refactor: split ecs systems into multiple files

12 files changed, 693 insertions, 885 deletions

diff --git a/honey/ecs-systems.lua b/honey/ecs-systems.lua
deleted file mode 100644
index 1213763..0000000
--- a/honey/ecs-systems.lua
+++ /dev/null
@@ -1,375 +0,0 @@
-local ecs = require 'honey.ecs'
-local glm = require 'honey.glm'
-local Mat4 = glm.Mat4
-local Vec3 = glm.Vec3
-local Quaternion = glm.Quaternion
-local gl = honey.gl
-local glfw = honey.glfw
-local ode = honey.ode
-
-
-local module = {}
-setmetatable(module, {__index=_G})
-setfenv(1, module)
-
-
--- helper function for retrieving script functions 
-local function getFunction(script)
-	local f = require(script.script)
-	if script.func then
-		return f[script.func]
-	else
-		return f
-	end
-end
-
-
---===== dispatch messages to handlers =====--
-
-dispatch = function(entities, msg, data)
-	local query = entities:queryComponent(msg)
-	for id, handler in pairs(query) do
-		local f = getFunction(handler)
-		f(entities, id, data)
-	end
-end
-
-
-
---===== transform cascading =====--
-
-node = function(params)
-	return {
-		db = params.db,
-		
-		priority = 2,
-		update = function(self, dt)
-			local nodes = self.db:queryComponent("node")
-	
-			-- prepare nodes
-			for id, node in pairs(nodes) do
-				node._visited = false
-			end
-	
-			-- helper function
-			local function recursiveTransform(node)
-				if node._visited then
-					return node._matrix
-				end
-	
-				if not node.parent then
-					node._matrix = node.matrix
-				else
-					local parentTransform = self.db:getComponent(node.parent, "node")
-					local parentMatrix = recursiveTransform(parentTransform)
-					node._matrix = parentMatrix * node.matrix
-				end
-				node._visited = true
-				return node._matrix
-			end
-	
-			-- compute nodes
-			for id, node in pairs(nodes) do
-				recursiveTransform(node)
-			end
-		end,
-	}
-end
-
-
-
---===== rendering =====--
-
-function draw(model, view, projection, textures, shader, mesh)
-	shader:use()
-
-	-- bind textures
-	local texOffset = 0
-	for name, texTbl in pairs(textures or {}) do
-		local texture = honey.image.loadImage(texTbl.filename, texTbl.params)
-		gl.BindTexture(gl.TEXTURE_2D + texOffset, texture.texture)
-		shader:setInt(name, texOffset)
-		texOffset = texOffset + 1
-	end
-
-	-- configure default uniforms
-	shader:configure{
-		float={
-			time=glfw.GetTime(),
-		},
-		matrix={
-			view=view,
-			projection=projection,
-			model=model,
-		},
-	}
-
-	-- draw mesh
-	mesh:drawElements()
-
-	-- unbind textures
-	for i=0,texOffset-1 do
-		gl.BindTexture(gl.TEXTURE_2D + i, 0)
-	end
-end
-
-function renderCamera(params) 
-	return {
-		db = params.db,
-		priority = params.priority or 99,
-		update = function(self, dt)
-			for id, camera in pairs(self.db:queryComponent("camera")) do
-				local projection = camera.projection
-				local cameraTransform = self.db:getComponent(id, "node")
-				local view = Mat4()
-				if cameraTransform then
-					honey.glm.mat4_inv(cameraTransform._matrix.data, view.data)
-				else
-					view:identity()
-				end
-		
-				local entities = self.db:queryComponent("renderMesh")
-				for entity, tbl in pairs(entities) do
-					-- get model
-					local node = self.db:getComponent(entity, "node")
-					local model = 
-						(node and node._matrix) or 
-						Mat4():identity()
-					-- get shader
-					local shader = honey.shader.loadShader(
-						tbl.shader.vertex, tbl.shader.fragment
-					)
-					-- get mesh
-					local mesh = honey.mesh.loadCached(
-						tbl.mesh.filename, tbl.mesh.index
-					)
-					draw(model, view, projection, tbl.textures, shader, mesh)
-				end
-
-				entities = self.db:queryComponent("renderQuad")
-				local quadmesh = honey.mesh.loadCached("builtin.quad", 1)
-				for entity, tbl in pairs(entities) do
-					-- get model
-					local model = Mat4():identity()
-					-- get shader
-					local shader = honey.shader.loadShader(
-						tbl.shader.vertex, tbl.shader.fragment
-					)
-					draw(model, view, projection, tbl.textures, shader, quadmesh)
-				end
-			end
-		end,
-	}
-end
-
-
-
---===== script system =====--
-
-script = function(params)
-	return {
-		db=params.db,
-		update=function(self, dt)
-			local entities = self.db:queryComponent("script")
-			for id, script in pairs(entities) do
-				local f = getFunction(script)
-				f(self.db, id, dt)
-			end
-		end
-	}
-end
-
-
---===== physics =====--
-
-
-physics = function(params)
-	local interval = params.interval or 0.016
-	local groupSize = params.groupSize or 20
-	local refs = {}
-	return {
-		db=params.db,
-		space=params.space,
-		world=params.world,
-		contactGroup=ode.JointGroupCreate(groupSize),
-		time=interval,
-
-		priority=1,
-		update=function(self, dt)
-			for i, ref in ipairs(refs) do
-				print(i, ref.tbl, ref.physics)
-			end
-			local query = self.db:queryComponent("physics")
-
-			for id, physics in pairs(query) do
-				if not physics._body then
-					print("add physics body for "..id)
-					local body = ode.BodyCreate(self.world)
-					physics._gc = honey.util.gc_canary(function() 
-						print("releasing physics body for " .. id)
