basilisk-engine 0.1.34__py3-none-any.whl → 0.1.36__py3-none-any.whl

basilisk/nodes/node.py

@@ -1,696 +1,705 @@
-import glm
-import numpy as np
-from .helper import node_is
-from ..generic.vec3 import Vec3
-from ..generic.quat import Quat
-from ..generic.matrices import get_model_matrix
-from ..mesh.mesh import Mesh
-from ..render.material import Material
-from ..physics.physics_body import PhysicsBody
-from ..collisions.collider import Collider
-from ..render.chunk import Chunk
-from ..render.shader import Shader
-
-
-class Node():
-    position: Vec3
-    """The position of the node in meters with swizzle xyz"""
-    scale: Vec3
-    """The scale of the node in meters in each direction"""
-    rotation: Quat
-    """The rotation of the node"""
-    relative_position: bool
-    """The position of this node relative to the parent node"""
-    relative_scale: bool
-    """The scale of this node relative to the parent node"""
-    relative_rotation: bool
-    """The rotation of this node relative to the parent node"""
-    forward: glm.vec3
-    """The forward facing vector of the node"""
-    mesh: Mesh
-    """The mesh of the node stored as a basilisk mesh object"""
-    material: Material
-    """The mesh of the node stored as a basilisk material object"""
-    velocity: glm.vec3
-    """The translational velocity of the node"""
-    rotational_velocity: glm.vec3
-    """The rotational velocity of the node"""
-    physics: bool
-    """Allows the node's movement to be affected by the physics engine and collisions"""
-    mass: float
-    """The mass of the node in kg"""
-    collision: bool
-    """Gives the node collision with other nodes in the scene""" 
-    collider_mesh: str
-    """The collider type of the node. Can be either 'box' or 'mesh'"""
-    static_friction: float
-    """Determines the friction of the node when still: recommended value 0.0 - 1.0"""
-    kinetic_friction: float
-    """Determines the friction of the node when moving: recommended value 0.0 - 1.0"""  
-    elasticity: float
-    """Determines how bouncy an object is: recommended value 0.0 - 1.0"""
-    collision_group: str
-    """Nodes of the same collision group do not collide with each other"""
-    name: str
-    """The name of the node for reference"""  
-    tags: list[str]
-    """Tags are used to sort nodes into separate groups"""
-    static: bool
-    """Objects that don't move should be marked as static"""
-    chunk: Chunk
-    """The parent chunk of the node. Used for callbacks to update chunk meshes"""
-    children: list
-    """List of nodes that this node is a parent of"""
-    shader: Shader
-    """Shader that is used to render the node. If none is given, engine default will be used"""
-
-    def __init__(self,
-            position:            glm.vec3=None, 
-            scale:               glm.vec3=None, 
-            rotation:            glm.quat=None, 
-            relative_position:   bool=True,
-            relative_scale:      bool=True,
-            relative_rotation:   bool=True,
-            forward:             glm.vec3=None, 
-            mesh:                Mesh=None, 
-            material:            Material=None, 
-            velocity:            glm.vec3=None, 
-            rotational_velocity: glm.vec3=None, 
-            physics:             bool=False, 
-            mass:                float=None, 
-            collision:           bool=False, 
-            collider_mesh:       str|Mesh=None, 
-            static_friction:     float=None, 
-            kinetic_friction:    float=None, 
-            elasticity:          float=None, 
-            collision_group:     float=None, 
-            name:                str='', 
-            tags:                list[str]=None,
-            static:              bool=None,
-            shader:              Shader=None
-        ) -> None:
-        """
-        Basilisk node object. 
-        Contains mesh data, translation, material, physics, collider, and descriptive information. 
-        Base building block for populating a Basilisk scene.
