diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..2ebd842
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,4 @@
+bin/
+target/
+lib/
+logs/
diff --git a/addons/3d_batcher/batched_mesh_instance.gdns b/addons/3d_batcher/batched_mesh_instance.gdns
new file mode 100644
index 0000000..b67260a
--- /dev/null
+++ b/addons/3d_batcher/batched_mesh_instance.gdns
@@ -0,0 +1,8 @@
+[gd_resource type="NativeScript" load_steps=2 format=2]
+
+[ext_resource path="res://addons/3d_batcher/gd_3d_batcher.gdnlib" type="GDNativeLibrary" id=1]
+
+[resource]
+class_name = "BatchedMeshInstance"
+library = ExtResource( 1 )
+script_class_name = "BatchedMeshInstance"
diff --git a/addons/3d_batcher/batched_mesh_manager.gdns b/addons/3d_batcher/batched_mesh_manager.gdns
new file mode 100644
index 0000000..e152769
--- /dev/null
+++ b/addons/3d_batcher/batched_mesh_manager.gdns
@@ -0,0 +1,9 @@
+[gd_resource type="NativeScript" load_steps=2 format=2]
+
+[ext_resource path="res://addons/3d_batcher/gd_3d_batcher.gdnlib" type="GDNativeLibrary" id=1]
+
+[resource]
+resource_name = "BatchedMeshManager"
+class_name = "BatchedMeshManager"
+library = ExtResource( 1 )
+script_class_name = "BatchedMeshManager"
diff --git a/addons/3d_batcher/gd_3d_batcher.gdnlib b/addons/3d_batcher/gd_3d_batcher.gdnlib
new file mode 100644
index 0000000..41740ab
--- /dev/null
+++ b/addons/3d_batcher/gd_3d_batcher.gdnlib
@@ -0,0 +1,23 @@
+[resource]
+
+entry/X11.64="res://addons/3d_batcher/lib/libgd_3d_batcher.so"
+dependency/X11.64=[  ]
+
+[general]
+
+singleton=false
+load_once=true
+symbol_prefix="godot_"
+reloadable=true
+
+[entry]
+
+OSX.64="res://addons/3d_batcher/lib/libgd_3d_batcher.dylib"
+Windows.64="res://addons/3d_batcher/lib/gd_3d_batcher.dll"
+X11.64="res://addons/3d_batcher/lib/libgd_3d_batcher.so"
+
+[dependencies]
+
+OSX.64=[  ]
+Windows.64=[  ]
+X11.64=[  ]
diff --git a/addons/3d_batcher/lib/gd_3d_batcher.dll b/addons/3d_batcher/lib/gd_3d_batcher.dll
new file mode 100755
index 0000000..18e31a0
Binary files /dev/null and b/addons/3d_batcher/lib/gd_3d_batcher.dll differ
diff --git a/addons/3d_batcher/lib/libgd_3d_batcher.dylib b/addons/3d_batcher/lib/libgd_3d_batcher.dylib
new file mode 100755
index 0000000..d6f58bb
Binary files /dev/null and b/addons/3d_batcher/lib/libgd_3d_batcher.dylib differ
diff --git a/addons/3d_batcher/lib/libgd_3d_batcher.so b/addons/3d_batcher/lib/libgd_3d_batcher.so
new file mode 100755
index 0000000..afce937
Binary files /dev/null and b/addons/3d_batcher/lib/libgd_3d_batcher.so differ
diff --git a/addons/3d_batcher/plugin.cfg b/addons/3d_batcher/plugin.cfg
new file mode 100644
index 0000000..5848edf
--- /dev/null
+++ b/addons/3d_batcher/plugin.cfg
@@ -0,0 +1,7 @@
+[plugin]
+
+name="3D Batcher"
+description="Automatically batch nodes with the same mesh and material."