-						ode.BodyDestroy(body) 
-						body = nil
-					end)
-
-					local collision = self.db:getComponent(id, "collision")
-					if collision then
-						print(id, collision.class)
-						ode.GeomSetBody(collision._geom, body)
-					end
-
-					local mass = ode.MassCreate()
-					local class = physics.mass.class
-					if not class then
-						-- configure mass manually
-					elseif class == "sphere" then
-						ode.MassSetSphere(
-							mass, 
-							physics.mass.density, 
-							physics.mass.radius
-						)
-					elseif class == "capsule" then
-						ode.MassSetCapsule(
-							mass,
-							physics.mass.density,
-							physics.mass.direction,
-							physics.mass.radius,
-							physics.mass.length
-						)
-					end
-					ode.BodySetMass(body, mass)
-					local m = self.db:getComponent(id, "node").matrix
-					ode.BodySetPosition(
-						body,
-						m[1][4], m[2][4], m[3][4]
-					)
-					ode.BodySetRotation(
-						body,
-						m[1][1], m[1][2], m[1][3],
-						m[2][1], m[2][2], m[2][3],
-						m[3][1], m[3][2], m[3][3]
-					)
-					local vel = physics.velocity or Vec3{0,0,0}
-					ode.BodySetLinearVel(
-						body, vel[1], vel[2], vel[3]
-					)
-					physics.velocity = vel
-
-					local avel = physics.angularVelocity or Vec3{0,0,0}
-					ode.BodySetAngularVel(
-						body, avel[1], avel[2], avel[3]
-					)
-					physics.angularVelocity = avel
-
-					if physics.maxAngularSpeed then
-						ode.BodySetMaxAngularSpeed(body, physics.maxAngularSpeed)
-					end
-
-					physics._body = body
-				end
-			end
-
-			self.time = self.time + dt
-			-- only run the update every [interval] seconds
-			if self.time > interval then
-				self.time = self.time - interval
-
-				-- check for near collisions between geoms
-				ode.SpaceCollide(self.space, function(a, b)
-					-- check for actual collisions
-					local collisions = ode.Collide(a, b, 1)
-					if #collisions > 0 then
-						-- set up the joint params
-						local contact = ode.CreateContact{ surface={
-							mode = ode.ContactBounce + ode.ContactSoftCFM,
-							mu = ode.Infinity,
-							bounce = 0.90,
-							bounce_vel = 0.1,
-							soft_cfm = 0.001,
-						}}
-						ode.ContactSetGeom(contact, collisions[1])
-						-- create the joint
-						local joint = ode.JointCreateContact(
-							self.world,
-							self.contactGroup,
-							contact
-						)
-						-- attach the two bodies
-						local bodyA = ode.GeomGetBody(a)
-						local bodyB = ode.GeomGetBody(b)
-						ode.JointAttach(joint, bodyA, bodyB)
-					end
-				end)
-				-- update the world
-				ode.WorldQuickStep(self.world, interval)
-				-- remove all contact joints
-				ode.JointGroupEmpty(self.contactGroup)
-
-				-- update entity nodes
-				for id, physics in pairs(query) do
-					local x,y,z = ode.BodyGetPosition(physics._body)
-					local d,a,b,c = ode.BodyGetQuaternion(physics._body)
-					local node = self.db:getComponent(id, "node")
-					local q = Quaternion{a,b,c,d}
-					node.matrix
-						:identity()
-						:translate(Vec3{x,y,z})
-						:mul(Quaternion{a,b,c,d}:toMat4())
-
-					local vel = physics.velocity
-					vel[1], vel[2], vel[3] = ode.BodyGetLinearVel(physics._body)
-					local avel = physics.angularVelocity
-					avel[1], avel[2], avel[3] = ode.BodyGetAngularVel(physics._body)
-				end
-			end
-		end,
-	}
-end
-
-
---===== collision space =====--
-
-
-local function createGeom(self, id, collision)
-	local geom
-	if collision.class == "sphere" then
-		geom = ode.CreateSphere(self.space, collision.radius)
-	elseif collision.class == "capsule" then
-		geom = ode.CreateCapsule(self.space, collision.radius, collision.length)
-	elseif collision.class == "plane" then
-		local node = self.db:getComponent(id, "node")
-		local m = node.matrix
-		local normal = node.matrix:mulv3(Vec3{0,1,0}):normalize()
-		local position = Vec3{m[1][4], m[2][4], m[3][4]}
-		print(position)
-		local d = normal:dot(position)
-		print(normal, d)
-		geom = ode.CreatePlane(self.space, normal[1], normal[2], normal[3], d)
-	end
-	collision._geom = geom
-	collision._gc = honey.util.gc_canary(function()
-		print("release geom for id"..id)
-		ode.GeomDestroy(geom)
-	end)
-end
-
-function collision(params)
-	local db = params.db
-	local space = params.space
-	return {
-		db=db,
-		space=space,
-		priority=0,
-		update = function(self, dt)
-			local query = self.db:queryComponent("collision")
-			for id, collision in pairs(query) do
-				if not collision._geom then
-					createGeom(self, id, collision)
-					print(id, collision._geom)
-				end
-			end
-		end
-	}
-end
-
-
-return module
diff --git a/honey/ecs.lua b/honey/ecs.lua
index b0409e4..82fd877 100644
--- a/honey/ecs.lua
+++ b/honey/ecs.lua
@@ -1,274 +1,9 @@
-math.randomseed(os.time())
-
-local glm = require 'honey.glm'
-
-local module = {}
-setmetatable(module, {__index=_G})
-setfenv(1, module)
-
-
---===== EntityDb =====--
-
-
--- EntityDb is a database of entities and their associated components
--- it should be quite efficient to query for all entities with a given component, and reasonably
--- efficient to query for all components of a given entity
