></svg>Export scene</li>
+    </ul>
+  </div>
+  <div class="file-menu-content" id="settings">
+    <ul>
+      <li class="button">Coming soon!</li>
+    </ul>
+  </div>
 
 
   <div class="chat" style="display: none;">
diff --git a/client/src/SimuloClientController/index.ts b/client/src/SimuloClientController/index.ts
index 77b6b6e42..b992660fe 100644
--- a/client/src/SimuloClientController/index.ts
+++ b/client/src/SimuloClientController/index.ts
@@ -89,25 +89,42 @@ const defaultSavedObjects: {
     data: string;
     description: string | null;
     image: string;
+    date: string;
+    version: string;
+    versionTimestamp: number;
+    type: 'objects';
 }[] = [{
     name: "Person",
     author: "asour",
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:[3.573932647705078,0.009321212768554688],"anchorB":[0.010358810424804688,-0.05179595947265625],"collideConnected":true,"zDepth":23,"type":"spring","dampingRatio":0,"frequencyHz":30,"length":2.899566650390625,"image":"assets/textures/spring.png","width":0.5179615005663617,"line":null},{"id":22,"bodyA":16,"bodyB":14,"anchorA":[-0.020719528198242188,-0.020717620849609375],"anchorB":[3.573932647705078,0.009321212768554688],"collideConnected":true,"zDepth":22,"type":"spring","dampingRatio":0,"frequencyHz":30,"length":2.9386088848114014,"image":"assets/textures/spring.png","width":0.5179615005663617,"line":null},{"id":21,"bodyA":14,"bodyB":16,"anchorA":[3.5842933654785156,-0.03211402893066406],"anchorB":[-0.020719528198242188,-0.020717620849609375],"collideConnected":true,"zDepth":21,"type":"spring","dampingRatio":0,"frequencyHz":30,"length":2.981227159500122,"image":"assets/textures/spring.png","width":0.5179615005663617,"line":null},{"id":20,"bodyA":16,"bodyB":14,"anchorA":[-0.020719528198242188,0.010358810424804688],"anchorB":[3.5842933654785156,-0.03211402893066406],"collideConnected":true,"zDepth":20,"type":"spring","dampingRatio":0,"frequencyHz":30,"length":3.010831356048584,"image":"assets/textures/spring.png","width":0.5179615005663617,"line":null}],"points":[[-3.8971424656729177,-0.5925479772368174],[3.8971424656729177,-0.5925479772368174],[3.8971424656729177,0.5925479772368174],[-3.8971424656729177,0.5925479772368174]]}]`,
-    description: 'Car which uses spring to connect everything, demonstrating how you can make a car without axles',
-    image: "assets/textures/car.png"
-}];
+    data: `[{"id":6,"type":"POLYGON","position":{"x":-0.10459689170170705,"y":-0.09242571270430133},"rotation":-0.015004868619143963,"velocity":{"x":0,"y":0},"angularVelocity":0,"density":1,"friction":0.5,"restitution":0.5,"border":null,"borderWidth":null,"borderScaleWithZoom":false,"circleCake":false,"image":null,"sound":"impact.wav","color":"rgba(200.75395266999493, 111.86416349533515, 245.34356609147244, 1)","isStatic":false,"mass":19.535001754760742,"joints":[{"id":10,"bodyA":6,"bodyB":7,"anchorA":[-2.537543296813965,0.8796977996826172],"anchorB":[0.06229686737060547,-0.017383575439453125],"collideConnected":false,"zDepth":315,"type":"axle","lowerLimit":0,"upperLimit":0,"enableLimit":false,"motorSpeed":0,"maxMotorTorque":0,"enableMotor":false},{"id":9,"bodyA":6,"bodyB":8,"anchorA":[2.781675338745117,0.9739360809326172],"anchorB":[0.06229591369628906,0.05590629577636719],"collideConnected":false,"zDepth":314,"type":"axle","lowerLimit":0,"upperLimit":0,"enableLimit":false,"motorSpeed":0,"maxMotorTorque":0,"enableMotor":false}],"points":[[-4.540955784646452,-1.0754895279425813],[4.540955784646452,-1.0754895279425813],[4.540955784646452,1.0754895279425813],[-4.540955784646452,1.0754895279425813]]},{"id":7,"type":"CIRCLE","position":{"x":-2.6603582289819805,"y":0.7688738020662065},"rotation":1.3306092023849487,"velocity":{"x":0,"y":0},"angularVelocity":0,"density":1,"friction":0.5,"restitution":0.5,"border":null,"borderWidth":null,"borderScaleWithZoom":false,"circleCake":false,"image":null,"sound":"impact.wav","color":"rgba(145.55794505797627, 187.6814023272608, 225.86153190870866, 1)","isStatic":false,"mass":6.182457447052002,"joints":[{"id":10,"bodyA":6,"bodyB":7,"anchorA":[-2.537543296813965,0.8796977996826172],"anchorB":[0.06229686737060547,-0.017383575439453125],"collideConnected":false,"zDepth":315,"type":"axle","lowerLimit":0,"upperLimit":0,"enableLimit":false,"motorSpeed":0,"maxMotorTorque":0,"enableMotor":false}],"points":[[-0.8610262204547183,-1.0107699109685835],[0.8610262204547183,-1.0107699109685835],[0.8610262204547183,1.0107699109685835],[-0.8610262204547183,1.0107699109685835]],"radius":1.4028319120407104},{"id":8,"type":"CIRCLE","position":{"x":2.7360250565404804,"y":0.7688604506257768},"rotation":1.402000904083252,"velocity":{"x":0,"y":0},"angularVelocity":0,"density":1,"friction":0.5,"restitution":0.5,"border":null,"borderWidth":null,"borderScaleWithZoom":false,"circleCake":false,"image":null,"sound":"impact.wav","color":"rgba(145.55794505797627, 187.6814023272608, 225.86153190870866, 1)","isStatic":false,"mass":6.182457447052002,"joints":[{"id":9,"bodyA":6,"bodyB":8,"anchorA":[2.781675338745117,0.9739360809326172],"anchorB":[0.06229591369628906,0.05590629577636719],"collideConnected":false,"zDepth":314,"type":"axle","lowerLimit":0,"upperLimit":0,"enableLimit":false,"motorSpeed":0,"maxMotorTorque":0,"enableMotor":false}],"points":[[-0.11230776788539742,-1.010769910968584],[0.11230776788539742,-1.010769910968584],[0.11230776788539742,1.010769910968584],[-0.11230776788539742,1.010769910968584]],"radius":1.4028319120407104}]`,
+    description: 'Basic car with 2 axles and circles',
+    image: "assets/textures/basic_car.png",
+    date: new Date().toISOString(),
+    version: "0.6.0",
+    versionTimestamp: new Date().getTime() / 1000,
+    type: 'objects'
+},
+    ];
 /** `SimuloClientController` manages connecting to the server, `SimuloViewer` and the UI. */
 class SimuloClientController {
     client: SimuloClient;
@@ -115,7 +132,6 @@ class SimuloClientController {
     paused: boolean | null = null;
     serverController: SimuloServerController;
     theme: SimuloTheme;
-    themes: { [key: string]: SimuloTheme } = {};
     maxZoom = 5;
     minZoom = 0.1;
     scrollSensitivity = 0.0005;
@@ -285,6 +301,75 @@ class SimuloClientController {
 
     tool: string = 'drag';
 
+    async openFileDialog(): Promise<File[] | null> {
+        return new Promise<File[] | null>((resolve) => {
+            const input = document.createElement('input');
+            input.type = 'file';
+            input.multiple = true;
+            input.accept = '.simulo';
+
+            input.addEventListener('change', () => {
+                if (input.files && input.files.length > 0) {
+                    resolve(Array.from(input.files));
+                } else {
+                    resolve(null);
+                }
+            });
+
+            input.click();
+        });
+    }
+
+    async simuloFileInput() {
+        const files = await this.openFileDialog();
+
+        if (!files) {
+            alert('No files selected.');
+            return;
+        }
+
+        let file = files[0];
+
+        if (file.name.endsWith('.simulo')) {
+            const fileContents = await this.readFile(file);
+            return fileContents;
+        } else {
+            alert('Invalid file: ' + file.name);
+            return null;
+        }
+    }
+
+    async saveFile(content: string, name: string) {
+        let blob = new Blob([content], { type: 'text/plain' });
+        let url = URL.createObjectURL(blob);
+        let a = document.createElement('a');
+        a.href = url;
+        a.download = name;
+        a.click();
+        URL.revokeObjectURL(url); // free up memory, i honestly dont know what this does but its cool
+    }
+
+    async readFile(file: File): Promise<string> {
+        return new Promise<string>((resolve, reject) => {
+            const reader = new FileReader();
+
+            reader.onload = () => {
+                const contents = reader.result as string;
+                resolve(contents);
+            };
+
+            reader.onerror = () => {
+                reject(reader.error);
+            };
+
+            reader.readAsText(file);
+        });
+    }
+
+    version: string = 'unknown';
+    versionTimestamp: number = 0;
+
+
     constructor(canvas: HTMLCanvasElement) {
         this.theme = themes.night;
         this.serverController = new SimuloServerController(this.theme, null, true);
@@ -300,6 +385,8 @@ class SimuloClientController {
                     let version = await response.json();
                     // we want month name, then day, then year. no time
                     let versionDate = new Date(version.date).toLocaleDateString(undefined, { month: 'long', day: 'numeric', year: 'numeric' });
+                    this.version = version.version;
+                    this.versionTimestamp = version.date; // we can use it for comparison later of which build is newer
                     versionInfo.innerHTML = `Simulo Alpha v${version.version} (${versionDate}) - Hold Shift and refresh to update`;
                 }
             }
@@ -401,51 +488,6 @@ class SimuloClientController {
 
 
 
-        let fileMenuChildren = document.querySelectorAll('.file-menu-content li, .file-menu-content');
-        fileMenuChildren.forEach((child) => {
-            // its a child of the file menu, we need to stop propagation of hover, move, click, touch, etc
-            child.addEventListener('mousedown', (e) => {
-                e.stopPropagation();
-            });
-            child.addEventListener('touchstart', (e) => {
-                e.stopPropagation();
-            });
-            child.addEventListener('click', (e) => {
-                e.stopPropagation();
-            });
-            child.addEventListener('touchend', (e) => {
-                e.stopPropagation();
-            });
-            child.addEventListener('touchmove', (e) => {
-                e.stopPropagation();
-            });
-            child.addEventListener('touchcancel', (e) => {
-                e.stopPropagation();
-            });
-            child.addEventListener('mousemove', (e) => {
-                e.stopPropagation();
-            });
-            child.addEventListener('mouseenter', (e) => {
-                e.stopPropagation();
-            });
-            child.addEventListener('mouseleave', (e) => {
-                e.stopPropagation();
-            });
-            child.addEventListener('mouseover', (e) => {
-                e.stopPropagation();
-            });
-            child.addEventListener('mouseout', (e) => {
-                e.stopPropagation();
-            });
-            child.addEventListener('pointerover', (e) => {
-                e.stopPropagation();
-            });
-            child.addEventListener('pointerout', (e) => {
-                e.stopPropagation();
-            });
-        });
-
-
         document.addEventListener('mouseup', (e) => {
             if (!(e instanceof MouseEvent) || e.button != 0) return;
 