+author="David Hoppenbrouwers"
+version="0.1"
+script="plugin.gd"
diff --git a/addons/3d_batcher/plugin.gd b/addons/3d_batcher/plugin.gd
new file mode 100644
index 0000000..e71e85b
--- /dev/null
+++ b/addons/3d_batcher/plugin.gd
@@ -0,0 +1,17 @@
+tool
+extends EditorPlugin
+
+
+const AUTOLOAD_SCRIPT := "batched_mesh_manager.gdns"
+
+var autoload = null
+
+
+func _enter_tree() -> void:
+	autoload = preload(AUTOLOAD_SCRIPT).new()
+	add_child(autoload)
+
+
+func _exit_tree() -> void:
+	autoload.queue_free()
+	autoload = null
diff --git a/addons/rapier3d/box.gdns b/addons/rapier3d/box.gdns
new file mode 100644
index 0000000..246e9c3
--- /dev/null
+++ b/addons/rapier3d/box.gdns
@@ -0,0 +1,8 @@
+[gd_resource type="NativeScript" load_steps=2 format=2]
+
+[ext_resource path="res://addons/rapier3d/rapier3d.gdnlib" type="GDNativeLibrary" id=1]
+
+[resource]
+class_name = "Box"
+library = ExtResource( 1 )
+script_class_name = "Rapier3D_Box"
diff --git a/addons/rapier3d/rapier3d.gdnlib b/addons/rapier3d/rapier3d.gdnlib
new file mode 100644
index 0000000..a3bcdb5
--- /dev/null
+++ b/addons/rapier3d/rapier3d.gdnlib
@@ -0,0 +1,14 @@
+[general]
+
+singleton=false
+load_once=true
+symbol_prefix="gd_rapier3d_"
+reloadable=true
+
+[entry]
+
+X11.64="res://addons/rapier3d/lib/libgodot_rapier3d.so"
+
+[dependencies]
+
+X11.64=[  ]
diff --git a/addons/rapier3d/rapier3d.gdns b/addons/rapier3d/rapier3d.gdns
new file mode 100644
index 0000000..32f743c
--- /dev/null
+++ b/addons/rapier3d/rapier3d.gdns
@@ -0,0 +1,8 @@
+[gd_resource type="NativeScript" load_steps=2 format=2]
+
+[ext_resource path="res://addons/rapier3d/rapier3d.gdnlib" type="GDNativeLibrary" id=1]
+
+[resource]
+class_name = "Rapier3D"
+library = ExtResource( 1 )
+script_class_name = "Rapier3D"
diff --git a/addons/rapier3d/rigid_body.gdns b/addons/rapier3d/rigid_body.gdns
new file mode 100644
index 0000000..df9b1e0
--- /dev/null
+++ b/addons/rapier3d/rigid_body.gdns
@@ -0,0 +1,8 @@
+[gd_resource type="NativeScript" load_steps=2 format=2]
+
+[ext_resource path="res://addons/rapier3d/rapier3d.gdnlib" type="GDNativeLibrary" id=1]
+
+[resource]
+class_name = "RigidBody"
+library = ExtResource( 1 )
+script_class_name = "Rapier3D_RigidBody"
diff --git a/addons/rapier3d/rustfmt.toml b/addons/rapier3d/rustfmt.toml
new file mode 100644
index 0000000..218e203
--- /dev/null
+++ b/addons/rapier3d/rustfmt.toml
@@ -0,0 +1 @@
+hard_tabs = true
diff --git a/addons/rapier3d/static_body.gdns b/addons/rapier3d/static_body.gdns
new file mode 100644
index 0000000..1dfdd5b
--- /dev/null
+++ b/addons/rapier3d/static_body.gdns
@@ -0,0 +1,9 @@
+[gd_resource type="NativeScript" load_steps=2 format=2]
+
+[ext_resource path="res://addons/rapier3d/rapier3d.gdnlib" type="GDNativeLibrary" id=1]
+
+[resource]
+resource_name = "StaticBody"
+class_name = "StaticBody"
+library = ExtResource( 1 )
+script_class_name = "Rapier3D_StaticBody"
diff --git a/box_godot.tscn b/box_godot.tscn
new file mode 100644
index 0000000..e2c2be0
--- /dev/null
+++ b/box_godot.tscn
@@ -0,0 +1,25 @@
+[gd_scene load_steps=5 format=2]
+
+[ext_resource path="res://addons/3d_batcher/batched_mesh_instance.gdns" type="Script" id=3]
+
+[sub_resource type="BoxShape" id=1]
+extents = Vector3( 0.5, 0.5, 0.5 )
+
+[sub_resource type="SpatialMaterial" id=2]
+vertex_color_use_as_albedo = true
+
+[sub_resource type="CubeMesh" id=3]
+material = SubResource( 2 )
+size = Vector3( 1, 1, 1 )
+
+[node name="Box" type="RigidBody"]
+input_ray_pickable = false
+
+[node name="Shape" type="CollisionShape" parent="."]
+shape = SubResource( 1 )
+
+[node name="Mesh" type="Spatial" parent="."]
+script = ExtResource( 3 )
+mesh = SubResource( 3 )
+use_color = true
+color = Color( 1, 1, 1, 1 )
diff --git a/box_rapier3d.tscn b/box_rapier3d.tscn
new file mode 100644
index 0000000..2c30658
--- /dev/null
+++ b/box_rapier3d.tscn
@@ -0,0 +1,28 @@
+[gd_scene load_steps=6 format=2]
+
+[ext_resource path="res://addons/rapier3d/box.gdns" type="Script" id=1]
+[ext_resource path="res://addons/rapier3d/rigid_body.gdns" type="Script" id=2]
+[ext_resource path="res://addons/3d_batcher/batched_mesh_instance.gdns" type="Script" id=3]
+
+[sub_resource type="SpatialMaterial" id=2]
+vertex_color_use_as_albedo = true
+
+[sub_resource type="CubeMesh" id=1]
+material = SubResource( 2 )
+size = Vector3( 1, 1, 1 )
+
+[node name="Box" type="Spatial"]
+script = ExtResource( 2 )
+__meta__ = {
+"_edit_group_": true
+}
+
+[node name="Shape" type="Spatial" parent="."]