-
-
-EntityDb = {}
-EntityDb.__index = EntityDb
-
-
-function EntityDb.new(_)
-	local self = {
-		entities = {},
-		components = {},
-	}
-	setmetatable(self, EntityDb)
-	return self
-end
-setmetatable(EntityDb, {__call=EntityDb.new})
-
-
-local function serialize(tbl)
-	local tostr = function(x, value)
-		if type(x) == "table" then
-			if x.__tostring then
-				return tostring(x)
-			else
-				return serialize(x)
-			end
-		elseif type(x) == "string" then
-			if value then
-				return string.format("\"%s\"", x)
-			else
-				return x
-			end
-		else
-			return tostring(x)
-		end
-	end
-	local str = "{"
-	for key, value in pairs(tbl) do
-		if type(key) == "string" and string.match(key, "^_") then
-			-- ignore keys starting with an underscore
-		else
-			str = str .. string.format("%s=%s,", tostr(key), tostr(value, true))
-		end
-	end
-	str = string.sub(str, 1, -2) .. "}"
-	return str
-end
-
-
--- save current database to file
-function EntityDb.save(self, filename)
-	local file, err = io.open(filename, "w")
-	if not file then error(err) end
-
-	for entity in pairs(self.entities) do
-		local components = self:queryEntity(entity)
-		file:write(string.format("Entity(\"%s\", %s)\n", entity, serialize(components)))
-	end
-
-	file:close()
-end
-
-
--- load database from file
-function EntityDb.load(self, filename)
-	print(collectgarbage("count"))
-	self.entities = {}
-	self.components = {}
-	collectgarbage()
-	print(collectgarbage("count"))
-	local env = {
-		Entity = function(id, components)
-			self:createEntity(id)
-			self:addComponents(id, components)
-		end,
-		Vec3 = glm.Vec3,
-		Mat4 = glm.Mat4,
-	}
-	local f, err = loadfile(filename)
-	if not f then error(err) end
-	setfenv(f, env)
-	f()
-end
-
-
--- check if a given entity id is legitimate
-function EntityDb.checkIsValid(self, id)
-	if not self.entities[id] then
-		error(string.format("invalid entity id: %s", tostring(id)))
-	end
-end
-
-
-local random = math.random
-local function uuid()
-	local template ='xxxxxxxx-xxxx-4xxx-yxxx-xxxxxxxxxxxx'
-	return string.gsub(template, '[xy]', function (c)
-		local v = (c == 'x') and random(0, 0xf) or random(8, 0xb)
-		return string.format('%x', v)
-	end)
-end
-
-
--- create a new entity
-function EntityDb.createEntity(self, id)
-	local id = id or uuid() -- allow inserting entities at preset ids for loading
-	self.entities[id] = true
-	return id
-end
-
-
--- add a component to an entity
-function EntityDb.addComponent(self, id, name, value)
-	self:checkIsValid(id)
-	
-	-- create the relevant component table if it doesn't exist
-	if not self.components[name] then
-		self.components[name] = { count=0, data={} }
-	end
-
-	local component = self.components[name]
-	component.data[id] = value
-	component.count = component.count + 1
-end
-
-
--- add multiple components at once, for convenience
-function EntityDb.addComponents(self, id, components)
-	for name, value in pairs(components) do
-		self:addComponent(id, name, value)
-	end
-end
-
-
--- create an entity with components
-function EntityDb.createEntityWithComponents(self, components)
-	local id = self:createEntity()
-	self:addComponents(id, components)
-	return id
-end
-
-
--- get all entities with a given component
-function EntityDb.queryComponent(self, name)
-	local component = self.components[name]
-	if component then 
-		return component.data
-	else
-		return {}
-	end
-end
-
-
--- get all components associated with an entity
-function EntityDb.queryEntity(self, id)
-	self:checkIsValid(id)
-	local query = {}
-	for name, component in pairs(self.components) do
-		query[name] = component.data[id]
-	end
-	return query
-end
-
-
--- get a specific component from an entity
-function EntityDb.getComponent(self, id, name)
-	self:checkIsValid(id)
-	return self.components[name].data[id]
-end
-
-
--- remove a component from an entity
-function EntityDb.removeComponent(self, id, name)
-	self:checkIsValid(id)
-	local component = self.components[name]
-	if component.data[id] ~= nil then
-		component.data[id] = nil
-		component.count = component.count - 1
-		if component.count == 0 then
-			self.components[name] = nil
-		end
-	end
-end
-
-
--- remove an entity from the db
-function EntityDb.deleteEntity(self, id)
-	self:checkIsValid(id)
-	for name in pairs(self.components) do
-		self:removeComponent(id, name)
-	end
-	self.entities[id] = nil
-end
-
-
---===== SystemDb =====--
-
-SystemDb = {}
-SystemDb.__index = SystemDb
-
-
-function SystemDb.new(_, entityDb)
-	local self = {
-		systems = {},
-		sorted = {},
-		entityDb = entityDb,
-	}
-	setmetatable(self, SystemDb)
-	return self
-end
-setmetatable(SystemDb, {__call=SystemDb.new})
-
-
-local function systemId()
-	local template = "xx:xx:xx"
-	return string.gsub(template, "x", function(c)
-		return string.format("%x", random(0, 0xf))
-	end)
-end
-
-
-function SystemDb.addSystem(self, systemFunc, params)
-	local system
-	if type(systemFunc) == "table" then
-		system = systemFunc
-	else
-		local params = params or {}
-		params.db = self.entityDb
-		system = systemFunc(params)
-	end
-
-	local id = systemId()
-	self.systems[id] = system