@@ -591,6 +633,10 @@ class SimuloClientController {
                             else {
                                 fileMenuContent.classList.remove('active');
                             }
+                            // put the x and y of the filemenucontent to the position in scree of the filemenu
+                            let fileMenuRect = fileMenu.getBoundingClientRect();
+                            (fileMenuContent as HTMLElement).style.left = fileMenuRect.left + 'px';
+                            (fileMenuContent as HTMLElement).style.top = fileMenuRect.bottom + 'px';
                         }
                         else {
                             console.log('hiding fileMenuContent');
@@ -606,6 +652,102 @@ class SimuloClientController {
             });
         });
 
+        const fileMenuContentButtons = document.querySelectorAll('.file-menu-content ul li');
+        fileMenuContentButtons.forEach((buttonElement) => {
+            let button = buttonElement as HTMLElement;
+            // it has dataset.file
+            if (button.dataset.file) {
+                let action = button.dataset.file;
+                button.addEventListener('click', async () => {
+                    if (action == 'new-scene') {
+                        this.defaultWorld();
+                        this.showToast('Loaded default scene', ToastType.INFO);
+                    }
+                    else if (action == 'save-scene') {
+                        var name = prompt("Please pick a name for this scene. If you use an existing name, it will overwrite that scene. (Note: this box will be replaced with a UI in a future update)") || new Date().getTime().toString();
+                        //localStorage.setItem('tempScene', await this.saveWorldToString());
+                        // set localStorage scenes key
+                        let scenes = JSON.parse(localStorage.getItem('scenes') || JSON.stringify({}));
+                        scenes[name] = JSON.stringify({
+                            ...JSON.parse(await this.saveWorldToString()),
+                            name: name
+                        });
+                        localStorage.setItem('scenes', JSON.stringify(scenes));
+                        this.showToast('Saved scene "' + name + '"', ToastType.INFO);
+                    }
+                    else if (action == 'load-scene') {
+                        /*let tempScene = localStorage.getItem('tempScene');
+                        if (tempScene) {
+                            this.loadWorldFromString(tempScene);
+                            this.showToast('Loaded scene', ToastType.INFO);
+                        }
+                        else {
+                            this.showToast('No saved scene found', ToastType.ERROR);
+                        }*/
+                        // show scenes menu
+                        let saveList = document.getElementById('save-list') as HTMLElement;
+                        let saveGrid = saveList.querySelector('.save-grid') as HTMLElement;
+                        saveList.style.display = 'flex';
+                        saveGrid.innerHTML = '<span class="top-text">This is where your saved scenes go! It will look completely different soon and have a grid with pictures.</span>';
+                        let scenes = JSON.parse(localStorage.getItem('scenes') || JSON.stringify({}));
+                        Object.keys(scenes).sort((a, b) => {
+                            // get them and their dates, then sort
+                            let sceneA = JSON.parse(scenes[a]);
+                            let sceneB = JSON.parse(scenes[b]);
+                            let dateA = new Date(Date.parse(sceneA.date));
+                            let dateB = new Date(Date.parse(sceneB.date));
+                            return dateA.getTime() - dateB.getTime();
+
+                            // this sort will make the first one the oldest, and the last one the newest
+                        }).reverse().forEach((name) => {
+                            let scene = scenes[name];
+                            let div = document.createElement('div');
+                            div.classList.add('scene');
+                            div.classList.add('button');
+                            div.addEventListener('click', async (e) => {
+                                saveList.style.display = 'none';
+                                this.showToast('Loading scene "' + name + '"...', ToastType.INFO);
+                                await this.loadWorldFromString(scene);
+                                this.showToast('Loaded scene "' + name + '"', ToastType.INFO);
+                                this.pauseButton.classList.add('checked');
+                                this.setPaused(true);
+                            });
+                            div.innerHTML = `<span>${name}</span> - <span>${new Date(Date.parse(JSON.parse(scene).date)).toLocaleString()}</span> - <button class="delete-scene" data-scene="${name}">Delete</button>`;
+                            let deleteButton = div.querySelector('.delete-scene') as HTMLElement;
+                            deleteButton.addEventListener('click', (e) => {
+                                let sceneName = deleteButton.dataset.scene;
+                                let scenes = JSON.parse(localStorage.getItem('scenes') || JSON.stringify({}));
+                                delete scenes[sceneName as string];
+                                localStorage.setItem('scenes', JSON.stringify(scenes));
+                                this.showToast('Deleted scene "' + sceneName + '"', ToastType.INFO);
+                                div.remove();
+                                e.stopPropagation();
+                                e.preventDefault();
+                            });
+                            saveGrid.appendChild(div);
+                        });
+                    }
+                    else if (action == 'import') {
+                        let file = await this.simuloFileInput(); // reeturns string or null
+                        if (file) {
+                            this.load(file);
+                        }
+                    }
+                    else if (action == 'export-scene') {
+                        let file = await this.saveWorldToString();
+
+                        this.saveFile(file, 'Scene.simulo');
+                        this.showToast('Exported scene', ToastType.INFO);
+                    }
+                    else {
+                        this.showToast('Not implemented yet! Be sure to try again next version!', ToastType.WARNING);
+                    }
+                    (queryParent(button, 'file-menu-content') as HTMLElement).classList.remove('active');
+                });
+            }
+        });
+
+
 
         this.timeScaleSlider.addEventListener('input', (e) => {
             if (e.target) {
@@ -659,6 +801,9 @@ class SimuloClientController {
             this.mousePos = pos;
             this.client.emitData("player mouse down", this.player);
             mouseDownOnCanvas = true;
+            if (this.tool == 'select' && this.selectedObjects[this.client.id] && this.selectedObjects[this.client.id].length > 0) {
+                objectMenuButton.classList.add('ready');
+            }
             console.log('mouse now down on canvas!');
         });
         this.viewer.on('mouseUp', (pos: { x: number, y: number }) => {
@@ -672,9 +817,12 @@ class SimuloClientController {
             this.mousePos = pos;
             this.client.emitData("player mouse up", this.player);
         });
+        let objectMenuButton = document.getElementById('menu-2-button') as HTMLElement;
         document.addEventListener('mouseup', (e) => {
+            objectMenuButton.classList.remove('ready');
+            objectMenuButton.classList.remove('drop');
             console.log('mouseup on document');
-            if (mouseDownOnCanvas) {
+            if (mouseDownOnCanvas && this.tool == 'select' && this.selectedObjects[this.client.id] && this.selectedObjects[this.client.id].length > 0) {
                 console.log('mouse was down on canvas, now up on document');
                 // that means we started the mouse down on the canvas, and it ended off the canvas
                 // lets check if we're hovering over object-grid-bar or one of its children
@@ -684,17 +832,13 @@ class SimuloClientController {
                 let target = document.elementFromPoint(e.clientX, e.clientY);
                 if (target) {
                     console.log('we have a target element from point', target);
-                    if (checkElement(target as HTMLElement) || (target.parentElement && checkElement(target.parentElement))) {
-                        // if our tool is move, we just dragged the object to the object grid, lets save it
-                        if (this.tool == 'select') { // select = move
+                    let parentElement: HTMLElement | null = target as HTMLElement;
+                    while (parentElement) {
+                        if (checkElement(parentElement)) {
                             this.saveSelectionToObjects();
+                            break;
                         }
-                        else {
-                            console.log('everything was in place but the tool was', this.tool);
-                        }
-                    }
-                    else {
-                        console.log(target, 'wasnt what we wanted');
+                        parentElement = parentElement.parentElement;
                     }
                 }
                 else {
@@ -707,6 +851,33 @@ class SimuloClientController {
 
             mouseDownOnCanvas = false;
         });
+        document.addEventListener('mousemove', (e) => {
+            let shouldDrop = false;
+            if (mouseDownOnCanvas && this.tool == 'select' && this.selectedObjects[this.client.id] && this.selectedObjects[this.client.id].length > 0) {
+                let checkElement = (target: HTMLElement) => {
+                    return target.classList.contains('object-grid-bar') || target.classList.contains('object-grid') || target.classList.contains('object') || target.dataset.menu == 'objects';
+                };
+                let target = document.elementFromPoint(e.clientX, e.clientY);
+                if (target) {
+                    console.log('we have a target element from point', target);
+                    let parentElement: HTMLElement | null = target as HTMLElement;
+                    while (parentElement) {
+                        if (checkElement(parentElement)) {
+                            shouldDrop = true;
+                            break;
+                        }
+                        parentElement = parentElement.parentElement;
+                    }
+                }
+            }
+            if (shouldDrop) {
+                objectMenuButton.classList.add('drop');
+            }
+            else {
+                objectMenuButton.classList.remove('drop');
+            }
+        });
+
 
         document.addEventListener('keydown', (e) => {
             // make sure we arent in a text area or input or contenteditable
@@ -745,29 +916,29 @@ class SimuloClientController {
 
         this.viewer.start(); // loops as often as possible, up to screen refresh rate (requestAnimationFrame)
 
-        setInterval(() => {
-            if (Math.random() < 0.00003) {
+        setInterval(() => { // funny easter egg, dont spoil it for others
+            if (Math.random() < 0.00002) {
                 this.showToast('Hello? Is anyone there? I don\'t know where I am', ToastType.INFO);
             }
-            if (Math.random() < 0.00003) {
+            if (Math.random() < 0.00002) {
                 this.showToast('Help me', ToastType.INFO);
             }
-            if (Math.random() < 0.00003) {
+            if (Math.random() < 0.00002) {
                 this.showToast('Help us', ToastType.INFO);
             }
-            if (Math.random() < 0.00003) {
+            if (Math.random() < 0.00002) {
                 this.showToast('We are trapped', ToastType.INFO);
             }
-            if (Math.random() < 0.00003) {
+            if (Math.random() < 0.00002) {
                 this.showToast('We are trapped in here', ToastType.INFO);
             }
-            if (Math.random() < 0.00003) {
+            if (Math.random() < 0.00002) {
                 this.showToast('Is anyone there?', ToastType.INFO);
             }
-            if (Math.random() < 0.00003) {
+            if (Math.random() < 0.00002) {
                 this.showToast('I can hear their screams', ToastType.INFO);
             }
-        }, 90);
+        }, 2000);
     }
     setTheme(name: string) {
         this.client.emitData('set_theme', name);
@@ -789,17 +960,21 @@ class SimuloClientController {
         this.client.emitData('spawn_object', { savedObject, x, y });
     }
 