-        """
-        
-        # parents
-        self.node_handler = None
-        self.scene        = None
-        self.engine       = None
-        self.chunk        = None
-        self.parent       = None
-        
-        # lazy update variables
-        self.needs_geometric_center = True # pos
-        self.needs_model_matrix = True # pos, scale, rot
-
-        # node data
-        self.internal_position: Vec3 = Vec3(position) if position else Vec3(0, 0, 0)
-        self.internal_scale   : Vec3 = Vec3(scale)    if scale    else Vec3(1, 1, 1)
-        self.internal_rotation: Quat = Quat(rotation) if rotation else Quat(1, 0, 0, 0)
-        
-        # relative transformations
-        self.relative_position = glm.vec3(0, 0, 0)    if relative_position else None
-        self.relative_scale    = glm.vec3(0, 0, 0)    if relative_scale    else None
-        self.relative_rotation = glm.quat(1, 0, 0, 0) if relative_rotation else None
-        
-        self.forward  = forward  if forward  else glm.vec3(1, 0, 0)
-        self.mesh     = mesh
-        self._mtl_list = material if isinstance(material, list) else [material]
-        self.material = material if material else None
-        self.velocity = velocity if velocity else glm.vec3(0, 0, 0)
-        self.rotational_velocity = rotational_velocity if rotational_velocity else glm.vec3(0, 0, 0)
-        
-        self._static = static
-
-        # Physics updates
-        if physics: self.physics_body = PhysicsBody(mass = mass if mass else 1.0)
-        elif mass: raise ValueError('Node: cannot have mass if it does not have physics')
-        else: self.physics_body = None
-        
-        # collider
-        if collision: 
-            self.collider = Collider(
-                node = self,
-                collider_mesh = collider_mesh,
-                static_friction = static_friction,
-                kinetic_friction = kinetic_friction,
-                elasticity = elasticity,
-                collision_group = collision_group
-            )
-        elif collider_mesh:         raise ValueError('Node: cannot have collider mesh if it does not allow collisions')
-        elif static_friction:  raise ValueError('Node: cannot have static friction if it does not allow collisions')
-        elif kinetic_friction: raise ValueError('Node: cannot have kinetic friction if it does not allow collisions')
-        elif elasticity:       raise ValueError('Node: cannot have elasticity if it does not allow collisions')
-        elif collision_group:  raise ValueError('Node: cannot have collider group if it does not allow collisions')
-        else: self.collider = None
-
-        # information and recursion
-        self.name = name
-        self.tags = tags if tags else []
-
-        self.data_index = 0
-        self.children = []
-
-        # Shader given by user or none for default
-        self.shader = shader
-
-        # callback function to be added to the custom Vec3 and Quat classes
-        def position_callback():
-            if self.chunk:
-                self.chunk.node_update_callback(self)
-            
-            # update variables
-            self.needs_geometric_center = True
-            self.needs_model_matrix = True
-            if self.collider:
-                self.collider.needs_bvh = True
-                self.collider.needs_obb = True
-            
-        def scale_callback():
-            if self.chunk:
-                self.chunk.node_update_callback(self)
-            
-            # update variables
-            self.needs_model_matrix = True
-            if self.collider:
-                self.collider.needs_bvh = True
-                self.collider.needs_obb = True
-                self.collider.needs_half_dimensions = True
-            
-        def rotation_callback():
-            if self.chunk:
-                self.chunk.node_update_callback(self)
-            
-            # update variables
-            self.needs_model_matrix = True
-            if self.collider:
-                self.collider.needs_bvh = True
-                self.collider.needs_obb = True
-                self.collider.needs_half_dimensions = True
-        
-        self.internal_position.callback = position_callback
-        self.internal_scale.callback    = scale_callback
-        self.internal_rotation.callback = rotation_callback
-    
-    def init_scene(self, scene: ...) -> None:
-        """
-        Updates the scene of the node
-        """
-        self.scene = scene
-        self.engine = scene.engine
-        self.node_handler = scene.node_handler
-
-        # Update materials
-        self.write_materials()
-
-        # Update the mesh
-        self.mesh = self.mesh if self.mesh else self.engine.cube
-
-        # Update physics and collider
-        if self.physics_body: self.physics_body.physics_engine = scene.physics_engine
-        if self.collider: self.collider.collider_handler = scene.collider_handler
-
-    def update(self, dt: float) -> None:
-        """
-        Updates the node's movement variables based on the delta time
-        """
-        # update based on physical properties
-        if any(self.velocity): self.position += dt * self.velocity