-	table.insert(self.sorted, id)
-	self:sort()
-	return id
-end
-
-
-function SystemDb.sort(self)
-	table.sort(self.sorted, function(a, b) return (self.systems[a].priority or 100) < (self.systems[b].priority or 100) end)
-end
-
-
-function SystemDb.update(self, dt)
-	for _, system in ipairs(self.sorted) do
-		self.systems[system]:update(dt)
-	end
-end
-
-
-function SystemDb.removeSystem(self, id)
-	self.systems[id] = nil
-	for i=#self.sorted,1,-1 do
-		if self.sorted[i] == id then table.remove(self.sorted, i) end
-	end
-end
+local module = require 'honey.ecs.ecs'
 
+module.collision = require 'honey.ecs.collision'
+module.node      = require 'honey.ecs.node'
+module.physics   = require 'honey.ecs.physics'
+module.render    = require 'honey.ecs.render'
+module.script    = require 'honey.ecs.script'
 
 return module
diff --git a/honey/ecs.lua.bak b/honey/ecs.lua.bak
deleted file mode 100644
index 3632f34..0000000
--- a/honey/ecs.lua.bak
+++ /dev/null
@@ -1,228 +0,0 @@
-local module = {}
-setmetatable(module, {__index=_G})
-setfenv(1, module)
-
-
---===== filters =====--
-
-
-Filter = {}
-
--- base filter creation
-function Filter.new(_, operation, tbl)
-	local self = {}
-	self.keys = {}
-	self.filters = {}
-	self.op = operation
-
-	for _, v in ipairs(tbl) do
-		if type(v) == "function" then
-			table.insert(self.filters, v)
-		elseif type(v) == "string" then
-			table.insert(self.keys, v)
-		end
-	end
-
-	return function(entity, _self) 
-		local entity = _self or entity -- able to call as . or :
-		return Filter.check(self, entity)
-	end
-end
-setmetatable(Filter, {__call=Filter.new})
-
-
--- base filter checking
-function Filter.check(self, entity)
-	local funcname = "check" .. self.op
-	return Filter[funcname](self, entity)
-end
-
-
--- AND filter (all keys and subfilters must match)
-function Filter.AND(tbl)
-	return Filter("AND", tbl)
-end
-function Filter.checkAND(self, entity)
-	for _, subfilter in ipairs(self.filters) do
-		if not subfilter(entity) then return false end
-	end
-	for _, key in ipairs(self.keys) do
-		if entity[key] == nil then return false end
-	end
-	return true
-end
-
-
--- OR filter (at least one key or subfilter must match)
-function Filter.OR(tbl)
-	return Filter("OR", tbl)
-end
-function Filter.checkOR(self, entity)
-	for _, subfilter in ipairs(self.filters) do
-		if subfilter(entity) then return true end
-	end
-	for _, key in ipairs(self.keys) do
-		if entity[key] ~= nil then return true end
-	end
-	return false
-end
-
-
--- NAND filter (at least one key or subfilter must NOT match)
-function Filter.NAND(tbl)
-	return Filter("NAND", tbl)
-end
-function Filter.checkNAND(self, entity)
-	for _, subfilter in ipairs(self.filters) do
-		if not subfilter(entity) then return true end
-	end
-	for _, key in ipairs(self.keys) do
-		if entity[key] == nil then return true end
-	end
-	return false
-end
-
-
--- NOR filter (no keys or subfilters may match)
-function Filter.NOR(tbl)
-	return Filter("NOR", tbl)
-end
-function Filter.checkNOR(self, entity)
-	for _, subfilter in ipairs(self.filters) do
-		if subfilter(entity) then return false end
-	end
-	for _, key in ipairs(self.keys) do
-		if entity[key] ~= nil then return false end
-	end
-	return true
-end
-
-
---===== levels =====--
-
-Level = {}
-Level.__index = Level
-
-function Level.new(_)
-	local self = {}
-	self.systems = {}
-	self.entities = {}
-	self.nextId = 1
-	setmetatable(self, Level)
-	return self
-end
-setmetatable(Level, {__call=Level.new})
-
-
-local function systemLt(a, b)
-	return (a.priority or 50) < (b.priority or 50)
-end
-function Level.addSystem(self, system)
-	assert(system.update, "systems must have an 'update' key")
-	assert(system.filter, "systems must have a 'filter' key")
-	system.entities = {}
-	table.insert(self.systems, system)
-	table.sort(self.systems, systemLt)
-	if system.setup then
-		system.setup(system)
-	end
-end
-
-
-local function addEntityToSystem(system, id, entity)
-	-- check if entity is already present
-	if system.entities[id] then return end
-
-	if system.onAddEntity then
-		system:onAddEntity(id, entity)
-	end
-	system.entities[id] = true
-end
-
-
-local function removeEntityFromSystem(system, id, entity)
-	-- check if entity is already absent
-	if not system.entities[id] then return end
-
-	if system.onRemoveEntity then
-		system:onRemoveEntity(id, entity)
-	end
-	system.entities[id] = nil
-end
-
-
-function Level.addEntity(self, entity)
-	local id = self.nextId
-	self.entities[id] = entity
-	self.nextId = id + 1
-
-	for _, system in ipairs(self.systems) do
-		if system.filter(entity) then
-			addEntityToSystem(system, id, entity)
-		end
-	end
-
-	return id
-end
-
-
-function Level.reconfigureEntity(self, id)
-	local entity = self.entities[id]
-	
-	for _, system in ipairs(self.systems) do
-		if system.filter(entity) then
-			addEntityToSystem(system, id, entity)
-		else
-			removeEntityFromSystem(system, id, entity)
-		end
-	end
-end
-
-
-function Level.removeEntity(self, id)
-	local entity = self.entities[id]
-	if not entity then error("bad id: "..tostring(id)) end
-	for _, system in ipairs(self.systems) do