+script = ExtResource( 1 )
+extents = Vector3( 0.5, 0.5, 0.5 )
+
+[node name="Mesh" type="Spatial" parent="."]
+script = ExtResource( 3 )
+mesh = SubResource( 1 )
+use_color = true
+color = Color( 1, 1, 1, 1 )
diff --git a/boxes.gd b/boxes.gd
new file mode 100644
index 0000000..ab65442
--- /dev/null
+++ b/boxes.gd
@@ -0,0 +1,24 @@
+extends Node
+
+
+export var x := 10
+export var y := 10
+export var z := 10
+export var origin := Vector3.ONE
+export var offset := Vector3.ONE
+export var box_rapier3d: PackedScene
+export var box_godot: PackedScene
+export var use_rapier3d := true
+export var colors := PoolColorArray([Color.white, Color.red, Color.green, Color.blue, Color.yellow, Color.magenta])
+
+
+func _ready():
+	var i := 0
+	for a in x:
+		for b in y:
+			for c in z:
+				var n: Spatial = (box_rapier3d if use_rapier3d else box_godot).instance()
+				n.get_node("Mesh").color = colors[i % len(colors)]
+				i += 1
+				n.translation = Vector3(a, b, c) * offset + origin
+				add_child(n)
diff --git a/boxes.tscn b/boxes.tscn
new file mode 100644
index 0000000..8ff0dd7
--- /dev/null
+++ b/boxes.tscn
@@ -0,0 +1,68 @@
+[gd_scene load_steps=10 format=2]
+
+[ext_resource path="res://addons/rapier3d/rapier3d.gdns" type="Script" id=1]
+[ext_resource path="res://addons/rapier3d/static_body.gdns" type="Script" id=2]
+[ext_resource path="res://addons/rapier3d/box.gdns" type="Script" id=3]
+[ext_resource path="res://box_rapier3d.tscn" type="PackedScene" id=4]
+[ext_resource path="res://boxes.gd" type="Script" id=5]
+[ext_resource path="res://box_godot.tscn" type="PackedScene" id=6]
+[ext_resource path="res://stats.gd" type="Script" id=7]
+
+[sub_resource type="CubeMesh" id=1]
+size = Vector3( 100, 1, 100 )
+
+[sub_resource type="BoxShape" id=2]
+extents = Vector3( 50, 0.5, 50 )
+
+[node name="Node" type="Node"]
+script = ExtResource( 5 )
+x = 16
+y = 16
+z = 16
+box_rapier3d = ExtResource( 4 )
+box_godot = ExtResource( 6 )
+
+[node name="Floor Rapier3D" type="Spatial" parent="."]
+script = ExtResource( 2 )
+__meta__ = {
+"_edit_group_": true
+}
+
+[node name="Shape" type="Spatial" parent="Floor Rapier3D"]
+script = ExtResource( 3 )
+extents = Vector3( 50, 0.5, 50 )
+
+[node name="MeshInstance" type="MeshInstance" parent="Floor Rapier3D"]
+mesh = SubResource( 1 )
+material/0 = null
+
+[node name="Floor Godot" type="StaticBody" parent="."]
+
+[node name="Shape" type="CollisionShape" parent="Floor Godot"]
+shape = SubResource( 2 )
+
+[node name="Rapier" type="Node" parent="."]
+script = ExtResource( 1 )
+
+[node name="Camera" type="Camera" parent="."]
+transform = Transform( 0, -0.5, 0.866025, 0, 0.866025, 0.5, -1, 0, 0, 41, 25, 3 )
+
+[node name="DirectionalLight" type="DirectionalLight" parent="."]
+transform = Transform( -0.965926, -0.12941, 0.224144, 0, 0.866025, 0.5, -0.258819, 0.482963, -0.836516, 0, 7, -13 )
+shadow_enabled = true
+
+[node name="Stats" type="Panel" parent="."]