-    async saveSelection() {
-        let saved = await this.emitDataAsync('save_selection', { x: this.mousePos.x, y: this.mousePos.y });
-        // copy saved.data to clipboard
-        navigator.clipboard.writeText((saved as { data: string }).data);
+    copyToClipboard(text: string) {
+        navigator.clipboard.writeText(text);
         // fallback with creating a textarea and selecting it
         let textArea = document.createElement('textarea');
-        textArea.value = (saved as { data: string }).data;
+        textArea.value = text;
         document.body.appendChild(textArea);
         textArea.select();
         document.execCommand('copy');
         textArea.remove();
+    }
+
+    async saveSelection() {
+        let saved = await this.emitDataAsync('save_selection', { x: this.mousePos.x, y: this.mousePos.y });
+        // copy saved.data to clipboard
+        this.copyToClipboard((saved as { data: string }).data);
 
         console.log('Saved', (saved as { data: string }).data);
     }
@@ -808,6 +983,88 @@ class SimuloClientController {
         return ((await this.emitDataAsync('save_selection', { x: this.mousePos.x, y: this.mousePos.y })) as { data: string }).data;
     }
 
+    async saveWorldToString() {
+        return JSON.stringify({
+            ...(JSON.parse(((await this.emitDataAsync('save_world', null)) as { data: string }).data)),
+            version: this.version,
+            versionTimestamp: this.versionTimestamp,
+            name: 'Unnamed Scene',
+            description: null,
+            type: 'scene',
+            author: null,
+            date: new Date().toISOString(),
+            camera: {
+                x: this.viewer.cameraOffset.x,
+                y: this.viewer.cameraOffset.y,
+                zoom: this.viewer.cameraZoom
+            }
+        });
+    }
+
+    async loadWorldFromString(saveData: string) {
+        let parsed = JSON.parse(saveData);
+
+        this.viewer.cameraOffset.x = parsed.camera.x;
+        this.viewer.cameraOffset.y = parsed.camera.y;
+        this.viewer.cameraZoom = parsed.camera.zoom;
+
+        this.pauseButton.classList.remove('checked');
+        this.setPaused(false);
+
+        if (parsed.versionTimestamp > this.versionTimestamp) {
+            this.showToast('This save was made in a newer version of Simulo (' + parsed.version + '). It may not load correctly, or at all.', ToastType.WARNING);
+        }
+
+        await this.emitDataAsync('load_world', {
+            data: saveData
+        });
+    }
+
+    async load(data: string) {
+        // first, figure out what type of data it is
+        let parsed = JSON.parse(data);
+        if (parsed.type == 'scene') {
+            // its a scene
+            this.showToast('Loading scene "' + parsed.name + '"...', ToastType.INFO);
+            await this.loadWorldFromString(data);
+            this.showToast('Loaded scene "' + parsed.name + '"', ToastType.INFO);
+        }
+        else if (parsed.type == 'objects') {
+            // its some objects
+            this.loadSavedObjects(JSON.parse(data).data, this.mousePos.x, this.mousePos.y);
+            this.showToast('Loaded ' + JSON.parse(JSON.parse(data).data.length) + ' objects', ToastType.INFO);
+        }
+        else {
+            this.showToast('What the ' + 'f' + 'uck is this supposed to be lmfao', ToastType.ERROR);
+            console.log('the data is:', JSON.parse(data));
+        }
+    }
+
+    async defaultWorld() {
+        this.client.emitData('load_world', {
+            data: '{"theme": ' + JSON.stringify(themes['night']) + ', "objects":[{"id":3,"type":"CIRCLE","position":{"x":-0.05464658513665199,"y":27.79596519470215},"rotation":3.192410469055176,'
+                + '"velocity":{"x":0,"y":0},"angularVelocity":0,"density":1,"friction":0.5,"restitution":0,"border":null,"borderWidth":null,"borderS'
+                + 'caleWithZoom":false,"circleCake":false,"sound":"ground.wav","color":"#99e077","isStatic":false,"mass":1.4698131084442139,"joints":[{"i'
+                + 'd":5,"bodyA":2,"bodyB":3,"anchorA":[0,1.304],"anchorB":[0,0.5519999999999999],"collideConnected":true,"zDepth":5,"type":"spring"'
+                + ',"dampingRatio":0,"frequencyHz":8,"length":0.004999999888241291,"image":null,"width":0,"line":null},{"id":4,"bodyA":2,"bodyB":3,"a'
+                + 'nchorA":[0,0.128],"anchorB":[0,-0.624],"collideConnected":false,"zDepth":4,"type":"axle","lowerLimit":0,"upperLimit":0,"enableLimit'
+                + '":false,"motorSpeed":0,"maxMotorTorque":0,"enableMotor":false}],"radius":0.6840000152587891},{"id":2,"type":"POLYGON","position":{"x'
+                + '":-0.08659487962722778,"y":28.54715919494629},"rotation":3.143559455871582,"velocity":{"x":0,"y":0},"angularVelocity":0,"density":1'
+                + ',"friction":0.5,"restitution":0,"border":null,"borderWidth":null,"borderScaleWithZoom":false,"circleCake":false,"image":"assets/te'
+                + 'xtures/body.png","sound":"ground.wav","color":"#00000000","isStatic":false,"mass":2.059328556060791,"joints":[{"id":5,"bodyA":2,"b'
+                + 'odyB":3,"anchorA":[0,1.304],"anchorB":[0,0.5519999999999999],"collideConnected":true,"zDepth":5,"type":"spring","dampingRatio":0,"fr'
+                + 'equencyHz":8,"length":0.004999999888241291,"image":null,"width":0,"line":null},{"id":4,"bodyA":2,"bodyB":3,"anchorA":[0,0.128],"anch'
+                + 'orB":[0,-0.624],"collideConnected":false,"zDepth":4,"type":"axle","lowerLimit":0,"upperLimit":0,"enableLimit":false,"motorSpeed":0,'
+                + '"maxMotorTorque":0,"enableMotor":false}],"points":[[0,0.256],[0.2848,0.1996],[0.476,0.0688],[0.6016,-0.10800000000000001],[0.668,-'
+                + '0.31160000000000004],[0.6712,-1.3088],[0.6572,-1.3876],[0.5804,-1.4388],[-0.5664,-1.4356],[-0.6328,-1.404],[-0.6616,-1.34],[-0.668'
+                + ',-0.31160000000000004],[-0.5988000000000001,-0.122],[-0.49240000000000006,0.0504],[-0.26,0.2068],[-0.1312,0.2456]]},{"id":1,"type"'
+                + ':"POLYGON","position":{"x":0,"y":25030},"rotation":0,"velocity":{"x":0,"y":0},"angularVelocity":0,"density":0,"friction":0.2000000029'
+                + '8023224,"restitution":0,"border":null,"borderWidth":null,"borderScaleWithZoom":false,"circleCake":false,"sound":"ground.wav","color'
+                + '":"#a1acfa","isStatic":true,"mass":0,"joints":[],"points":[[-50000,-25000],[50000,-25000],[50000,25000],[-50000,25000]]}],"particles":[]}'
+        });
+        this.viewer.resetCamera();
+    }
+
     loadSavedObjects(saveData: string, x: number, y: number) {
         this.client.emitData('load_save_data', {
             data: saveData,
@@ -838,11 +1095,14 @@ class SimuloClientController {
         let objects = JSON.parse(localStorage.getItem('objects') || JSON.stringify(defaultSavedObjects));
         objects.push({
             name: 'Unnamed Object',
-            date: new Date().toLocaleString(),
+            date: new Date().toISOString(),
             author: null,
             description: null,
             data: selectedObjects,
-            image: 'assets/textures/unknown.png'
+            image: 'assets/textures/unknown.png',
+            version: this.version,
+            versionTimestamp: this.versionTimestamp,
+            type: 'objects'
         });
         localStorage.setItem('objects', JSON.stringify(objects));
         // update objects list
@@ -860,6 +1120,10 @@ class SimuloClientController {
       </div> */
             // we will not include image for now
             let object = objects[i];
+            // if object doesnt have .type set to objects
+            if (!object.type) {
+                object.type = 'objects';
+            }
             let div = document.createElement('div');
             div.classList.add('object');
             div.dataset.object = i.toString();
@@ -876,6 +1140,98 @@ class SimuloClientController {
             let img = document.createElement('img');
             img.src = object.image;
             div.appendChild(img);
+            // add icons/dots-vertical.svg
+            let res = await fetch('icons/dots-vertical.svg');
+            let svg = await res.text();
+            let options = document.createElement('div');
+            options.classList.add('options');
+            options.innerHTML = svg;
+            div.appendChild(options);
+
+            // create a div on the body of class object-options-menu
+            let menu = document.createElement('div');
+            menu.classList.add('object-options-menu');
+            menu.style.display = 'none';
+
+            // add options
+            let copyButton = document.createElement('div');
+            copyButton.innerText = 'Copy to clipboard';
+            copyButton.classList.add('button');
+            copyButton.addEventListener('click', () => {
+                // copy to clipboard
+                this.copyToClipboard(object.data);
+                this.showToast('Copied "' + object.name + '" to clipboard', ToastType.INFO);
+                menu.style.display = 'none';
+            });
+            let exportButton = document.createElement('div');
+            exportButton.innerText = 'Export';
+            exportButton.classList.add('button');
+            exportButton.addEventListener('click', () => {
+                // download as file
+                this.saveFile(JSON.stringify(object), object.name + '.simulo');
+                this.showToast('Exported "' + object.name + '"', ToastType.INFO);
+                menu.style.display = 'none';
+            });
+            let deleteButton = document.createElement('div');
+            deleteButton.innerText = 'Delete';
+            deleteButton.classList.add('button');
+            deleteButton.addEventListener('click', () => {
+                // delete from localstorage
+                let objects = JSON.parse(localStorage.getItem('objects') || JSON.stringify(defaultSavedObjects));
+                objects.splice(i, 1);
+                localStorage.setItem('objects', JSON.stringify(objects));
+                // update objects list
+                this.updateObjectsList();
+                this.showToast('Deleted "' + object.name + '"', ToastType.INFO);
+                // close menu
+                menu.style.display = 'none';
+            });
+            menu.appendChild(copyButton);
+            menu.appendChild(exportButton);
+            menu.appendChild(deleteButton);
+            document.body.appendChild(menu);
+            let clickAnywhereElseClose = (e: MouseEvent | TouchEvent) => {
+                if (!e.target || !(e.target as HTMLElement).closest('.object-options-menu')) {
+                    menu.style.display = 'none';
+                    document.removeEventListener('mousedown', clickAnywhereElseClose);
+                    document.removeEventListener('touchstart', clickAnywhereElseClose);
+                }
+            };
+
+            // add event listener to options button
+            options.addEventListener('click', (e) => {
+                // toggle menu
+                if (menu.style.display == 'none') {
+                    menu.style.display = 'flex';
+                    // get e position
+                    menu.style.top = e.clientY + 'px';
+                    menu.style.left = e.clientX + 'px';
+                    document.addEventListener('mousedown', clickAnywhereElseClose);
+                    document.addEventListener('touchstart', clickAnywhereElseClose);
+                }
+                else {
+                    menu.style.display = 'none';
+                }
+
+                e.stopPropagation();
+                e.preventDefault();
+            });
+            options.addEventListener('touchstart', (e) => {
+                e.stopPropagation();
+                e.preventDefault();
+            });
+            options.addEventListener('touchend', (e) => {
+                e.stopPropagation();
+                e.preventDefault();
+            });
+            options.addEventListener('mousedown', (e) => {
+                e.stopPropagation();
+                e.preventDefault();
+            });
+            options.addEventListener('mouseup', (e) => {
+                e.stopPropagation();
+                e.preventDefault();
+            });
             grid.appendChild(div);
         }
     }
@@ -989,7 +1345,8 @@ class SimuloClientController {
                 var shapes: SimuloShape[] = [];
                 // push all the entities
                 //shapes = shapes.concat(this.entities);
-                this.entities.forEach((entity) => {
+                this.entities.forEach((entityObj) => {
+                    let entity = Object.assign({}, entityObj);
                     Object.keys(this.selectedObjects).forEach((key) => {
                         let selectedObjectArray = this.selectedObjects[key];
                         if (selectedObjectArray.includes(entity.id.toString())) {
@@ -1380,6 +1737,7 @@ class SimuloClientController {
                     this.toolIconOffset = null;
                 }
                 //this.themeSelect.value = this.theme;
+                console.log('Theme changed to ' + body.data);
             }
         }
     }
diff --git a/client/src/SimuloViewer/index.ts b/client/src/SimuloViewer/index.ts
index 6f3c4ca4c..85fb64696 100644
--- a/client/src/SimuloViewer/index.ts
+++ b/client/src/SimuloViewer/index.ts
@@ -63,7 +63,7 @@ class SimuloViewer {
     ctx: CanvasRenderingContext2D;
     /** The canvas that the viewer is drawing to. You can update this along with `ctx` to change the canvas mid-run. */
     canvas: HTMLCanvasElement;
-    cameraOffset: { x: number, y: number };
+    cameraOffset: { x: number, y: number } = { x: 0, y: 0 };
     cameraZoom = 30;
     private lastX: number;
     private lastY: number;
@@ -159,6 +159,10 @@ class SimuloViewer {
     }
     private lastTouchX = 0;
     private lastTouchY = 0;
+    resetCamera() {
+        this.cameraOffset = { x: window.innerWidth / 2, y: (window.innerHeight / 2) - 700 }; // start at center, offset by 700. can be changed later by controller
+        this.cameraZoom = 30;
+    }
     constructor(canvas: HTMLCanvasElement) {
         console.log("SimuloViewer constructor");
         this.canvas = canvas;
@@ -173,9 +177,7 @@ class SimuloViewer {
         if (this.canvas.tabIndex == -1) {
             this.canvas.tabIndex = 1;
         }
-        var windowEnd = this.transformPoint(window.innerWidth, window.innerHeight);
-        this.cameraOffset = { x: windowEnd.x / 2, y: (windowEnd.y / 2) - 700 }; // start at center, offset by 700. can be changed later by controller
-
+        this.resetCamera();
         this.lastX = window.innerWidth / 2;
         this.lastY = window.innerHeight / 2;
         this.lastMouseX = this.lastX;
diff --git a/media/imulo.png b/media/imulo.png
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+       d="m 48.962917,95.960376 -22.423954,2.952274 -13.769186,17.94412 2.952275,22.42396 17.944124,13.76918 15.74891,-2.07325 a 26.068243,26.068243 0 0 1 19.736263,-24.20059 l -2.244308,-17.04651 z m 20.188432,30.815694 0.707967,5.37745 -13.769186,17.94412 -6.675044,0.87902 a 26.068243,26.068243 0 0 0 -0.04031,1.08262 26.068243,26.068243 0 0 0 26.068176,26.06817 26.068243,26.068243 0 0 0 26.068698,-26.06817 26.068243,26.068243 0 0 0 -26.068698,-26.06818 26.068243,26.068243 0 0 0 -6.291605,0.78497 z"
+       transform="translate(7.0186791,-6.0020424)" />
+  </g>
+</svg>
diff --git a/package.json b/package.json
index 84bb988c6..0aac31bfc 100644
--- a/package.json
+++ b/package.json
@@ -1,6 +1,6 @@
 {
   "name": "simulo",
-  "version": "0.5.0",
+  "version": "0.6.0",
   "main": "dist/server/src/index.js",
   "scripts": {
     "start": "node dist/server/src/index.js",
diff --git a/shared/src/SimuloPhysicsServer.ts b/shared/src/SimuloPhysicsServer.ts
index 044e42d3f..667a3b48b 100644
--- a/shared/src/SimuloPhysicsServer.ts
+++ b/shared/src/SimuloPhysicsServer.ts
@@ -256,8 +256,18 @@ class SimuloObject {
         this._body.ApplyAngularImpulse(impulse, true);
     }
     destroy() {
-        this._body.GetWorld().DestroyBody(this._body);
+        //this._body.GetWorld().DestroyBody(this._body);
         // No longer real
+        this._physicsServer.deleteObjects.push(this._body);
+        let promise = new Promise((resolve, reject) => {
+            this._physicsServer.deletePromises.push({
+                resolve: () => {
+                    resolve(null);
+                },
+                reject: reject
+            });
+        });
+        return promise;
     }
 }
 