-		removeEntityFromSystem(system, id, entity)
-	end
-	self.entities[id] = nil
-end
-
-
-function Level.reconfigureAllEntities(self)
-	for id in ipairs(self.entities) do
-		self:reconfigureEntity(id)
-	end
-end
-
-
-function Level.update(self, dt, paused)
-	local paused = paused or false
-	for _, system in ipairs(self.systems) do
-		if (not paused) or (paused and system.nopause) then
-			if system.preUpdate then
-				system:preUpdate()
-			end
-			if system.prepareEntity then
-				for id in pairs(system.entities) do
-					local entity = self.entities[id]
-					if entity then
-						system:prepareEntity(entity)
-					end
-				end
-			end
-			for id in pairs(system.entities) do
-				local entity = self.entities[id]
-				if entity then
-					system:update(entity, dt)
-				end
-			end
-			if system.postUpdate then
-				system:postUpdate()
-			end
-		end
-	end
-end
-
-
-return module
diff --git a/honey/ecs/collision.lua b/honey/ecs/collision.lua
new file mode 100644
index 0000000..722c256
--- /dev/null
+++ b/honey/ecs/collision.lua
@@ -0,0 +1,57 @@
+local glm = require 'honey.glm'
+local Vec3 = glm.Vec3
+local ode = honey.ode
+
+local module = {}
+setmetatable(module, {__index=_G})
+setfenv(1, module)
+
+
+--===== collision space =====--
+
+
+local function createGeom(self, id, collision)
+	local geom
+	if collision.class == "sphere" then
+		geom = ode.CreateSphere(self.space, collision.radius)
+	elseif collision.class == "capsule" then
+		geom = ode.CreateCapsule(self.space, collision.radius, collision.length)
+	elseif collision.class == "plane" then
+		local node = self.db:getComponent(id, "node")
+		local m = node.matrix
+		local normal = node.matrix:mulv3(Vec3{0,1,0}):normalize()
+		local position = Vec3{m[1][4], m[2][4], m[3][4]}
+		print(position)
+		local d = normal:dot(position)
+		print(normal, d)
+		geom = ode.CreatePlane(self.space, normal[1], normal[2], normal[3], d)
+	end
+	collision._geom = geom
+	collision._gc = honey.util.gc_canary(function()
+		print("release geom for id"..id)
+		ode.GeomDestroy(geom)
+	end)
+end
+
+system = function(params)
+	local db = params.db
+	local space = params.space
+	return {
+		db=db,
+		space=space,
+		priority=0,
+		update = function(self, dt)
+			local query = self.db:queryComponent("collision")
+			for id, collision in pairs(query) do
+				if not collision._geom then
+					createGeom(self, id, collision)
+					print(id, collision._geom)
+				end
+			end
+		end
+	}
+end
+
+
+
+return module
diff --git a/honey/ecs/ecs.lua b/honey/ecs/ecs.lua
new file mode 100644
index 0000000..b0409e4
--- /dev/null
+++ b/honey/ecs/ecs.lua
@@ -0,0 +1,274 @@
+math.randomseed(os.time())
+
+local glm = require 'honey.glm'
+
+local module = {}
+setmetatable(module, {__index=_G})
+setfenv(1, module)
+
+
+--===== EntityDb =====--
+
+
+-- EntityDb is a database of entities and their associated components
+-- it should be quite efficient to query for all entities with a given component, and reasonably
+-- efficient to query for all components of a given entity
+
+
+EntityDb = {}
+EntityDb.__index = EntityDb
+
+
+function EntityDb.new(_)
+	local self = {
+		entities = {},
+		components = {},
+	}
+	setmetatable(self, EntityDb)
+	return self
+end
+setmetatable(EntityDb, {__call=EntityDb.new})
+
+
+local function serialize(tbl)
+	local tostr = function(x, value)
+		if type(x) == "table" then
+			if x.__tostring then
+				return tostring(x)
+			else
+				return serialize(x)
+			end
+		elseif type(x) == "string" then
+			if value then
+				return string.format("\"%s\"", x)
+			else
+				return x
+			end
+		else
+			return tostring(x)
+		end
+	end
+	local str = "{"
+	for key, value in pairs(tbl) do
+		if type(key) == "string" and string.match(key, "^_") then
+			-- ignore keys starting with an underscore
+		else
+			str = str .. string.format("%s=%s,", tostr(key), tostr(value, true))
+		end
+	end
+	str = string.sub(str, 1, -2) .. "}"
+	return str
+end
+
+
+-- save current database to file
+function EntityDb.save(self, filename)
+	local file, err = io.open(filename, "w")
+	if not file then error(err) end
+
+	for entity in pairs(self.entities) do
+		local components = self:queryEntity(entity)
+		file:write(string.format("Entity(\"%s\", %s)\n", entity, serialize(components)))
+	end
+
+	file:close()
+end
+
+
+-- load database from file
+function EntityDb.load(self, filename)
+	print(collectgarbage("count"))
+	self.entities = {}
+	self.components = {}
+	collectgarbage()
+	print(collectgarbage("count"))
+	local env = {
+		Entity = function(id, components)
+			self:createEntity(id)
+			self:addComponents(id, components)
+		end,
+		Vec3 = glm.Vec3,
+		Mat4 = glm.Mat4,
+	}
+	local f, err = loadfile(filename)
+	if not f then error(err) end
+	setfenv(f, env)
+	f()
+end
+
+
+-- check if a given entity id is legitimate
+function EntityDb.checkIsValid(self, id)
+	if not self.entities[id] then
+		error(string.format("invalid entity id: %s", tostring(id)))
+	end
+end
+
+
+local random = math.random
+local function uuid()
+	local template ='xxxxxxxx-xxxx-4xxx-yxxx-xxxxxxxxxxxx'
+	return string.gsub(template, '[xy]', function (c)