+margin_right = 186.0
+margin_bottom = 94.0
+__meta__ = {
+"_edit_use_anchors_": false
+}
+
+[node name="Stats" type="Label" parent="Stats"]
+process_priority = 10
+margin_right = 120.0
+margin_bottom = 35.0
+script = ExtResource( 7 )
+__meta__ = {
+"_edit_use_anchors_": false
+}
diff --git a/default_env.tres b/default_env.tres
new file mode 100644
index 0000000..54a466d
--- /dev/null
+++ b/default_env.tres
@@ -0,0 +1,8 @@
+[gd_resource type="Environment" load_steps=2 format=2]
+
+[sub_resource type="ProceduralSky" id=1]
+
+[resource]
+background_mode = 2
+background_sky = SubResource( 1 )
+ambient_light_energy = 0.3
diff --git a/export_presets.cfg b/export_presets.cfg
new file mode 100644
index 0000000..4bb9a7a
--- /dev/null
+++ b/export_presets.cfg
@@ -0,0 +1,25 @@
+[preset.0]
+
+name="Linux/X11"
+platform="Linux/X11"
+runnable=true
+custom_features=""
+export_filter="all_resources"
+include_filter=""
+exclude_filter=""
+export_path="bin/rapier_test.x86_64"
+patch_list=PoolStringArray(  )
+script_export_mode=1
+script_encryption_key=""
+
+[preset.0.options]
+
+texture_format/bptc=false
+texture_format/s3tc=true
+texture_format/etc=false
+texture_format/etc2=false
+texture_format/no_bptc_fallbacks=true
+binary_format/64_bits=true
+binary_format/embed_pck=false
+custom_template/release=""
+custom_template/debug=""
diff --git a/native/.gdignore b/native/.gdignore
new file mode 100644
index 0000000..e69de29
diff --git a/native/Cargo.lock b/native/Cargo.lock
new file mode 100644
index 0000000..74887a2
--- /dev/null
+++ b/native/Cargo.lock
@@ -0,0 +1,1058 @@
+# This file is automatically @generated by Cargo.
+# It is not intended for manual editing.
+[[package]]
+name = "ahash"
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+dependencies = [
+ "getrandom",
+ "once_cell",
+ "version_check",
+]
+
+[[package]]
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+checksum = "3f2a05fd1bd10b2527e20a2cd32d8873d115b8b39fe219ee25f42a8aca6ba278"
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+ "num-traits",
+]
+
+[[package]]
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+
+[[package]]
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+
+[[package]]
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+
+[[package]]
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+dependencies = [
+ "bitflags",
+ "cexpr",
+ "clang-sys",
+ "lazy_static",
+ "lazycell",
+ "peeking_take_while",
+ "proc-macro2",
+ "quote",
+ "regex",
+ "rustc-hash",
+ "shlex",
+]
+
+[[package]]
+name = "bit-vec"
+version = "0.6.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "349f9b6a179ed607305526ca489b34ad0a41aed5f7980fa90eb03160b69598fb"
+
+[[package]]
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+
+[[package]]
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+
+[[package]]
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+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f4aedb84272dbe89af497cf81375129abda4fc0a9e7c5d317498c15cc30c0d27"
+dependencies = [
+ "nom",
+]
+
+[[package]]
+name = "cfg-if"
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+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "4785bdd1c96b2a846b2bd7cc02e86b6b3dbf14e7e53446c4f54c92a361040822"
+
+[[package]]
+name = "cfg-if"
+version = "1.0.0"
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+
+[[package]]
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+ "glob",
+ "libc",
+ "libloading",
+]
+
+[[package]]
+name = "const_fn"
+version = "0.4.5"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "28b9d6de7f49e22cf97ad17fc4036ece69300032f45f78f30b4a4482cdc3f4a6"
+
+[[package]]
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+checksum = "fd01a6eb3daaafa260f6fc94c3a6c36390abc2080e38e3e34ced87393fb77d80"
+dependencies = [
+ "cfg-if 1.0.0",
+ "crossbeam-channel",
+ "crossbeam-deque",
+ "crossbeam-epoch",
+ "crossbeam-queue",
+ "crossbeam-utils",
+]
+
+[[package]]
+name = "crossbeam-channel"
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+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "dca26ee1f8d361640700bde38b2c37d8c22b3ce2d360e1fc1c74ea4b0aa7d775"
+dependencies = [
+ "cfg-if 1.0.0",
+ "crossbeam-utils",
+]
+
+[[package]]
+name = "crossbeam-deque"
+version = "0.8.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "94af6efb46fef72616855b036a624cf27ba656ffc9be1b9a3c931cfc7749a9a9"
+dependencies = [
+ "cfg-if 1.0.0",
+ "crossbeam-epoch",