-        if any(self.rotational_velocity): self.rotation = glm.normalize(self.rotation.data - dt / 2 * self.rotation.data * glm.quat(0, *self.rotational_velocity))
-
-        if self.physics_body:
-            self.velocity += self.physics_body.get_delta_velocity(dt)
-            self.rotational_velocity += self.physics_body.get_delta_rotational_velocity(dt)
-            
-        # update children transforms
-        for child in self.children: child.sync_data()
-        
-    def sync_data(self) -> None:
-        """
-        Syncronizes this node with the parent node based on its relative positioning
-        """
-        # calculate transform matrix with the given input
-        transform = glm.mat4x4()
-        if self.relative_position: transform  = glm.translate(transform, self.parent.position.data)
-        if self.relative_rotation: transform *= glm.transpose(glm.mat4_cast(self.parent.rotation.data))
-        if self.relative_scale:    transform  = glm.scale(transform, self.parent.scale.data)
-        
-        # set this node's transforms based on the parent
-        if self.relative_position: self.position = transform * self.relative_position
-        if self.relative_scale:    self.scale = self.relative_scale * self.parent.scale.data
-        if self.relative_rotation: self.rotation = self.relative_rotation * self.parent.rotation.data
-        
-        for child in self.children: child.sync_data()
-        
-    def deep_copy(self) -> ...:
-        """
-        Creates a deep copy of this node and returns it. The new node is not added to the scene.
-        """
-        
-        copy = Node(
-            position = self.position,
-            scale = self.scale,
-            rotation = self.rotation,
-            relative_position = bool(self.relative_position),
-            relative_scale = bool(self.relative_scale),
-            relative_rotation = bool(self.relative_rotation),
-            forward = glm.vec3(self.forward),
-            mesh = self.mesh,
-            material = self.material,
-            velocity = glm.vec3(self.velocity),
-            rotational_velocity = glm.vec3(self.rotational_velocity),
-            physics = bool(self.physics_body),
-            mass = self.mass if self.physics_body else None,
-            collision = bool(self.collider),
-            static_friction = self.static_friction if self.collider else None,
-            kinetic_friction = self.kinetic_friction if self.collider else None,
-            elasticity = self.elasticity if self.collider else None,
-            collision_group = self.collision_group if self.collider else None,
-            name = self.name,
-            tags = [tag for tag in self.tags], # deep copy tags list
-            static = self.static,
-            shader = self.shader
-        )
-        
-        return copy
-    
-    def get_all(self, position: glm.vec3=None, scale: glm.vec3=None, rotation: glm.quat=None, forward: glm.vec3=None, mesh: Mesh=None, material: Material=None, velocity: glm.vec3=None, rotational_velocity: glm.quat=None, physics: bool=None, mass: float=None, collisions: bool=None, static_friction: float=None, kinetic_friction: float=None, elasticity: float=None, collision_group: float=None, name: str=None, tags: list[str]=None,static: bool=None) -> list:
-        nodes = [self] if node_is(self, position, scale, rotation, forward, mesh, material, velocity, rotational_velocity, physics, mass, collisions, static_friction, kinetic_friction, elasticity, collision_group, name, tags, static) else []
-        for node in self.children: nodes += node.get_all(position, scale, rotation, forward, mesh, material, velocity, rotational_velocity, physics, mass, collisions, static_friction, kinetic_friction, elasticity, collision_group, name, tags, static)
-        return nodes
-        
-    # tree functions for managing children 
-    def add(self, child: ..., relative_position: bool=None, relative_scale: bool=None, relative_rotation: glm.vec3=None) -> None:
-        """
-        Adopts a node as a child. Relative transforms can be changed, if left bank they will not be chnaged from the current child nodes settings.
-        """
-        if child in self.children or child is self: return
-        assert isinstance(child, Node), 'Nodes can only accept other Nodes as children.'
-        
-        relative = glm.inverse(self.model_matrix) * child.model_matrix
-        position = glm.vec3(relative[3])
-        scale = glm.vec3([glm.length(relative[i]) for i in range(3)])
-        rotation = child.rotation * glm.inverse(self.rotation.data)
-        
-        # compute relative transformations
-        if relative_position or (relative_position is None and child.relative_position): child.relative_position = position
-        if relative_scale    or (relative_scale    is None and child.relative_scale):    child.relative_scale    = scale
-        if relative_rotation or (relative_rotation is None and child.relative_rotation): child.relative_rotation = rotation
-        
-        # add as a child to by synchronized and controlled
-        if self.node_handler: self.node_handler.add(child)
-        child.parent = self
-        self.children.append(child)
-        
-    def remove(self, child: ...) -> None:
-        """
-        Removes a child node from this nodes chlid list.