+		local v = (c == 'x') and random(0, 0xf) or random(8, 0xb)
+		return string.format('%x', v)
+	end)
+end
+
+
+-- create a new entity
+function EntityDb.createEntity(self, id)
+	local id = id or uuid() -- allow inserting entities at preset ids for loading
+	self.entities[id] = true
+	return id
+end
+
+
+-- add a component to an entity
+function EntityDb.addComponent(self, id, name, value)
+	self:checkIsValid(id)
+	
+	-- create the relevant component table if it doesn't exist
+	if not self.components[name] then
+		self.components[name] = { count=0, data={} }
+	end
+
+	local component = self.components[name]
+	component.data[id] = value
+	component.count = component.count + 1
+end
+
+
+-- add multiple components at once, for convenience
+function EntityDb.addComponents(self, id, components)
+	for name, value in pairs(components) do
+		self:addComponent(id, name, value)
+	end
+end
+
+
+-- create an entity with components
+function EntityDb.createEntityWithComponents(self, components)
+	local id = self:createEntity()
+	self:addComponents(id, components)
+	return id
+end
+
+
+-- get all entities with a given component
+function EntityDb.queryComponent(self, name)
+	local component = self.components[name]
+	if component then 
+		return component.data
+	else
+		return {}
+	end
+end
+
+
+-- get all components associated with an entity
+function EntityDb.queryEntity(self, id)
+	self:checkIsValid(id)
+	local query = {}
+	for name, component in pairs(self.components) do
+		query[name] = component.data[id]
+	end
+	return query
+end
+
+
+-- get a specific component from an entity
+function EntityDb.getComponent(self, id, name)
+	self:checkIsValid(id)
+	return self.components[name].data[id]
+end
+
+
+-- remove a component from an entity
+function EntityDb.removeComponent(self, id, name)
+	self:checkIsValid(id)
+	local component = self.components[name]
+	if component.data[id] ~= nil then
+		component.data[id] = nil
+		component.count = component.count - 1
+		if component.count == 0 then
+			self.components[name] = nil
+		end
+	end
+end
+
+
+-- remove an entity from the db
+function EntityDb.deleteEntity(self, id)
+	self:checkIsValid(id)
+	for name in pairs(self.components) do
+		self:removeComponent(id, name)
+	end
+	self.entities[id] = nil
+end
+
+
+--===== SystemDb =====--
+
+SystemDb = {}
+SystemDb.__index = SystemDb
+
+
+function SystemDb.new(_, entityDb)
+	local self = {
+		systems = {},
+		sorted = {},
+		entityDb = entityDb,
+	}
+	setmetatable(self, SystemDb)
+	return self
+end
+setmetatable(SystemDb, {__call=SystemDb.new})
+
+
+local function systemId()
+	local template = "xx:xx:xx"
+	return string.gsub(template, "x", function(c)
+		return string.format("%x", random(0, 0xf))
+	end)
+end
+
+
+function SystemDb.addSystem(self, systemFunc, params)
+	local system
+	if type(systemFunc) == "table" then
+		system = systemFunc
+	else
+		local params = params or {}
+		params.db = self.entityDb
+		system = systemFunc(params)
+	end
+
+	local id = systemId()
+	self.systems[id] = system
+	table.insert(self.sorted, id)
+	self:sort()
+	return id
+end
+
+
+function SystemDb.sort(self)
+	table.sort(self.sorted, function(a, b) return (self.systems[a].priority or 100) < (self.systems[b].priority or 100) end)
+end
+
+
+function SystemDb.update(self, dt)
+	for _, system in ipairs(self.sorted) do
+		self.systems[system]:update(dt)
+	end
+end
+
+
+function SystemDb.removeSystem(self, id)
+	self.systems[id] = nil
+	for i=#self.sorted,1,-1 do
+		if self.sorted[i] == id then table.remove(self.sorted, i) end
+	end
+end
+
+
+return module
diff --git a/honey/ecs.test.lua b/honey/ecs/ecs.test.lua
index 74e27dc..74e27dc 100644
--- a/honey/ecs.test.lua
+++ b/honey/ecs/ecs.test.lua
diff --git a/honey/ecs/node.lua b/honey/ecs/node.lua
new file mode 100644
index 0000000..39f1898
--- /dev/null
+++ b/honey/ecs/node.lua
@@ -0,0 +1,47 @@
+local module = {}
+setmetatable(module, {__index=_G})
+setfenv(1, module)
+
+--===== transform cascading =====--
+
+system = function(params)
+	return {
+		db = params.db,
+		
+		priority = 2,
+		update = function(self, dt)
+			local nodes = self.db:queryComponent("node")
+	
+			-- prepare nodes
+			for id, node in pairs(nodes) do
+				node._visited = false
+			end
+	
+			-- helper function
+			local function recursiveTransform(node)
+				if node._visited then
+					return node._matrix
+				end
+	
+				if not node.parent then
+					node._matrix = node.matrix
+				else
+					local parentTransform = self.db:getComponent(node.parent, "node")
+					local parentMatrix = recursiveTransform(parentTransform)
+					node._matrix = parentMatrix * node.matrix
+				end
+				node._visited = true
+				return node._matrix
+			end
+	
+			-- compute nodes
+			for id, node in pairs(nodes) do
+				recursiveTransform(node)
+			end
+		end,
+	}
+end
+
+
+
+return module
diff --git a/honey/ecs/physics.lua b/honey/ecs/physics.lua
new file mode 100644
index 0000000..eac3846
--- /dev/null
+++ b/honey/ecs/physics.lua
@@ -0,0 +1,158 @@
+local glm = require 'honey.glm'
+local Vec3       = glm.Vec3
+local Mat4       = glm.Mat4