+ "crossbeam-utils",
+]
+
+[[package]]
+name = "crossbeam-epoch"
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+dependencies = [
+ "cfg-if 1.0.0",
+ "crossbeam-utils",
+ "lazy_static",
+ "memoffset",
+ "scopeguard",
+]
+
+[[package]]
+name = "crossbeam-queue"
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+dependencies = [
+ "cfg-if 1.0.0",
+ "crossbeam-utils",
+]
+
+[[package]]
+name = "crossbeam-utils"
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+dependencies = [
+ "autocfg",
+ "cfg-if 1.0.0",
+ "lazy_static",
+]
+
+[[package]]
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+
+[[package]]
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+checksum = "5132a955559188f3d13c9ba831e77c802ddc8782783f050ed0c52f5988b95f4c"
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+ "approx",
+ "num-complex",
+ "num-traits",
+ "packed_simd_2",
+ "paste",
+]
+
+[[package]]
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+[[package]]
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+ "rustc_version",
+ "stdweb-derive",
+ "stdweb-internal-macros",
+ "stdweb-internal-runtime",
+ "wasm-bindgen",
+]
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+[[package]]
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+ "serde",
+ "serde_derive",
+ "syn",
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+
+[[package]]
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+ "quote",
+ "serde",
+ "serde_derive",
+ "serde_json",
+ "sha1",
+ "syn",
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+ "unicode-xid",
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+ "libc",
+ "standback",
+ "stdweb",
+ "time-macros",
+ "version_check",
+ "winapi",
+]
+
+[[package]]
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+ "time-macros-impl",
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+[[package]]
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+ "proc-macro-hack",
+ "proc-macro2",
+ "quote",
+ "standback",
+ "syn",
+]
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+[[package]]
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+checksum = "8fe8f61dba8e5d645a4d8132dc7a0a66861ed5e1045d2c0ed940fab33bac0fbe"
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+ "cfg-if 1.0.0",
+ "wasm-bindgen-macro",
+]
+
+[[package]]
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+version = "0.2.72"
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+checksum = "046ceba58ff062da072c7cb4ba5b22a37f00a302483f7e2a6cdc18fedbdc1fd3"
+dependencies = [
+ "bumpalo",
+ "lazy_static",
+ "log",
+ "proc-macro2",
+ "quote",
+ "syn",
+ "wasm-bindgen-shared",
+]
+
+[[package]]
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+ "quote",
+ "wasm-bindgen-macro-support",
+]
+
+[[package]]
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+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn",
+ "wasm-bindgen-backend",
+ "wasm-bindgen-shared",
+]
+
+[[package]]
+name = "wasm-bindgen-shared"
+version = "0.2.72"
+source = "registry+https://github.com/rust-lang/crates.io-index"
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+dependencies = [
+ "winapi-i686-pc-windows-gnu",
+ "winapi-x86_64-pc-windows-gnu",
+]
+
+[[package]]
+name = "winapi-i686-pc-windows-gnu"
+version = "0.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
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+
+[[package]]
+name = "winapi-x86_64-pc-windows-gnu"
+version = "0.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "712e227841d057c1ee1cd2fb22fa7e5a5461ae8e48fa2ca79ec42cfc1931183f"
+
+[[package]]
+name = "xmlparser"
+version = "0.13.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
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diff --git a/native/Cargo.toml b/native/Cargo.toml
new file mode 100644
index 0000000..2eac5fb
--- /dev/null
+++ b/native/Cargo.toml
@@ -0,0 +1,15 @@
+[package]
+name = "native"
+version = "0.1.0"
+authors = ["David Hoppenbrouwers <david@salt-inc.org>"]
+edition = "2018"
+
+# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
+[lib]
+name = "godot_rapier3d"
+crate-type = ["cdylib"]
+
+[dependencies]
+rapier3d = { version = "*", features = ["simd-nightly"] }
+gdnative = "*"
+lazy_static = "*"
diff --git a/native/Makefile b/native/Makefile
new file mode 100644
index 0000000..e334217
--- /dev/null
+++ b/native/Makefile
@@ -0,0 +1,20 @@
+TARGET_LINUX?=x86_64-unknown-linux-gnu
+TARGET_OSX?=x86_64-apple-darwin