-        """
-        if child in self.children: 
-            if self.node_handler: self.node_handler.remove(child)
-            child.parent = None
-            self.children.remove(child)
-        
-    def apply_force(self, force: glm.vec3, dt: float) -> None:
-        """
-        Applies a force at the center of the node
-        """
-        self.apply_offset_force(force, glm.vec3(0.0), dt)
-        
-    def apply_offset_force(self, force: glm.vec3, offset: glm.vec3, dt: float) -> None:
-        """
-        Applies a force at the given offset
-        """
-        # translation
-        assert self.physics_body, 'Node: Cannot apply a force to a node that doesn\'t have a physics body'
-        self.velocity += force / self.mass * dt
-        
-        # rotation
-        torque = glm.cross(offset, force)
-        self.apply_torque(torque, dt)
-        
-    def apply_torque(self, torque: glm.vec3, dt: float) -> None:
-        """
-        Applies a torque on the node
-        """
-        assert self.physics_body, 'Node: Cannot apply a torque to a node that doesn\'t have a physics body'
-        ...
-    
-    # TODO change geometric variables into properties
-    def get_inverse_inertia(self) -> glm.mat3x3:
-        """
-        Transforms the mesh inertia tensor and inverts it
-        """
-        if not ((self.mesh or (self.collider and self.collider.mesh)) and self.physics_body): return None 
-        mesh = self.collider.mesh if self.collider else self.mesh
-        inertia_tensor = mesh.get_inertia_tensor(self.scale) / 2
-    
-        # mass
-        if self.physics_body: inertia_tensor *= self.physics_body.mass
-                
-        # rotation
-        rotation_matrix = glm.mat3_cast(self.rotation.data)
-        inertia_tensor  = rotation_matrix * inertia_tensor * glm.transpose(rotation_matrix)
-        
-        return glm.inverse(inertia_tensor)
-    
-    def get_vertex(self, index) -> glm.vec3:
-        """
-        Gets the world space position of a vertex indicated by the index in the mesh
-        """
-        return glm.vec3(self.model_matrix * glm.vec4(*self.mesh.points[index], 1))
-
-    def get_data(self) -> np.ndarray:
-        """
-        Gets the node batch data for chunk batching
-        """
-        
-        # Get data from the mesh node
-        mesh_data = self.mesh.data
-        node_data = np.array([*self.position, *self.rotation, *self.scale, 0])
-
-        per_vertex_mtl = isinstance(self.material, list)
-
-        if not per_vertex_mtl: node_data[-1] = self.material.index
-
-        # Create an array to hold the node's data
-        width = 25 if not self.mesh.custom else 11 + mesh_data.shape[1]
-        data = np.zeros(shape=(mesh_data.shape[0], width), dtype='f4')
-
-
-        data[:,:mesh_data.shape[1]] = mesh_data
-        data[:,mesh_data.shape[1]:] = node_data
-
-        if per_vertex_mtl: data[:,-1] = self.material
-
-        if self.shader and not self.mesh.custom: data = np.take(data, self.shader.attribute_indices, axis=1)
-
-        return data
-
-    def write_materials(self):
-        """
-        Internal function to write the material list to the material handler and get the material ids
-        """
-
-        if isinstance(self.material, list):
-            mtl_index_list = []
-            for mtl in self._mtl_list:
-                self.engine.material_handler.add(mtl)
-                mtl_index_list.append(mtl.index)
-                mtl_index_list.append(mtl.index)
-                mtl_index_list.append(mtl.index)
-            self._material = mtl_index_list
-
-        if isinstance(self.material, type(None)):
-            self.material = self.engine.material_handler.base
-        
-
-    def __repr__(self) -> str:
-        """
-        Returns a string representation of the node
-        """
-
-        return f'<Bailisk Node | {self.name}, {self.mesh}, ({self.position})>'
-    
-    @property
-    def position(self): return self.internal_position
-    @property
-    def scale(self):    return self.internal_scale
-    @property
-    def rotation(self): return self.internal_rotation
-    @property
-    def forward(self):  return self._forward
-    @property
-    def mesh(self):     return self._mesh
-    @property
-    def material(self): return self._material