+local Quaternion = glm.Quaternion
+local ode = honey.ode
+
+local module = {}
+setmetatable(module, {__index=_G})
+setfenv(1, module)
+
+--===== physics =====--
+
+
+system = function(params)
+	local interval = params.interval or 0.016
+	local groupSize = params.groupSize or 20
+	local refs = {}
+	return {
+		db=params.db,
+		space=params.space,
+		world=params.world,
+		contactGroup=ode.JointGroupCreate(groupSize),
+		time=interval,
+
+		priority=1,
+		update=function(self, dt)
+			for i, ref in ipairs(refs) do
+				print(i, ref.tbl, ref.physics)
+			end
+			local query = self.db:queryComponent("physics")
+
+			for id, physics in pairs(query) do
+				if not physics._body then
+					print("add physics body for "..id)
+					local body = ode.BodyCreate(self.world)
+					physics._gc = honey.util.gc_canary(function() 
+						print("releasing physics body for " .. id)
+						ode.BodyDestroy(body) 
+						body = nil
+					end)
+
+					local collision = self.db:getComponent(id, "collision")
+					if collision then
+						print(id, collision.class)
+						ode.GeomSetBody(collision._geom, body)
+					end
+
+					local mass = ode.MassCreate()
+					local class = physics.mass.class
+					if not class then
+						-- configure mass manually
+					elseif class == "sphere" then
+						ode.MassSetSphere(
+							mass, 
+							physics.mass.density, 
+							physics.mass.radius
+						)
+					elseif class == "capsule" then
+						ode.MassSetCapsule(
+							mass,
+							physics.mass.density,
+							physics.mass.direction,
+							physics.mass.radius,
+							physics.mass.length
+						)
+					end
+					ode.BodySetMass(body, mass)
+					local m = self.db:getComponent(id, "node").matrix
+					ode.BodySetPosition(
+						body,
+						m[1][4], m[2][4], m[3][4]
+					)
+					ode.BodySetRotation(
+						body,
+						m[1][1], m[1][2], m[1][3],
+						m[2][1], m[2][2], m[2][3],
+						m[3][1], m[3][2], m[3][3]
+					)
+					local vel = physics.velocity or Vec3{0,0,0}
+					ode.BodySetLinearVel(
+						body, vel[1], vel[2], vel[3]
+					)
+					physics.velocity = vel
+
+					local avel = physics.angularVelocity or Vec3{0,0,0}
+					ode.BodySetAngularVel(
+						body, avel[1], avel[2], avel[3]
+					)
+					physics.angularVelocity = avel
+
+					if physics.maxAngularSpeed then
+						ode.BodySetMaxAngularSpeed(body, physics.maxAngularSpeed)
+					end
+
+					physics._body = body
+				end
+			end
+
+			self.time = self.time + dt
+			-- only run the update every [interval] seconds
+			if self.time > interval then
+				self.time = self.time - interval
+
+				-- check for near collisions between geoms
+				ode.SpaceCollide(self.space, function(a, b)
+					-- check for actual collisions
+					local collisions = ode.Collide(a, b, 1)
+					if #collisions > 0 then
+						-- set up the joint params
+						local contact = ode.CreateContact{ surface={
+							mode = ode.ContactBounce + ode.ContactSoftCFM,
+							mu = ode.Infinity,
+							bounce = 0.90,
+							bounce_vel = 0.1,
+							soft_cfm = 0.001,
+						}}
+						ode.ContactSetGeom(contact, collisions[1])
+						-- create the joint
+						local joint = ode.JointCreateContact(
+							self.world,
+							self.contactGroup,
+							contact
+						)
+						-- attach the two bodies
+						local bodyA = ode.GeomGetBody(a)
+						local bodyB = ode.GeomGetBody(b)
+						ode.JointAttach(joint, bodyA, bodyB)
+					end
+				end)
+				-- update the world
+				ode.WorldQuickStep(self.world, interval)
+				-- remove all contact joints
+				ode.JointGroupEmpty(self.contactGroup)
+
+				-- update entity nodes
+				for id, physics in pairs(query) do
+					local x,y,z = ode.BodyGetPosition(physics._body)
+					local d,a,b,c = ode.BodyGetQuaternion(physics._body)
+					local node = self.db:getComponent(id, "node")
+					local q = Quaternion{a,b,c,d}
+					node.matrix
+						:identity()
+						:translate(Vec3{x,y,z})
+						:mul(Quaternion{a,b,c,d}:toMat4())
+
+					local vel = physics.velocity
+					vel[1], vel[2], vel[3] = ode.BodyGetLinearVel(physics._body)
+					local avel = physics.angularVelocity
+					avel[1], avel[2], avel[3] = ode.BodyGetAngularVel(physics._body)
+				end
+			end
+		end,
+	}
+end
+
+
+
+return module
diff --git a/honey/ecs/render.lua b/honey/ecs/render.lua
new file mode 100644
index 0000000..4217422
--- /dev/null
+++ b/honey/ecs/render.lua
@@ -0,0 +1,98 @@
+local glm = require 'honey.glm'
+local Vec3       = glm.Vec3
+local Mat4       = glm.Mat4
+
+local gl = honey.gl
+local glfw = honey.glfw
+
+local module = {}
+setmetatable(module, {__index=_G})
+setfenv(1, module)
+
+--===== rendering =====--
+
+function draw(model, view, projection, textures, shader, mesh)
+	shader:use()
+
+	-- bind textures
+	local texOffset = 0
+	for name, texTbl in pairs(textures or {}) do
+		local texture = honey.image.loadImage(texTbl.filename, texTbl.params)
+		gl.BindTexture(gl.TEXTURE_2D + texOffset, texture.texture)
+		shader:setInt(name, texOffset)
+		texOffset = texOffset + 1
+	end
+
+	-- configure default uniforms
+	shader:configure{
+		float={
+			time=glfw.GetTime(),
+		},
+		matrix={
+			view=view,