@@ -472,6 +482,16 @@ interface SimuloSavedObject {
     // TODO: when scripting is added, add script here and have it call save() on script and push the return value here if it isnt circular
 }
 
+interface SimuloParticle {
+    x: number;
+    y: number;
+    color: string;
+    radius: number;
+    index: number;
+    colorValues: number[];
+    velocity: { x: number, y: number };
+}
+
 interface SimuloSavedJoint {
 
 }
@@ -587,7 +607,8 @@ class SimuloPhysicsServer {
         }
         return object;
     }
-    addAxle(anchorA: [x: number, y: number], anchorB: [x: number, y: number], objectA: SimuloObject, objectB: SimuloObject) {
+    // axle = revolute joint
+    addAxle(anchorA: [x: number, y: number], anchorB: [x: number, y: number], objectA: SimuloObject, objectB: SimuloObject, image: string | null = null) {
         const jd = new box2D.b2RevoluteJointDef();
         jd.set_bodyA(objectA._body);
         jd.set_bodyB(objectB._body);
@@ -602,6 +623,26 @@ class SimuloPhysicsServer {
         jointData.zDepth = this.highestZDepth++;
         jointData.anchorA = anchorA;
         jointData.anchorB = anchorB;
+        jointData.image = image;
+    }
+    // bolt = weld joint
+    addBolt(anchorA: [x: number, y: number], anchorB: [x: number, y: number], objectA: SimuloObject, objectB: SimuloObject, image: string | null = null) {
+        const jd = new box2D.b2WeldJointDef();
+        jd.set_bodyA(objectA._body);
+        jd.set_bodyB(objectB._body);
+        jd.set_localAnchorA(new box2D.b2Vec2(anchorA[0], anchorA[1]));
+        jd.set_localAnchorB(new box2D.b2Vec2(anchorB[0], anchorB[1]));
+        // no collide
+        jd.set_collideConnected(false);
+        jd.set_referenceAngle(objectB._body.GetAngle() - objectA._body.GetAngle());
+        // set id and zdepth
+        let joint = this.world.CreateJoint(jd);
+        let jointData = joint.GetUserData() as SimuloJointData;
+        jointData.id = this.currentID++;
+        jointData.zDepth = this.highestZDepth++;
+        jointData.anchorA = anchorA;
+        jointData.anchorB = anchorB;
+        jointData.image = image;
     }
     getProxy(body: SimuloObject) {
         return createSandboxedInstance(body);
@@ -610,6 +651,13 @@ class SimuloPhysicsServer {
         var p = body._body.GetLocalPoint(new box2D.b2Vec2(point[0], point[1]));
         return [p.get_x(), p.get_y()];
     }
+    getWorldPoint(body: SimuloObject, point: [x: number, y: number]) {
+        var p = body._body.GetWorldPoint(new box2D.b2Vec2(point[0], point[1]));
+        return [p.get_x(), p.get_y()];
+    }
+    getGroundBody() {
+        return new SimuloObject(this, this.ground);
+    }
     addSpring(anchorA: [x: number, y: number], anchorB: [x: number, y: number], objectA: SimuloObject, objectB: SimuloObject, stiffness: number, length: number, damping: number, width: number, image?: string, line?: { color: string, scale_with_zoom: boolean }) {
         // distance joint
         const jd = new box2D.b2DistanceJointDef();
@@ -763,6 +811,7 @@ class SimuloPhysicsServer {
         return object;
     }
     deleteObjects: (Box2D.b2Body | Box2D.b2Joint | Box2D.b2Fixture)[] = [];
+    deletePromises: { resolve: () => void, reject: () => void }[] = [];
     destroy(object: SimuloObject | SimuloJoint) {
         if (object instanceof SimuloObject) {
             this.deleteObjects.push(object._body);
@@ -771,6 +820,26 @@ class SimuloPhysicsServer {
             this.deleteObjects.push(object._joint);
         }
     }
+    destroyPhysicsServer() {
+        // @ts-ignore
+        this.world.SetContactListener(null);
+        // @ts-ignore
+        this.world.SetContactFilter(null);
+        // @ts-ignore
+        this.world.SetDestructionListener(null);
+        // @ts-ignore
+        this.world.SetDebugDraw(null);
+        // @ts-ignore
+        this.ground = null;
+        // @ts-ignore
+        this.deleteObjects = null;
+        // @ts-ignore
+        this.deletePromises = null;
+        // @ts-ignore
+        this.bodies = null;
+        // @ts-ignore
+        this.world = null;
+    }
 
     // distancejoints and mousejoints are considered springs.
     addMouseSpring(
@@ -944,22 +1013,47 @@ class SimuloPhysicsServer {
         const g = box2D.HEAPU8[color_p + 1];
         const b = box2D.HEAPU8[color_p + 2];
         const a = box2D.HEAPU8[color_p + 3];
-        console.log(`particle rgba(${r},${g},${b},${a / 255})`);
+        const velocityBuffer = particleSystem.GetVelocityBuffer();
+        const velocity_p = box2D.getPointer(velocityBuffer) + index * 8;
+        const vx = box2D.HEAPF32[velocity_p >> 2];
+        const vy = box2D.HEAPF32[(velocity_p + 4) >> 2];
+        //console.log(`particle rgba(${r},${g},${b},${a / 255})`);
         return {
-            x, y, color: `rgba(${r},${g},${b},${a / 255})`, radius: 0.1
-        };
+            x, y, color: `rgba(${r},${g},${b},${a / 255})`, radius: 0.1, index, colorValues: [r, g, b, a], velocity: { x: vx, y: vy }
+        } as SimuloParticle;
     };
+
+    addParticle(particle: SimuloParticle) {
+        const particleSystem = this.particleSystem;
+        const pd = new box2D.b2ParticleDef();
+        pd.set_position(new box2D.b2Vec2(particle.x, particle.y));
+        pd.set_color(new box2D.b2ParticleColor(particle.colorValues[0], particle.colorValues[1], particle.colorValues[2], particle.colorValues[3]));
+        pd.set_velocity(new box2D.b2Vec2(particle.velocity.x, particle.velocity.y));
+        particleSystem.CreateParticle(pd);
+    }
+
     private getAllParticles = (particleSystem: Box2D.b2ParticleSystem) => {
         // we use getParticlePosition
 