+TARGET_WINDOWS?=x86_64-pc-windows-gnu
+OUTPUT_DIR?=../addons/rapier3d/lib
+
+
+default: release
+
+release: linux
+
+linux:
+	cargo build --quiet --target $(TARGET_LINUX) --release
+	cp target/$(TARGET_LINUX)/release/libgodot_rapier3d.so $(OUTPUT_DIR)/libgodot_rapier3d.so
+
+debug:
+	cargo build
+	cp target/debug/libgodot_rapier3d.so $(OUTPUT_DIR)/libgodot_rapier3d.so
+
+clean:
+	cargo clean
diff --git a/native/src/body/kinematic.rs b/native/src/body/kinematic.rs
new file mode 100644
index 0000000..8b13789
--- /dev/null
+++ b/native/src/body/kinematic.rs
@@ -0,0 +1 @@
+
diff --git a/native/src/body/mod.rs b/native/src/body/mod.rs
new file mode 100644
index 0000000..5e90e73
--- /dev/null
+++ b/native/src/body/mod.rs
@@ -0,0 +1,13 @@
+mod kinematic;
+mod rigid;
+mod r#static;
+
+pub use kinematic::*;
+pub use r#static::*;
+pub use rigid::*;
+
+use rapier3d::dynamics::RigidBodyHandle;
+
+pub trait Body {
+    fn handle(&self) -> Option<RigidBodyHandle>;
+}
diff --git a/native/src/body/rigid.rs b/native/src/body/rigid.rs
new file mode 100644
index 0000000..d35ddb3
--- /dev/null
+++ b/native/src/body/rigid.rs
@@ -0,0 +1,50 @@
+use crate::util::*;
+use gdnative::api::World;
+use gdnative::prelude::*;
+use rapier3d::dynamics::{self, RigidBodyBuilder, RigidBodyHandle};
+use rapier3d::na::Isometry3;
+use rapier3d::na::Quaternion;
+use rapier3d::na::UnitQuaternion;
+
+#[derive(NativeClass)]
+#[inherit(Spatial)]
+pub struct RigidBody {
+    body: Option<RigidBodyHandle>,
+}
+
+#[methods]
+impl RigidBody {
+    fn new(_owner: TRef<Spatial>) -> Self {
+        Self { body: None }
+    }
+
+    #[export]
+    fn _enter_tree(&mut self, owner: TRef<Spatial>) {
+        assert!(self.body.is_none(), "Body handle is not None");
+        let world = owner.get_world().expect("Failed to get World");
+		let transform = owner.global_transform();
+		let quat = transform.basis.to_quat();
+		let quat = Quaternion::new(quat.r, quat.i, quat.j, quat.k);
+		let quat = UnitQuaternion::from_quaternion(quat);
+		let origin = vec_gd_to_na(transform.origin);
+		let isometry = Isometry3::from_parts(origin.into(), quat);
+        let body = RigidBodyBuilder::new_dynamic()
+			.position(isometry)
+			.build();
+        self.body = Some(crate::add_rigid_body(world, body));
+    }
+
+	#[export]
+	fn _physics_process(&self, owner: TRef<Spatial>, _delta: f32) {
+		let body = self.body.expect("Body handle is None");
+        let world = owner.get_world().expect("Failed to get World");
+		let transform = crate::get_transform(&world, body).expect("Failed to get transform");
+		owner.set_global_transform(transform);
+	}
+}
+
+impl super::Body for RigidBody {
+    fn handle(&self) -> Option<RigidBodyHandle> {
+        self.body
+    }
+}
diff --git a/native/src/body/static.rs b/native/src/body/static.rs
new file mode 100644
index 0000000..0559326
--- /dev/null
+++ b/native/src/body/static.rs
@@ -0,0 +1,29 @@
+use gdnative::prelude::*;
+use rapier3d::dynamics::{RigidBodyBuilder, RigidBodyHandle};
+
+#[derive(NativeClass)]
+#[inherit(Spatial)]
+pub struct StaticBody {
+    body: Option<RigidBodyHandle>,
+}
+
+#[methods]
+impl StaticBody {
+    fn new(owner: TRef<Spatial>) -> Self {
+        Self { body: None }
+    }
+
+    #[export]
+    fn _enter_tree(&mut self, owner: TRef<Spatial>) {
+        assert!(self.body.is_none(), "Body handle is not None");
+        let world = owner.get_world().expect("Failed to get World");
+        let body = RigidBodyBuilder::new_static().build();
+        self.body = Some(crate::add_rigid_body(world, body));
+    }
+}
+
+impl super::Body for StaticBody {
+    fn handle(&self) -> Option<RigidBodyHandle> {
+        self.body
+    }
+}
diff --git a/native/src/collider/box.rs b/native/src/collider/box.rs
new file mode 100644
index 0000000..256a274
--- /dev/null
+++ b/native/src/collider/box.rs
@@ -0,0 +1,49 @@
+use crate::body::*;
+use crate::util::*;
+use gdnative::api::Spatial;
+use gdnative::prelude::*;
+use rapier3d::geometry::{ColliderHandle, ColliderBuilder};
+
+#[derive(NativeClass)]
+#[inherit(Spatial)]
+pub struct Box {
+    #[property]
+    extents: Vector3,
+    collider: Option<ColliderHandle>,
+}
+
+#[methods]
+impl Box {
+    fn new(_owner: TRef<Spatial>) -> Self {
+        Self {
+            extents: Vector3::new(1.0, 1.0, 1.0),
+            collider: None,
+        }
+    }
+
+    #[export]
+    fn _enter_tree(&mut self, owner: TRef<Spatial>) {