+			projection=projection,
+			model=model,
+		},
+	}
+
+	-- draw mesh
+	mesh:drawElements()
+
+	-- unbind textures
+	for i=0,texOffset-1 do
+		gl.BindTexture(gl.TEXTURE_2D + i, 0)
+	end
+end
+
+system = function(params) 
+	return {
+		db = params.db,
+		priority = params.priority or 99,
+		update = function(self, dt)
+			for id, camera in pairs(self.db:queryComponent("camera")) do
+				local projection = camera.projection
+				local cameraTransform = self.db:getComponent(id, "node")
+				local view = Mat4()
+				if cameraTransform then
+					honey.glm.mat4_inv(cameraTransform._matrix.data, view.data)
+				else
+					view:identity()
+				end
+		
+				local entities = self.db:queryComponent("renderMesh")
+				for entity, tbl in pairs(entities) do
+					-- get model
+					local node = self.db:getComponent(entity, "node")
+					local model = 
+						(node and node._matrix) or 
+						Mat4():identity()
+					-- get shader
+					local shader = honey.shader.loadShader(
+						tbl.shader.vertex, tbl.shader.fragment
+					)
+					-- get mesh
+					local mesh = honey.mesh.loadCached(
+						tbl.mesh.filename, tbl.mesh.index
+					)
+					draw(model, view, projection, tbl.textures, shader, mesh)
+				end
+
+				entities = self.db:queryComponent("renderQuad")
+				local quadmesh = honey.mesh.loadCached("builtin.quad", 1)
+				for entity, tbl in pairs(entities) do
+					-- get model
+					local model = Mat4():identity()
+					-- get shader
+					local shader = honey.shader.loadShader(
+						tbl.shader.vertex, tbl.shader.fragment
+					)
+					draw(model, view, projection, tbl.textures, shader, quadmesh)
+				end
+			end
+		end,
+	}
+end
+
+
+
+return module
diff --git a/honey/ecs/script.lua b/honey/ecs/script.lua
new file mode 100644
index 0000000..9ae7d72
--- /dev/null
+++ b/honey/ecs/script.lua
@@ -0,0 +1,44 @@
+local module = {}
+setmetatable(module, {__index=_G})
+setfenv(1, module)
+
+
+-- helper function for retrieving script functions 
+getFunction = function(script)
+	local f = require(script.script)
+	if script.func then
+		return f[script.func]
+	else
+		return f
+	end
+end
+
+
+--===== dispatch messages to handlers =====--
+
+dispatch = function(entities, msg, data)
+	local query = entities:queryComponent(msg)
+	for id, handler in pairs(query) do
+		local f = getFunction(handler)
+		f(entities, id, data)
+	end
+end
+
+--===== script system =====--
+
+system = function(params)
+	return {
+		db=params.db,
+		update=function(self, dt)
+			local entities = self.db:queryComponent("script")
+			for id, script in pairs(entities) do
+				local f = getFunction(script)
+				f(self.db, id, dt)
+			end
+		end
+	}
+end
+
+
+
+return module
diff --git a/honey/std.lua b/honey/std.lua
index b16708a..b0b6a15 100644
--- a/honey/std.lua
+++ b/honey/std.lua
@@ -5,7 +5,6 @@ honey.loop = init.loop
 honey.terminate = init.terminate
 
 honey.ecs             = require 'honey.ecs'
-honey.standardSystems = require 'honey.ecs-systems'
 honey.mesh            = require 'honey.mesh'
 honey.shader          = require 'honey.shader'
 honey.Window          = require 'honey.window'
diff --git a/main.lua b/main.lua
index 71ef11b..efee1a2 100644
--- a/main.lua
+++ b/main.lua
@@ -7,7 +7,6 @@ local Mat4 = honey.Mat4
 local Quaternion = honey.Quaternion
 local ecs = honey.ecs
 local sys = honey.standardSystems
-local dispatch = sys.dispatch
 local ode = honey.ode
 local nvg = honey.nvg
 
@@ -35,12 +34,12 @@ end)
 -- setup ecs
 local entities = ecs.EntityDb()
 local systems = ecs.SystemDb(entities)
-
-systems:addSystem(sys.node)
-systems:addSystem(sys.renderCamera)
-systems:addSystem(sys.script)
-systems:addSystem(sys.collision, {space=space})
-systems:addSystem(sys.physics, {space=space, world=world})
+local script = ecs.script
+systems:addSystem(ecs.node.system)
+systems:addSystem(ecs.render.system)
+systems:addSystem(ecs.script.system)
+systems:addSystem(ecs.collision.system, {space=space})
+systems:addSystem(ecs.physics.system, {space=space, world=world})
 package.loaded['baseRotationScript'] = function(entities, id, dt)
 	local node = entities:getComponent(id, "node")
 	node.matrix:rotateZ(math.pi * dt)
@@ -299,7 +298,7 @@ setupEntities()
 
 -- close window on ESCAPE key
 window:setKeyCallback(function(_, key, scancode, action)
-	dispatch(entities, "onKey", {key=key, scancode=scancode, action=action})
+	script.dispatch(entities, "onKey", {key=key, scancode=scancode, action=action})
 	if action == glfw.PRESS then
 		if key == glfw.KEY_ESCAPE then
 			window:setShouldClose(true)
@@ -313,14 +312,14 @@ end)
 
 
 window:setCursorPosCallback(function(_, xpos, ypos)
-	dispatch(entities, "onCursorPos", {xpos=xpos, ypos=ypos})
+	script.dispatch(entities, "onCursorPos", {xpos=xpos, ypos=ypos})
 end)
 
 -- resize window correctly
 window:setFramebufferSizeCallback(function(_, width, height)
 	gl.Viewport(0, 0, width, height)
 	vw, vh = width, height
-	dispatch(entities, "onWindowResize", { width=width, height=height })
+	script.dispatch(entities, "onWindowResize", { width=width, height=height })
 end)
 
 package.loaded["cameraHandleResize"] = function(entities, id, data)