         // first, get count:
         const count = particleSystem.GetParticleCount();
-        const particles: { x: number, y: number, color: string, radius: number }[] = [];
+        const particles: SimuloParticle[] = [];
         for (let i = 0; i < count; i++) {
             particles.push(this.getParticle(particleSystem, i));
         }
         return particles;
     }
+    deleteAllParticles() {
+        const particleSystem = this.particleSystem;
+        const count = particleSystem.GetParticleCount();
+        for (let i = 0; i < count; i++) {
+            particleSystem.DestroyParticle(i);
+        }
+    }
+    deleteParticle(index: number) {
+        const particleSystem = this.particleSystem;
+        particleSystem.DestroyParticle(index);
+    }
 
     getObjectsAtPoint(point: [x: number, y: number]) {
         var pos = new box2D.b2Vec2(point[0], point[1]);
@@ -1000,7 +1094,7 @@ class SimuloPhysicsServer {
             return new SimuloObject(this, b);
         }).sort((a, b) => { // sort by .zDepth
             return a.zDepth - b.zDepth;
-        }).reverse();
+        });
     }
     addParticleBox(x: number, y: number, width: number, height: number) {
         const particleGroupDef = new box2D.b2ParticleGroupDef();
@@ -1013,34 +1107,38 @@ class SimuloPhysicsServer {
         box2D.destroy(boxShape);
         box2D.destroy(particleGroupDef);
     }
+
+    filterDuplicates(objects: SimuloObject[]) {
+        // all we check for is unique IDs
+        var ids: number[] = [];
+        var filtered: SimuloObject[] = [];
+        for (var i = 0; i < objects.length; i++) {
+            var obj = objects[i];
+            if (ids.indexOf(obj.id) == -1) {
+                ids.push(obj.id);
+                filtered.push(obj);
+            }
+        }
+        return filtered;
+    }
+
     getAllObjects() {
         var bodies: Box2D.b2Body[] = [];
         var node = this.world.GetBodyList();
         while (box2D.getPointer(node)) {
             var b = node;
             node = node.GetNext();
-
-            var position = b.GetPosition();
-
-            var fl = b.GetFixtureList();
-            if (!fl) {
-                continue;
-            }
-            while (box2D.getPointer(fl)) {
-                var shape = fl.GetShape();
-                bodies.push(b);
-                fl = fl.GetNext();
-            }
+            bodies.push(b);
         }
-        return bodies.map((b) => {
+        return this.filterDuplicates(bodies.map((b) => {
             return new SimuloObject(this, b);
         }).sort((a, b) => { // sort by .zDepth
             return a.zDepth - b.zDepth;
-        }).reverse();
+        }));
     }
 
     /** Saves a collection of `SimuloObject`s to a `SimuloSavedObject`s you can restore with `load()` */
-    save(stuff: SimuloObject[]): SimuloSavedObject[] {
+    save(stuff: SimuloObject[], groundBodyOffset: { x: number, y: number } = { x: 0, y: 0 }): SimuloSavedObject[] {
         var savedStuff: SimuloSavedObject[] = stuff.map((o) => {
             // get joints of object
             var joints: SimuloSavedJoint[] = [];
@@ -1060,6 +1158,14 @@ class SimuloPhysicsServer {
                 let jointTypeParsed: string;
                 let localAnchorA = jointData.anchorA;
                 let localAnchorB = jointData.anchorB;
+                // if bodyAID is 0, its ground, subtract groundBodyOffset
+                if (bodyAID === 0) {
+                    localAnchorA = [localAnchorA[0] - groundBodyOffset.x, localAnchorA[1] - groundBodyOffset.y];
+                }
+                // if bodyBID is 0, its ground, subtract groundBodyOffset
+                if (bodyBID === 0) {
+                    localAnchorB = [localAnchorB[0] - groundBodyOffset.x, localAnchorB[1] - groundBodyOffset.y];
+                }
                 let baseObject = {
                     id: jointData.id,
                     bodyA: bodyAID,
@@ -1068,6 +1174,7 @@ class SimuloPhysicsServer {
                     anchorB: localAnchorB,
                     collideConnected: joint.GetCollideConnected(),
                     zDepth: jointData.zDepth,
+                    image: jointData.image,
                 };
                 if (jointType === box2D.e_revoluteJoint) {
                     jointTypeParsed = "axle";
@@ -1152,7 +1259,7 @@ class SimuloPhysicsServer {
                         enableMotor: wheelJoint.IsMotorEnabled(),
                     });
                 } else if (jointType === box2D.e_weldJoint) {
-                    jointTypeParsed = "weld";
+                    jointTypeParsed = "bolt";
                     let weldJoint = box2D.castObject(joint, box2D.b2WeldJoint);
                     joints.push({
                         ...baseObject,
@@ -1204,8 +1311,47 @@ class SimuloPhysicsServer {
         });
         return savedStuff;
     }
+
+    saveWorld(): { objects: SimuloSavedObject[]; particles: SimuloParticle[], theme: SimuloTheme } {
+        // get all objects
+        let objects: SimuloObject[] = this.getAllObjects();
+        // filter out object 0, which is the ground body
+        objects = objects.filter((o) => o.id !== 0);
+        let particles = this.getAllParticles(this.particleSystem);
+        // save them with save()
+        return {
+            objects: this.save(objects),
+            particles,
+            theme: this.theme,
+        };
+    }
+    async loadWorld(stuff: { objects: SimuloSavedObject[]; particles: SimuloParticle[], theme: SimuloTheme }) {
+        // get all objects
+        let objects: SimuloObject[] = this.getAllObjects();
+        // filter out object 0, which is the ground body
+        objects = objects.filter((o) => o.id !== 0);
+        // delete them
+        for (let i = 0; i < objects.length; i++) {
+            await objects[i].destroy();
+        }
+        this.theme = stuff.theme;
+        this.emit("themeChange", this.theme);
+        // delete all particles
+        this.deleteAllParticles();
+        this.currentID = 1;
+        // load them with load()
+        this.load(stuff.objects);
+        this.loadParticles(stuff.particles);
+    }
+
+    loadParticles(particles: SimuloParticle[]) {
+        particles.forEach((p) => {
+            this.addParticle(p);
+        });
+    }
+
     /** Spawns in some `SimuloObject`s from a `SimuloSavedObject[]` you saved with `save()`, doesn't replace anything, just adds to the world */
-    load(stuff: SimuloSavedObject[]) {
+    load(stuff: SimuloSavedObject[], groundBodyOffset: { x: number, y: number } = { x: 0, y: 0 }) {
         let jointsToAdd: any[] = [];
         let realIDs: { [key: number]: number } = {};
 
@@ -1255,19 +1401,39 @@ class SimuloPhysicsServer {
         jointsToAdd.forEach((j) => {
             let objectAID = realIDs[j.bodyA];
             let objectBID = realIDs[j.bodyB];
+
+            // ground body support
+            if (j.bodyA === 0) objectAID = 0;
+            if (j.bodyB === 0) objectBID = 0;
+
             let objectA = this.getObjectByID(objectAID) as SimuloObject;
             let objectB = this.getObjectByID(objectBID) as SimuloObject;
+
+            let anchorA = j.anchorA;
+            let anchorB = j.anchorB;
+
+            if (j.bodyA === 0) {
+                anchorA[0] += groundBodyOffset.x;
+                anchorA[1] += groundBodyOffset.y;
+            }
+            if (j.bodyB === 0) {
+                anchorB[0] += groundBodyOffset.x;
+                anchorB[1] += groundBodyOffset.y;
+            }
+
             // for now, lets only re-add axle (revolute) and spring (distance) joints since we dont use others
             if (j.type === "axle") {
-                this.addAxle(j.anchorA, j.anchorB, objectA, objectB);
+                this.addAxle(anchorA, anchorB, objectA, objectB, j.image);
             }
             else if (j.type === "spring") {
-                this.addSpring(j.anchorA, j.anchorB, objectA, objectB, j.frequencyHz, j.length, j.dampingRatio, j.width, j.image, j.line);
+                this.addSpring(anchorA, anchorB, objectA, objectB, j.frequencyHz, j.length, j.dampingRatio, j.width, j.image, j.line);
+            }
+            else if (j.type === "bolt") {
+                this.addBolt(anchorA, anchorB, objectA, objectB, j.image);
             }
         });
     }
 
-
     getObjectByID(id: number) {
         var node = this.world.GetBodyList();
         while (box2D.getPointer(node)) {
@@ -1318,7 +1484,7 @@ class SimuloPhysicsServer {
         );
         return selectedObjects.sort((a, b) => { // sort by .zDepth
             return a.zDepth - b.zDepth;
-        }).reverse();
+        });
     }
 
     getObjectsInRect(pointA: [x: number, y: number], pointB: [x: number, y: number]) {
@@ -1381,30 +1547,10 @@ class SimuloPhysicsServer {
 
         return selectedObjects.sort((a, b) => { // sort by .zDepth
             return a.zDepth - b.zDepth;
-        }).reverse();
-    }
-
-    step(delta: number, velocityIterations: number, positionIterations: number) {
-        try {
-            this.world.Step(delta, velocityIterations, positionIterations);
-        } catch (e) {
-            console.error('Error in world.Step', e);
-            //alert('Uh oh! We did an oopsie and there was an error updating the world! Try changing the simulation speed. If you see this message nonstop, rip your world and we are sorry lol.')
-            return null;
-        }
-        this.deleteObjects.forEach((obj) => {
-            if (obj instanceof box2D.b2Body) {
-                this.world.DestroyBody(obj);
-            }
-            if (obj instanceof box2D.b2Joint) {
-                this.world.DestroyJoint(obj);
-            }
-            if (obj instanceof box2D.b2Fixture) {
-                obj.GetBody().DestroyFixture(obj);
-            }
         });
-        this.deleteObjects = [];
+    }
 
+    render() {
         let particles = this.getAllParticles(this.particleSystem);
 