+        assert!(self.collider.is_none(), "Body handle is not None");
+        if let Some(parent) = owner.get_parent() {
+            unsafe {
+                if let Some(parent) = parent.assume_safe().cast::<Spatial>() {
+					let handle = if let Some(parent) = parent.cast_instance::<RigidBody>() {
+						parent.map(|s, _| s.handle())
+					} else if let Some(parent) = parent.cast_instance::<StaticBody>() {
+						parent.map(|s, _| s.handle())
+					} else {
+						godot_warn!("Parent is not a Body");
+						return;
+					}.unwrap().expect("Parent has no handle");
+					let world = parent.get_world().expect("World is None");
+					let collider = ColliderBuilder::cuboid(self.extents.x, self.extents.y, self.extents.z).build();
+					self.collider = Some(crate::add_collider(&world, handle, collider).expect("Failed to add collider"));
+				} else {
+					godot_warn!("Parent is not a Spatial");
+				}
+            }
+        } else {
+            godot_warn!("Colliders need to be attached to a Body")
+        }
+    }
+}
diff --git a/native/src/collider/mod.rs b/native/src/collider/mod.rs
new file mode 100644
index 0000000..6b4a755
--- /dev/null
+++ b/native/src/collider/mod.rs
@@ -0,0 +1,3 @@
+mod r#box;
+
+pub use r#box::*;
diff --git a/native/src/lib.rs b/native/src/lib.rs
new file mode 100644
index 0000000..c94f9be
--- /dev/null
+++ b/native/src/lib.rs
@@ -0,0 +1,145 @@
+#![allow(dead_code)]
+#![allow(unused_imports)]
+
+mod body;
+mod collider;
+mod util;
+
+use gdnative::api::World;
+use gdnative::prelude::*;
+use lazy_static::lazy_static;
+use rapier3d::dynamics::{IntegrationParameters, JointSet, RigidBodySet, RigidBody, RigidBodyHandle};
+use rapier3d::geometry::{BroadPhase, Collider, ColliderHandle, ColliderSet, NarrowPhase};
+use rapier3d::pipeline::PhysicsPipeline;
+use std::collections::HashMap;
+use std::sync::RwLock;
+
+use util::*;
+
+lazy_static! {
+    static ref WORLDS: RwLock<HashMap<Ref<World>, World3D>> = RwLock::new(HashMap::new());
+}
+
+struct World3D {
+    pipeline: PhysicsPipeline,
+    gravity: Vector3,
+    integration_parameters: IntegrationParameters,
+    broad_phase: BroadPhase,
+    narrow_phase: NarrowPhase,
+    bodies: RigidBodySet,
+    colliders: ColliderSet,
+    joints: JointSet,
+    physics_hooks: (),
+    event_handler: (),
+}
+
+#[derive(NativeClass)]
+#[inherit(Node)]
+struct Rapier3D;
+
+#[methods]
+impl Rapier3D {
+    fn new(_owner: TRef<Node>) -> Self {
+        Self
+    }
+
+    #[export]
+    fn _physics_process(&mut self, owner: TRef<Node>, delta: f32) {
+        self.step(owner, delta);
+    }
+
+    #[export]
+    fn step(&mut self, _owner: TRef<Node>, delta: f32) {
+        let mut worlds = WORLDS.write().expect("Failed to write to WORLDS");
+        for world in worlds.values_mut() {
+            world.pipeline.step(
+                &vec_gd_to_na(world.gravity),
+                &world.integration_parameters,
+                &mut world.broad_phase,
+                &mut world.narrow_phase,
+                &mut world.bodies,
+                &mut world.colliders,
+                &mut world.joints,
+                &world.physics_hooks,
+                &world.event_handler,
+            );
+        }
+    }
+}
+
+macro_rules! get_worlds_mut {
+    () => {
+        WORLDS.write().expect("Failed to write WORLDS")
+    };
+}
+
+macro_rules! get_worlds {
+    () => {
+        WORLDS.read().expect("Failed to read WORLDS")
+    };
+}
+
+fn add_rigid_body(world: Ref<World>, body: RigidBody) -> RigidBodyHandle {
+    get_worlds_mut!()
+        .entry(world)
+        .or_insert_with(create_world)
+        .bodies
+        .insert(body)
+}
+
+fn add_collider(
+    world: &Ref<World>,
+    body: RigidBodyHandle,
+    collider: Collider,
+) -> Result<ColliderHandle, ()> {
+	let mut worlds = get_worlds_mut!();
+    let world = worlds.get_mut(world).ok_or(())?;
+    Ok(world.colliders.insert(collider, body, &mut world.bodies))
+}
+
+fn create_world() -> World3D {
+    World3D {
+        pipeline: PhysicsPipeline::new(),
+        gravity: Vector3::new(0.0, -9.81, 0.0),
+        integration_parameters: IntegrationParameters::default(),
+        broad_phase: BroadPhase::new(),
+        narrow_phase: NarrowPhase::new(),
+        bodies: RigidBodySet::new(),
+        colliders: ColliderSet::new(),
+        joints: JointSet::new(),
+        // We ignore physics hooks and contact events for now.