-    @property
-    def velocity(self): return self._velocity
-    @property
-    def rotational_velocity(self): return self._rotational_velocity
-    @property
-    def mass(self): 
-        if self.physics_body: return self.physics_body.mass
-        raise RuntimeError('Node: Cannot access the mass of a node that has no physics body')
-    @property
-    def static_friction(self):
-        if self.collider: return self.collider.static_friction
-        raise RuntimeError('Node: Cannot access the static friction of a node that has no collider')
-    @property
-    def kinetic_friction(self):
-        if self.collider: return self.collider.kinetic_friction
-        raise RuntimeError('Node: Cannot access the kinetic friction of a node that has no collider')
-    @property
-    def elasticity(self):
-        if self.collider: return self.collider.elasticity
-        raise RuntimeError('Node: Cannot access the elasticity of a node that has no collider')
-    @property
-    def collision_group(self):
-        if self.collider: return self.collider.collision_group
-        raise RuntimeError('Node: Cannot access the collision_group of a node that has no collider')
-    @property
-    def name(self): return self._name
-    @property
-    def tags(self): return self._tags
-    @property
-    def static(self):
-        return self._static if self._static is not None else not(self.physics or any(self.velocity) or any(self.rotational_velocity) or (self.parent and not self.parent.static))
-    @property
-    def x(self): return self.internal_position.data.x
-    @property
-    def y(self): return self.internal_position.data.y
-    @property
-    def z(self): return self.internal_position.data.z
-    
-    # TODO add descriptions in the class header
-    @property
-    def model_matrix(self): 
-        if self.needs_model_matrix: 
-            self._model_matrix = get_model_matrix(self.position, self.scale, self.rotation)
-            self.needs_model_matrix = False
-        return self._model_matrix
-    @property
-    def geometric_center(self): # assumes the node has a mesh
-        # if not self.mesh: raise RuntimeError('Node: Cannot retrieve geometric center if node does not have mesh')
-        if self.needs_geometric_center: 
-            self._geometric_center = self.model_matrix * self.mesh.geometric_center
-            self.needs_geometric_center = False
-        return self._geometric_center
-    @property
-    def center_of_mass(self): 
-        if not self.mesh: raise RuntimeError('Node: Cannot retrieve center of mass if node does not have mesh')
-        return self.model_matrix * self.mesh.center_of_mass
-    @property
-    def volume(self):
-        if not self.mesh: raise RuntimeError('Node: Cannot retrieve volume if node does not have mesh')
-        return self.mesh.volume * self.scale.x * self.scale.y * self.scale.z
-    
-    @property
-    def physics(self):
-        return bool(self.physics_body)
-    @property
-    def collision(self):
-        return bool(self.collider)
-    
-    @property
-    def collisions(self):
-        assert self.collision, 'Node: Cannot access collision data without collisions enabled on Node'
-        return self.collider.collisions
-    
-    @position.setter
-    def position(self, value: tuple | list | glm.vec3 | np.ndarray):
-        if isinstance(value, glm.vec3): self.internal_position.data = value
-        elif isinstance(value, Vec3): self.internal_position.data = value.data
-        elif isinstance(value, tuple) or isinstance(value, list) or isinstance(value, np.ndarray):
-            if len(value) != 3: raise ValueError(f'Node: Invalid number of values for position. Expected 3, got {len(value)}')
-            self.internal_position.data = glm.vec3(value)
-        else: raise TypeError(f'Node: Invalid position value type {type(value)}')
-        
-        # # compute relative position if all cases passed
-        # if self.parent and self.relative_position: self.relative_position = self.internal_position.data - self.parent.position
-    
-    @scale.setter
-    def scale(self, value: tuple | list | glm.vec3 | np.ndarray):
-        if isinstance(value, glm.vec3): self.internal_scale.data = value
-        elif isinstance(value, Vec3): self.internal_scale.data = value.data