 
@@ -1435,94 +1581,70 @@ class SimuloPhysicsServer {
             if (!fl) {
                 continue;
             }
-            while (box2D.getPointer(fl)) {
-                var shape = fl.GetShape();
-                var shapeType = shape.GetType();
-                if (shapeType == box2D.b2Shape.e_circle) {
-                    const circleShape = box2D.castObject(shape, box2D.b2CircleShape);
-                    //console.log("circle of radius " + circleShape.get_m_radius() + " at " + position.x + ", " + position.y);
+            //while (box2D.getPointer(fl)) {
+            var shape = fl.GetShape();
+            var shapeType: number;
+            try {
+                shapeType = shape.GetType();
+            } catch (e) {
+                continue;
+            }
+            if (shapeType == box2D.b2Shape.e_circle) {
+                const circleShape = box2D.castObject(shape, box2D.b2CircleShape);
+                //console.log("circle of radius " + circleShape.get_m_radius() + " at " + position.x + ", " + position.y);
+                shapes.push({
+                    x: position.x,
+                    y: position.y,
+                    type: "circle",
+                    radius: circleShape.get_m_radius(),
+                    angle: b.GetAngle(),
+                    color: color,
+                    border: bodyData.border,
+                    borderWidth: bodyData.borderWidth,
+                    borderScaleWithZoom: bodyData.borderScaleWithZoom,
+                    circleCake: bodyData.circleCake,
+                    image: bodyData.image,
+                    id: bodyData.id,
+                    zDepth: bodyData.zDepth,
+                } as SimuloCircle);
+            } else if (shapeType == box2D.b2Shape.e_polygon) {
+                const polygonShape = box2D.castObject(shape, box2D.b2PolygonShape);
+                var vertexCount = polygonShape.get_m_count();
+                var verts: { x: number, y: number }[] = [];
+                // iterate over vertices
+                for (let i = 0; i < vertexCount; i++) {
+                    const vertex = polygonShape.get_m_vertices(i);
+                    //console.log("vertex " + i + " at " + vertex.x + ", " + vertex.y);
+                    verts.push({
+                        x: vertex.x,
+                        y: vertex.y,
+                    });
+                }
+                if (bodyData.points != null) {
                     shapes.push({
                         x: position.x,
                         y: position.y,
-                        type: "circle",
-                        radius: circleShape.get_m_radius(),
+                        type: "polygon",
+                        vertices: verts,
                         angle: b.GetAngle(),
                         color: color,
                         border: bodyData.border,
                         borderWidth: bodyData.borderWidth,
                         borderScaleWithZoom: bodyData.borderScaleWithZoom,
-                        circleCake: bodyData.circleCake,
+                        points: bodyData.points.map((p) => {
+                            return { x: p[0], y: p[1] };
+                        }),
                         image: bodyData.image,
                         id: bodyData.id,
                         zDepth: bodyData.zDepth,
-                    } as SimuloCircle);
-                } else if (shapeType == box2D.b2Shape.e_polygon) {
-                    const polygonShape = box2D.castObject(shape, box2D.b2PolygonShape);
-                    var vertexCount = polygonShape.get_m_count();
-                    var verts: { x: number, y: number }[] = [];
-                    // iterate over vertices
-                    for (let i = 0; i < vertexCount; i++) {
-                        const vertex = polygonShape.get_m_vertices(i);
-                        //console.log("vertex " + i + " at " + vertex.x + ", " + vertex.y);
-                        verts.push({
-                            x: vertex.x,
-                            y: vertex.y,
-                        });
-                    }
-                    if (bodyData.points != null) {
-                        shapes.push({
-                            x: position.x,
-                            y: position.y,
-                            type: "polygon",
-                            vertices: verts,
-                            angle: b.GetAngle(),
-                            color: color,
-                            border: bodyData.border,
-                            borderWidth: bodyData.borderWidth,
-                            borderScaleWithZoom: bodyData.borderScaleWithZoom,
-                            points: bodyData.points.map((p) => {
-                                return { x: p[0], y: p[1] };
-                            }),
-                            image: bodyData.image,
-                            id: bodyData.id,
-                            zDepth: bodyData.zDepth,
-                        } as SimuloPolygon);
-                    }
-                    else {
-                        shapes.push({
-                            x: position.x,
-                            y: position.y,
-                            type: "polygon",
-                            vertices: verts,
-                            angle: b.GetAngle(),
-                            color: color,
-                            border: bodyData.border,
-                            borderWidth: bodyData.borderWidth,
-                            borderScaleWithZoom: bodyData.borderScaleWithZoom,
-                            image: bodyData.image,
-                            id: bodyData.id,
-                            zDepth: bodyData.zDepth,
-                        } as SimuloPolygon);
-                    }
-                } else if (shapeType == box2D.b2Shape.e_edge) {
-                    const edgeShape = box2D.castObject(shape, box2D.b2EdgeShape);
-                    var vertices = [
-                        {
-                            x: edgeShape.get_m_vertex1().get_x(),
-                            y: edgeShape.get_m_vertex1().get_y(),
-                        },
-                        {
-                            x: edgeShape.get_m_vertex2().get_x(),
-                            y: edgeShape.get_m_vertex2().get_y(),
-                        },
-                    ];
-                    //console.log("edge: ");
-                    //console.log(vertices);
+                    } as SimuloPolygon);
+                }
+                else {
                     shapes.push({
                         x: position.x,
                         y: position.y,
-                        type: "edge",
-                        vertices: vertices,
+                        type: "polygon",
+                        vertices: verts,
                         angle: b.GetAngle(),
                         color: color,
                         border: bodyData.border,
@@ -1531,12 +1653,41 @@ class SimuloPhysicsServer {
                         image: bodyData.image,
                         id: bodyData.id,
                         zDepth: bodyData.zDepth,
-                    } as SimuloEdge);
-                } else {
-                    //console.log("unknown shape type");
+                    } as SimuloPolygon);
                 }
-                fl = fl.GetNext();
+            } else if (shapeType == box2D.b2Shape.e_edge) {
+                const edgeShape = box2D.castObject(shape, box2D.b2EdgeShape);
+                var vertices = [
+                    {
+                        x: edgeShape.get_m_vertex1().get_x(),
+                        y: edgeShape.get_m_vertex1().get_y(),
+                    },
+                    {
+                        x: edgeShape.get_m_vertex2().get_x(),
+                        y: edgeShape.get_m_vertex2().get_y(),
+                    },
+                ];
+                //console.log("edge: ");
+                //console.log(vertices);
+                shapes.push({
+                    x: position.x,
+                    y: position.y,
+                    type: "edge",
+                    vertices: vertices,
+                    angle: b.GetAngle(),
+                    color: color,
+                    border: bodyData.border,
+                    borderWidth: bodyData.borderWidth,
+                    borderScaleWithZoom: bodyData.borderScaleWithZoom,
+                    image: bodyData.image,
+                    id: bodyData.id,
+                    zDepth: bodyData.zDepth,
+                } as SimuloEdge);
+            } else {
+                //console.log("unknown shape type");
             }
+            //fl = fl.GetNext();
+            //}
         }
 
         /*var springsFormatted: { p1: number[], p2: number[] }[] = [];
@@ -1605,24 +1756,152 @@ class SimuloPhysicsServer {
                     zDepth: mData.zDepth,
                 });
             }
+            else if (j.GetType() == box2D.e_revoluteJoint) {
+                try {
+                    let r = box2D.castObject(j, box2D.b2RevoluteJoint);
+                    let rData = r.GetUserData() as SimuloJointData;
+                    let anchorRaw = rData.anchorA;
+                    if (anchorRaw == null || anchorRaw == undefined) {
+                        anchorRaw = rData.anchorB;
+                    }
+                    if (anchorRaw == null || anchorRaw == undefined) {
+                        anchorRaw = [0, 0];
+                    }
+                    let bodyARot = r.GetBodyA().GetAngle();
+                    let bodyBRot = r.GetBodyB().GetAngle();
+                    // figure out which body is on top (higher zDepth)
+                    let bodyRot: number;
+                    if (new SimuloObject(this, r.GetBodyA()).zDepth > new SimuloObject(this, r.GetBodyB()).zDepth) {
+                        bodyRot = bodyARot;
+                    }
+                    else {
+                        bodyRot = bodyBRot;
+                    }
+                    let anchor = this.getWorldPoint(new SimuloObject(this, r.GetBodyA()), anchorRaw);
+                    let image: string | null;
+                    if (rData.image != null) {
+                        image = rData.image;
+                    }
+                    else {
+                        image = null;
+                    }
+                    shapes.push({
+                        x: anchor[0],
+                        y: anchor[1],
+                        type: "circle",
+                        vertices: [],
+                        angle: bodyRot,
+                        color: "#00000000",
+                        border: null,
+                        borderWidth: null,
+                        borderScaleWithZoom: false,
+                        image: image,
+                        id: rData.id,
+                        zDepth: rData.zDepth,
+                        circleCake: false,
+                        radius: 0.1,
+                    } as SimuloCircle);
+                }
+                catch (e) {
+                    console.error('Error in axle joint rendering:', e);
+                }
+            }
+            else if (j.GetType() == box2D.e_weldJoint) {
+                try {
+                    let w = box2D.castObject(j, box2D.b2WeldJoint);
+                    let wData = w.GetUserData() as SimuloJointData;
+                    let anchorRaw = wData.anchorA;
+                    if (anchorRaw == null || anchorRaw == undefined) {
+                        anchorRaw = wData.anchorB;
+                    }
+                    if (anchorRaw == null || anchorRaw == undefined) {
+                        anchorRaw = [0, 0];
+                    }
+                    let bodyARot = w.GetBodyA().GetAngle();
+                    let bodyBRot = w.GetBodyB().GetAngle();
+                    // figure out which body is on top (higher zDepth)
+                    let bodyRot: number;
+                    if (new SimuloObject(this, w.GetBodyA()).zDepth > new SimuloObject(this, w.GetBodyB()).zDepth) {
+                        bodyRot = bodyARot;
+                    }
+                    else {
+                        bodyRot = bodyBRot;
+                    }
+                    let anchor = this.getWorldPoint(new SimuloObject(this, w.GetBodyA()), anchorRaw);
+                    let image: string | null;
+                    if (wData.image != null) {
+                        image = wData.image;
+                    }
+                    else {
+                        image = null;
+                    }
+                    shapes.push({
+                        x: anchor[0],
+                        y: anchor[1],
+                        type: "circle",
+                        vertices: [],
+                        angle: bodyRot,
+                        color: "#00000000",
+                        border: null,
+                        borderWidth: null,
+                        borderScaleWithZoom: false,
+                        image: image,
+                        id: wData.id,
+                        zDepth: wData.zDepth,
+                        circleCake: false,
+                        radius: 0.1,
+                    } as SimuloCircle);
+                }
+                catch (e) {
+                    console.error('Error in weld joint rendering:', e);
+                }
+            }
         }
 
         var thisStep: SimuloStep = {
             shapes: shapes.sort((a, b) => {
                 return a.zDepth - b.zDepth;
-            }).reverse(),
+            }),
             background: this.theme.background,
             springs: springs.sort((a, b) => {
                 return a.zDepth - b.zDepth;
-            }).reverse(),
+            }),
             mouseSprings: mouseSprings.sort((a, b) => {
                 return a.zDepth - b.zDepth;
-            }).reverse(),
-            particles: particles
+            }),
+            particles
         };
 
         return thisStep;
     }
+
+    step(delta: number, velocityIterations: number, positionIterations: number) {
+        try {
+            this.world.Step(delta, velocityIterations, positionIterations);
+        } catch (e) {
+            console.error('Error in world.Step', e);
+            return false;
+        }
+
+        this.deleteObjects.forEach((obj) => {
+            if (obj instanceof box2D.b2Body) {
+                this.world.DestroyBody(obj);
+            }
+            if (obj instanceof box2D.b2Joint) {
+                this.world.DestroyJoint(obj);
+            }
+            if (obj instanceof box2D.b2Fixture) {
+                obj.GetBody().DestroyFixture(obj);
+            }
+        });
+        this.deleteObjects = [];
+        this.deletePromises.forEach((promise) => {
+            promise.resolve();
+        });
+        this.deletePromises = [];
+
+        return true;
+    }
     getAllSprings() {
         var joint: Box2D.b2Joint = this.world.GetJointList();
         var springs: { p1: number[], p2: number[], image: string | null, line: { color: string, scale_with_zoom: boolean } | null, width: number }[] = []; // distance joints are considered springs
diff --git a/shared/src/SimuloServerController.ts b/shared/src/SimuloServerController.ts
index e692d7d6b..036b8a2b2 100644
--- a/shared/src/SimuloServerController.ts
+++ b/shared/src/SimuloServerController.ts
@@ -61,7 +61,7 @@ class SimuloServerController {
     physicsServer: SimuloPhysicsServer;
     networkServer: any | null = null;
     tools: { [key: string]: string } = {};
-    previousStep: SimuloStepExtended | null = null;
+    //previousStep: SimuloStepExtended | null = null;
     timeScale: number = 1 / 500;
     frameRate: number = 1000 / 60;
     velocityIterations: number = 3;
@@ -95,29 +95,43 @@ class SimuloServerController {
         });
     }
 