+        physics_hooks: (),
+        event_handler: (),
+    }
+}
+
+fn get_transform(world: &Ref<World>, handle: RigidBodyHandle) -> Result<Transform, ()> {
+	let worlds = get_worlds!();
+	let world = worlds.get(world).ok_or(())?;
+	let isometry = world.bodies.get(handle).map(|b| b.position()).ok_or(())?;
+	let rotation: rapier3d::na::Rotation3<_> = isometry.rotation.into();
+	let mat = rotation.matrix();
+	let basis = Basis {
+		elements: [
+			Vector3::new(mat.m11, mat.m12, mat.m13),
+			Vector3::new(mat.m21, mat.m22, mat.m23),
+			Vector3::new(mat.m31, mat.m32, mat.m33),
+		]
+	};
+	let transform = Transform {
+		basis,
+		origin: vec_na_to_gd(isometry.translation.vector),
+	};
+	Ok(transform)
+}
+
+fn init(handle: InitHandle) {
+    handle.add_class::<Rapier3D>();
+    handle.add_class::<body::RigidBody>();
+    handle.add_class::<body::StaticBody>();
+	handle.add_class::<collider::Box>();
+}
+
+godot_gdnative_init!(_ as gd_rapier3d_gdnative_init);
+godot_nativescript_init!(init as gd_rapier3d_nativescript_init);
+godot_gdnative_terminate!(_ as gd_rapier3d_gdnative_terminate);
diff --git a/native/src/util.rs b/native/src/util.rs
new file mode 100644
index 0000000..63e3dd9
--- /dev/null
+++ b/native/src/util.rs
@@ -0,0 +1,10 @@
+use gdnative::prelude::Vector3;
+use rapier3d::na;
+
+pub fn vec_gd_to_na(from: Vector3) -> na::Vector3<f32> {
+    na::Vector3::new(from.x, from.y, from.z)
+}
+
+pub fn vec_na_to_gd(from: na::Vector3<f32>) -> Vector3 {
+    Vector3::new(from.x, from.y, from.z)
+}
diff --git a/project.godot b/project.godot
new file mode 100644
index 0000000..6256769
--- /dev/null
+++ b/project.godot
@@ -0,0 +1,67 @@
+; Engine configuration file.
+; It's best edited using the editor UI and not directly,
+; since the parameters that go here are not all obvious.
+;
+; Format:
+;   [section] ; section goes between []
+;   param=value ; assign values to parameters
+
+config_version=4
+
+_global_script_classes=[ {
+"base": "Spatial",
+"class": "BatchedMeshInstance",
+"language": "NativeScript",
+"path": "res://addons/3d_batcher/batched_mesh_instance.gdns"
+}, {
+"base": "Node",
+"class": "BatchedMeshManager",
+"language": "NativeScript",
+"path": "res://addons/3d_batcher/batched_mesh_manager.gdns"
+}, {
+"base": "Node",
+"class": "Rapier3D",
+"language": "NativeScript",
+"path": "res://addons/rapier3d/rapier3d.gdns"
+}, {
+"base": "Spatial",
+"class": "Rapier3D_Box",
+"language": "NativeScript",
+"path": "res://addons/rapier3d/box.gdns"
+}, {
+"base": "Spatial",
+"class": "Rapier3D_RigidBody",
+"language": "NativeScript",
+"path": "res://addons/rapier3d/rigid_body.gdns"
+}, {
+"base": "Spatial",
+"class": "Rapier3D_StaticBody",
+"language": "NativeScript",
+"path": "res://addons/rapier3d/static_body.gdns"
+} ]
+_global_script_class_icons={
+"BatchedMeshInstance": "",
+"BatchedMeshManager": "",
+"Rapier3D": "",
+"Rapier3D_Box": "",
+"Rapier3D_RigidBody": "",
+"Rapier3D_StaticBody": ""
+}
+
+[application]
+
+config/name="Rapier3D"
+config/description="Rapier3D physics for Godot"
+run/main_scene="res://boxes.tscn"
+
+[autoload]
+
+BatchedMeshManager="*res://addons/3d_batcher/batched_mesh_manager.gdns"
+
+[editor_plugins]
+
+enabled=PoolStringArray( "3d_batcher" )
+
+[rendering]
+
+environment/default_environment="res://default_env.tres"
diff --git a/stats.gd b/stats.gd
new file mode 100644
index 0000000..87e5713
--- /dev/null
+++ b/stats.gd
@@ -0,0 +1,32 @@
+extends Label
+
+
+var file := File.new()
+var sample_time := OS.get_ticks_msec()
+
+
+func _enter_tree():
+	var date := OS.get_datetime()
+	var eng := "rapier3d" if $"../../".use_rapier3d else "godot3d"
+	var name := "%s_%d-%d-%d_%d-%d-%d" % [eng, date.year, date.month, date.day, date.hour, date.minute, date.second]
+	var e := file.open("user://%s.txt" % name, File.WRITE)
+	assert(e == OK, "Failed to open stats file: %d" % e)
+
+
+func _exit_tree():
+	file.close()
+
+
+func _physics_process(_delta: float) -> void:
+	var draw_calls = get_tree() \
+		.root \
+		.get_render_info(Viewport.RENDER_INFO_DRAW_CALLS_IN_FRAME)
+	var time := OS.get_ticks_msec()
+	var delta := time - sample_time
+	sample_time = time
+	text = ""
+	text += "\nFPS: %f" % (delta / 1000.0)
+	text += "\nTime per frame: %f" % (1000.0 / delta)
+	text += "\nFrame: %d" % Engine.get_physics_frames()
+	text += "\nDraw calls: %d" % draw_calls
+	file.store_line(str(delta))