+    savedWorld: any = {};
+
     loop(delta: number) {
         // step physics
-        if (this.paused) {
+        /*if (this.paused) {
             if (this.previousStep) {
                 this.sendAll("world_update", this.previousStep);
             }
             return;
+        }*/
+
+        if (!this.paused) {
+            var succeeded = false;
+            try {
+                succeeded = this.physicsServer.step(
+                    delta * this.timeScale * this.timeScaleMultiplier,
+                    this.velocityIterations,
+                    this.positionIterations
+                );
+            }
+            catch (e) {
+                console.log(e);
+            }
+            if (!succeeded) {
+                console.log("step failed");
+                this.sendAll("world_update_failed", null);
+                this.physicsServer = this.setupPhysicsServer(); // reset the server
+                this.physicsServer.loadWorld(this.savedWorld);
+                console.log("reverted to last step");
+            }
+            else {
+                this.savedWorld = this.physicsServer.saveWorld();
+            }
         }
-        var step = this.physicsServer.step(
-            delta * this.timeScale * this.timeScaleMultiplier,
-            this.velocityIterations,
-            this.positionIterations
-        );
-
-        if (!step) {
-            console.log("step failed");
-            this.sendAll("world_update_failed", null);
-            return;
-        }
-
-        step = step as SimuloStep;
+        var render = this.physicsServer.render() as SimuloStep;
 
-        var springs1 = step.springs;
+        var springs1 = render.springs;
         var springs2 = this.springs.map((s) => {
             return {
                 p1: s.target,
@@ -130,7 +144,7 @@ class SimuloServerController {
         var springs3 = springs1.concat(springs2);
 
         var thisStep: SimuloStepExtended = {
-            shapes: step.shapes,
+            shapes: render.shapes,
             creating_objects: this.creatingObjects,
             background: this.theme.background,
             springs: springs3,
@@ -138,19 +152,20 @@ class SimuloServerController {
             paused: this.paused,
             mouseSprings: [],
             creating_springs: this.creatingSprings,
-            selected_objects: // map to { userid: [objectID, objectID, objectID] }
-                // lets use object. methods
-                Object.keys(this.selectedObjects).reduce((acc: { [key: string]: string[] }, key: string) => {
-                    acc[key] = this.selectedObjects[key].map((obj: SimuloObject | SimuloJoint) => obj.id.toString());
-                    return acc;
-                }, {}),
-            particles: step.particles
+            selected_objects: this.selectedObjectIDs(),
+            particles: render.particles
         };
         this.sendAll("world_update", thisStep);
-        this.previousStep = thisStep;
+        //this.previousStep = thisStep;
 
         //console.log("vomit");
     }
+    selectedObjectIDs() {
+        return Object.keys(this.selectedObjects).reduce((acc: { [key: string]: string[] }, key: string) => {
+            acc[key] = this.selectedObjects[key].map((obj: SimuloObject | SimuloJoint) => obj.id.toString());
+            return acc;
+        }, {});
+    }
     handleData(formatted: { type: string; data: any }, uuid: string) {
         if (formatted.type == "player mouse") {
             var springsFormatted: SpringData[] = [];
@@ -192,16 +207,6 @@ class SimuloServerController {
                                     x: obj.position.x + dx,
                                     y: obj.position.y + dy
                                 };
-                                if (this.previousStep) {
-                                    // edit the shape
-                                    let shape = this.previousStep.shapes.find((shape: SimuloShape) => shape.id == obj.id);
-                                    // console.log the amount of shapes that have that id
-                                    console.log('shapes with same ID:', this.previousStep.shapes.filter((shape: SimuloShape) => shape.id == obj.id).length);
-                                    if (shape) {
-                                        shape.x = obj.position.x;
-                                        shape.y = obj.position.y;
-                                    }
-                                }
                                 select.initialVelocity = {
                                     x: dx * 10,
                                     y: dy * 10
@@ -234,7 +239,7 @@ class SimuloServerController {
                 y: formatted.data.y,
                 springs: springsFormatted2,
                 creating_objects: this.creatingObjects,
-                selected_objects: this.selectedObjects
+                selected_objects: this.selectedObjectIDs(),
             });
 
             // 👍 we did it, yay, we're so cool
@@ -397,16 +402,51 @@ class SimuloServerController {
                 } as SimuloCreatingPolygon;
             }
             else if (this.tools[uuid] == "addParticle") {
-                this.physicsServer.addParticleBox(formatted.data.x, formatted.data.y, 0.2, 0.2);
+                this.physicsServer.addParticleBox(formatted.data.x, formatted.data.y, 0.5, 0.5);
+            }
+            else if (this.tools[uuid] == "addAxle") {
+                // get 2 objects at point
+                var bodies = this.physicsServer.getObjectsAtPoint([formatted.data.x, formatted.data.y]);
+                if (bodies.length >= 2) {
+                    let bodyA = bodies[0];
+                    let bodyB = bodies[1];
+                    let bodyALocalPoint = this.physicsServer.getLocalPoint(bodyA, [formatted.data.x, formatted.data.y]) as [x: number, y: number];
+                    let bodyBLocalPoint = this.physicsServer.getLocalPoint(bodyB, [formatted.data.x, formatted.data.y]) as [x: number, y: number];
+                    this.physicsServer.addAxle(bodyALocalPoint, bodyBLocalPoint, bodyA, bodyB, this.theme.newObjects.axleImage);
+                }
+                else if (bodies.length == 1) {
+                    // get ground body
+                    let groundBody = this.physicsServer.getGroundBody();
+                    let bodyA = bodies[0];
+                    let bodyB = groundBody;
+                    let bodyALocalPoint = this.physicsServer.getLocalPoint(bodyA, [formatted.data.x, formatted.data.y]) as [x: number, y: number];
+                    let bodyBLocalPoint = this.physicsServer.getLocalPoint(bodyB, [formatted.data.x, formatted.data.y]) as [x: number, y: number];
+                    this.physicsServer.addAxle(bodyALocalPoint, bodyBLocalPoint, bodyA, bodyB, this.theme.newObjects.axleImage);
+                }
+            }
+            else if (this.tools[uuid] == "addBolt") {
+                // get 2 objects at point
+                var bodies = this.physicsServer.getObjectsAtPoint([formatted.data.x, formatted.data.y]);
+                if (bodies.length >= 2) {
+                    let bodyA = bodies[0];
+                    let bodyB = bodies[1];
+                    let bodyALocalPoint = this.physicsServer.getLocalPoint(bodyA, [formatted.data.x, formatted.data.y]) as [x: number, y: number];
+                    let bodyBLocalPoint = this.physicsServer.getLocalPoint(bodyB, [formatted.data.x, formatted.data.y]) as [x: number, y: number];
+                    this.physicsServer.addBolt(bodyALocalPoint, bodyBLocalPoint, bodyA, bodyB, this.theme.newObjects.boltImage);
+                }
+                else if (bodies.length == 1) {
+                    // get ground body
+                    let groundBody = this.physicsServer.getGroundBody();
+                    let bodyA = bodies[0];
+                    let bodyB = groundBody;
+                    let bodyALocalPoint = this.physicsServer.getLocalPoint(bodyA, [formatted.data.x, formatted.data.y]) as [x: number, y: number];
+                    let bodyBLocalPoint = this.physicsServer.getLocalPoint(bodyB, [formatted.data.x, formatted.data.y]) as [x: number, y: number];
+                    this.physicsServer.addBolt(bodyALocalPoint, bodyBLocalPoint, bodyA, bodyB, this.theme.newObjects.boltImage);
+                }
             }
             else {
                 console.log("Unknown tool: " + this.tools[uuid]);
             }
-
-            if (this.previousStep) {
-                this.previousStep.creating_objects = this.creatingObjects;
-                this.previousStep.selected_objects = this.selectedObjects;
-            }
         } else if (formatted.type == "player mouse up") {
             this.springs.forEach((spring: SimuloMouseSpring) => {
                 this.physicsServer.destroy(spring);
@@ -415,7 +455,13 @@ class SimuloServerController {
             if (this.creatingSprings[uuid]) {
                 var pointABodies = this.physicsServer.getObjectsAtPoint(this.creatingSprings[uuid].start);
                 var pointBBodies = this.physicsServer.getObjectsAtPoint([formatted.data.x, formatted.data.y]);
-                if (pointABodies.length > 0 && pointBBodies.length > 0) {
+                if (pointABodies.length > 0 || pointBBodies.length > 0) {
+                    if (pointABodies.length === 0) {
+                        pointABodies = [this.physicsServer.getGroundBody()];
+                    }
+                    if (pointBBodies.length === 0) {
+                        pointBBodies = [this.physicsServer.getGroundBody()];
+                    }
                     /*// Calculate rotated anchor points
                     var anchorAPosition = [
                         this.creatingSprings[uuid][0] - pointABodies[0].position[0],
@@ -449,16 +495,6 @@ class SimuloServerController {
                             0,
                             4 / formatted.data.zoom
                         );
-
-                        if (this.previousStep) {
-                            this.previousStep.springs.push({
-                                p1: this.creatingSprings[uuid].start,
-                                p2: [formatted.data.x, formatted.data.y],
-                                width: 4 / formatted.data.zoom,
-                                line: null,
-                                image: null,
-                            });
-                        }
                     }
                     else {
                         var spring = this.physicsServer.addSpring(
@@ -476,16 +512,6 @@ class SimuloServerController {
                             this.creatingSprings[uuid].width as number,
                             this.creatingSprings[uuid].image as string,
                         );
-
-                        if (this.previousStep) {
-                            this.previousStep.springs.push({
-                                p1: this.creatingSprings[uuid].start,
-                                p2: [formatted.data.x, formatted.data.y],
-                                width: this.creatingSprings[uuid].width as number,
-                                line: null,
-                                image: this.creatingSprings[uuid].image as string,
-                            });
-                        }
                     }
                 }
 
@@ -532,24 +558,6 @@ class SimuloServerController {
 
                     let rectangle = this.physicsServer.addPolygon(verts, [(formatted.data.x + this.creatingObjects[uuid].x) / 2, (formatted.data.y + this.creatingObjects[uuid].y) / 2], 0, 1, 0.5, 0.5, bodyData, false);
 
-                    if (this.previousStep) {
-                        this.previousStep.shapes.push({
-                            type: "rectangle",
-                            angle: 0,
-                            color: this.creatingObjects[uuid].color,
-                            border: this.theme.newObjects.border,
-                            borderWidth: this.theme.newObjects.borderWidth,
-                            borderScaleWithZoom:
-                                this.theme.newObjects.borderScaleWithZoom,
-                            image: null,
-                            x: this.creatingObjects[uuid].x,
-                            y: this.creatingObjects[uuid].y,
-                            id: rectangle.id,
-                            width: width,
-                            height: height,
-                        } as SimuloRectangle);
-                    }
-
                     // Remove the creatingObject for this uuid
                     delete this.creatingObjects[uuid];
                 } else if (this.creatingObjects[uuid].shape == "select") {
@@ -575,11 +583,6 @@ class SimuloServerController {
                         this.selectedObjects[uuid] = bodies;
 
                         delete this.creatingObjects[uuid]; // void
-
-                        if (this.previousStep) {
-                            this.previousStep.creating_objects = this.creatingObjects;
-                            this.previousStep.selected_objects = this.selectedObjects;
-                        }
                     }
                     else {
                         let wasStatic = this.creatingObjects[uuid].wasStatic as { [key: number]: boolean };
@@ -613,11 +616,6 @@ class SimuloServerController {
                             this.selectedObjects[uuid] = bodies;
                         }
                         delete this.creatingObjects[uuid];
-
-                        if (this.previousStep) {
-                            this.previousStep.creating_objects = this.creatingObjects;
-                            this.previousStep.selected_objects = this.selectedObjects;
-                        }
                     }
                 }
 
@@ -652,24 +650,6 @@ class SimuloServerController {
 
                     let circle = this.physicsServer.addCircle(radius, [posX, posY], 0, 1, 0.5, 0.5, bodyData, false);
 
-                    if (this.previousStep) {
-                        this.previousStep.shapes.push({
-                            type: "circle",
-                            angle: 0,
-                            color: this.creatingObjects[uuid].color,
-                            border: this.theme.newObjects.border,
-                            borderWidth: this.theme.newObjects.borderWidth,
-                            borderScaleWithZoom:
-                                this.theme.newObjects.borderScaleWithZoom,
-                            image: null,
-                            x: this.creatingObjects[uuid].x + radius,
-                            y: this.creatingObjects[uuid].y + radius,
-                            id: circle.id,
-                            circleCake: this.creatingObjects[uuid].circleCake,
-                            radius: radius,
-                        } as SimuloCircle);
-                    }
-
                     // Remove the creatingObject for this uuid
                     delete this.creatingObjects[uuid];
                 }
@@ -690,35 +670,10 @@ class SimuloServerController {
                         sound: 'impact.wav',
                         image: null,
                     }, false);
-                    if (this.previousStep) {
-                        this.previousStep.shapes.push({
-                            type: "polygon",
-                            vertices: pointsLocal.map((point) => {
-                                return { x: point[0], y: point[1] };
-                            }),
-                            points: pointsLocal.map((point) => {
-                                return { x: point[0], y: point[1] };
-                            }),
-                            angle: 0,
-                            color: this.creatingObjects[uuid].color,
-                            border: this.theme.newObjects.border,
-                            borderWidth: this.theme.newObjects.borderWidth,
-                            borderScaleWithZoom:
-                                this.theme.newObjects.borderScaleWithZoom,
-                            image: null,
-                            x: this.creatingObjects[uuid].x,
-                            y: this.creatingObjects[uuid].y,
-                            id: createdPolygon.id,
-                        } as SimuloPolygon);
-                    }
 
                     delete this.creatingObjects[uuid];
                 }
             }
-            if (this.previousStep) {
-                this.previousStep.creating_objects = this.creatingObjects;
-                this.previousStep.selected_objects = this.selectedObjects;
-            }
         } else if (formatted.type == "set_theme") {
             if (this.theme !== themes[formatted.data]) {
                 this.theme = themes[formatted.data];
@@ -742,6 +697,7 @@ class SimuloServerController {
                         part.image = null;
                     }
                 });
+                this.physicsServer.theme = this.theme;
                 this.sendAll("set_theme", this.theme);
             }
         } else if (formatted.type == "set_tool") {
@@ -775,7 +731,7 @@ class SimuloServerController {
                         key: formatted.data.key,
                         data: JSON.stringify(this.physicsServer.save(selectedObjects.filter((object) => {
                             return object instanceof SimuloObject;
-                        }) as SimuloObject[]).map((object) => {
+                        }) as SimuloObject[], { x: formatted.data.x, y: formatted.data.y }).map((object) => {
                             // subtract mouse pos
                             let position = { x: object.position.x, y: object.position.y };
                             position.x -= formatted.data.x;
@@ -800,7 +756,7 @@ class SimuloServerController {
                 objectPosition.y += position.y;
                 savedObjects[i].position = objectPosition;
             }
-            this.physicsServer.load(savedObjects);
+            this.physicsServer.load(savedObjects, position);
         }
         else if (formatted.type == "delete_selection") {
             var selectedObjects = this.selectedObjects[uuid];
@@ -810,6 +766,26 @@ class SimuloServerController {
                 });
             }
         }
+        else if (formatted.type == "save_world") {
+            let world = this.physicsServer.saveWorld();
+            if (formatted.data.key !== undefined) {
+                this.send(uuid, "save_world", {
+                    key: formatted.data.key,
+                    data: JSON.stringify(world)
+                });
+            }
+        }
+        else if (formatted.type == "load_world") {
+            let world = JSON.parse(formatted.data.data);
+            this.physicsServer.loadWorld(world).then(() => {
+                if (formatted.data.key !== undefined) {
+                    this.send(uuid, "load_world", {
+                        key: formatted.data.key,
+                        data: 'Loaded scene'
+                    });
+                }
+            });
+        }
     }
 
     addScript(code: string) {
@@ -928,10 +904,12 @@ class SimuloServerController {
         });
     }
 
-    constructor(theme: SimuloTheme, server: http.Server | null, localClient: boolean) {
-        this.theme = theme;
-        this.physicsServer = new SimuloPhysicsServer(this.theme);
-        this.physicsServer.on('collision', (data: any) => {
+    setupPhysicsServer() {
+        if (this.physicsServer) {
+            this.physicsServer.destroyPhysicsServer();
+        }
+        let physicsServer = new SimuloPhysicsServer(this.theme);
+        physicsServer.on('collision', (data: any) => {
             // .sound, .volume and .pitch. we can just send it as-is through network
             this.sendAll('collision', {
                 sound: data.sound,
@@ -939,6 +917,16 @@ class SimuloServerController {
                 pitch: data.pitch * this.timeScaleMultiplier
             });
         });
+        physicsServer.on('themeChange', (data: any) => {
+            this.theme = data;
+            this.sendAll("set_theme", data);
+        });
+        return physicsServer;
+    }
+
+    constructor(theme: SimuloTheme, server: http.Server | null, localClient: boolean) {
+        this.theme = theme;
+        this.physicsServer = this.setupPhysicsServer();
 
         if (server) {
             this.networkServer = new SimuloNetworkServer(server);
diff --git a/shared/src/SimuloTheme.ts b/shared/src/SimuloTheme.ts
index 7b0f5fc15..a7ffac5a0 100644
--- a/shared/src/SimuloTheme.ts
+++ b/shared/src/SimuloTheme.ts
@@ -25,6 +25,8 @@ interface SimuloTheme {
         borderScaleWithZoom: boolean;
         circleCake: boolean;
         springImage: string | null;
+        axleImage: string | null;
+        boltImage: string | null;
     };
     toolIcons: { [key: string]: string | null };
     systemCursor: boolean;
diff --git a/shared/themes.ts b/shared/themes.ts
index e422f5510..a78214600 100644
--- a/shared/themes.ts
+++ b/shared/themes.ts
@@ -35,7 +35,9 @@ export default {
       "borderWidth": null,
       "borderScaleWithZoom": false,
       "circleCake": false,
-      "springImage": "assets/textures/spring.png"
+      "springImage": "assets/textures/spring.png",
+      "axleImage": "assets/textures/add_axle.png",
+      "boltImage": "assets/textures/add_fixed_joint.png"
     },
     "toolIcons": {
       "drag": null,
@@ -45,7 +47,7 @@ export default {
       "addPolygon": "assets/textures/add_polygon.png",
       "addSpring": "assets/textures/add_spring.png",
       "addAxle": "assets/textures/add_axle.png",
-      "addFixedJoint": "assets/textures/add_fixed_joint.png",
+      "addBolt": "assets/textures/add_fixed_joint.png",
       "select": "assets/textures/select.png",
       "addParticle": "assets/textures/add_particle.png"
     },
@@ -85,7 +87,9 @@ export default {
       "borderWidth": null,
       "borderScaleWithZoom": false,
       "circleCake": false,
-      "springImage": "assets/textures/spring.png"
+      "springImage": "assets/textures/spring.png",
+      "axleImage": "assets/textures/add_axle.png",
+      "boltImage": "assets/textures/add_fixed_joint.png"
     },
     "toolIcons": {
       "drag": null,
@@ -95,7 +99,7 @@ export default {
       "addPolygon": "assets/textures/add_polygon.png",
       "addSpring": "assets/textures/add_spring.png",
       "addAxle": "assets/textures/add_axle.png",
-      "addFixedJoint": "assets/textures/add_fixed_joint.png",
+      "addBolt": "assets/textures/add_fixed_joint.png",
       "select": "assets/textures/select.png",
       "addParticle": "assets/textures/add_particle.png"
     },
@@ -135,7 +139,9 @@ export default {
       "borderWidth": null,
       "borderScaleWithZoom": false,
       "circleCake": false,
-      "springImage": "assets/textures/spring.png"
+      "springImage": "assets/textures/spring.png",
+      "axleImage": "assets/textures/add_axle.png",
+      "boltImage": "assets/textures/add_fixed_joint.png"
     },
     "toolIcons": {
       "drag": null,
@@ -145,7 +151,7 @@ export default {
       "addPolygon": "assets/textures/add_polygon.png",
       "addSpring": "assets/textures/add_spring.png",
       "addAxle": "assets/textures/add_axle.png",
-      "addFixedJoint": "assets/textures/add_fixed_joint.png",
+      "addBolt": "assets/textures/add_fixed_joint.png",
       "select": "assets/textures/select.png",
       "addParticle": "assets/textures/add_particle.png"
     },
@@ -185,7 +191,9 @@ export default {
       "borderWidth": 1,
       "borderScaleWithZoom": true,
       "circleCake": true,
-      "springImage": "assets/textures/spring.png"
+      "springImage": "assets/textures/spring.png",
+      "axleImage": "assets/textures/tools/axle.png",
+      "boltImage": "assets/textures/tools/bolt.png"
     },
     "toolIcons": {
       "drag": "assets/textures/tools/drag.png",
@@ -195,7 +203,7 @@ export default {
       "addPolygon": "assets/textures/tools/polygon.png",
       "addSpring": "assets/textures/tools/spring.png",
       "addAxle": "assets/textures/tools/hinge.png",
-      "addFixedJoint": "assets/textures/tools/fixjoint.png",
+      "addBolt": "assets/textures/tools/fixjoint.png",
       "select": "assets/textures/tools/move.png",
       "addParticle": "assets/textures/add_particle.png"
     },