-        elif isinstance(value, tuple) or isinstance(value, list) or isinstance(value, np.ndarray):
-            if len(value) != 3: raise ValueError(f'Node: Invalid number of values for scale. Expected 3, got {len(value)}')
-            self.internal_scale.data = glm.vec3(value)
-        else: raise TypeError(f'Node: Invalid scale value type {type(value)}')
-        
-        # # compute relative scale
-        # if self.parent and self.relative_scale: self.relative_scale = self.internal_scale.data / self.parent.scale
-
-    @rotation.setter
-    def rotation(self, value: tuple | list | glm.vec3 | glm.quat | glm.vec4 | np.ndarray):
-        if isinstance(value, glm.quat) or isinstance(value, glm.vec4) or isinstance(value, glm.vec3): self.internal_rotation.data = glm.quat(value)
-        elif isinstance(value, Quat): self.internal_rotation.data = value.data
-        elif isinstance(value, tuple) or isinstance(value, list) or isinstance(value, np.ndarray):
-            if len(value) == 3: self.internal_rotation.data = glm.quat(glm.vec3(*value))
-            elif len(value) == 4: self.internal_rotation.data = glm.quat(*value)
-            else: raise ValueError(f'Node: Invalid number of values for rotation. Expected 3 or 4, got {len(value)}')
-        else: raise TypeError(f'Node: Invalid rotation value type {type(value)}')
-        
-        # # compute relative rotation
-        # if self.parent and self.relative_rotation: self.relative_rotation = self.rotation * glm.inverse(self.parent.rotation)
-
-    @forward.setter
-    def forward(self, value: tuple | list | glm.vec3 | np.ndarray):
-        if isinstance(value, glm.vec3): self._forward = value
-        elif isinstance(value, tuple) or isinstance(value, list) or isinstance(value, np.ndarray):
-            if len(value) != 3: raise ValueError(f'Node: Invalid number of values for forward. Expected 3, got {len(value)}')
-            self._forward = glm.vec3(value)
-        else: raise TypeError(f'Node: Invalid forward value type {type(value)}')
-        
-    @mesh.setter
-    def mesh(self, value: Mesh | None):
-        if isinstance(value, Mesh):
-            self._mesh = value
-            if self.chunk: self.chunk.update()
-        elif isinstance(value, type(None)):
-            self._mesh = None
-            if not self.chunk: return
-            self.chunk.remove(self)
-            self.chunk.update()
-        else: raise TypeError(f'Node: Invalid mesh value type {type(value)}')
-    
-    @material.setter
-    def material(self, value: Material):
-        if isinstance(value, list):
-            self._mtl_list = value
-            if not self.node_handler: 
-                self._material = value
-            else:
-                mtl_index_list = []
-                for mtl in self._mtl_list:
-                    self.engine.material_handler.add(mtl)
-                    mtl_index_list.append(mtl.index)
-                    mtl_index_list.append(mtl.index)
-                    mtl_index_list.append(mtl.index)
-                self._material = mtl_index_list
-        elif isinstance(value, Material): 
-            self._material = value
-            if self.node_handler: self.engine.material_handler.add(value)
-        elif isinstance(value, type(None)):
-            if self.engine: self._material = self.engine.material_handler.base
-            else: self._material = None
-
-        else: raise TypeError(f'Node: Invalid material value type {type(value)}')
-        if not self.chunk: return
-        self.chunk.node_update_callback(self)
-    
-    @velocity.setter
-    def velocity(self, value: tuple | list | glm.vec3 | np.ndarray | Vec3):
-        if isinstance(value, glm.vec3): self._velocity = glm.vec3(value)
-        elif isinstance(value, Vec3): self._velocity = glm.vec3(value.data)
-        elif isinstance(value, tuple) or isinstance(value, list) or isinstance(value, np.ndarray):
-            if len(value) != 3: raise ValueError(f'Node: Invalid number of values for velocity. Expected 3, got {len(value)}')
-            self._velocity = glm.vec3(value)
-        else: raise TypeError(f'Node: Invalid velocity value type {type(value)}')
-        
-    @rotational_velocity.setter
-    def rotational_velocity(self, value: tuple | list | glm.vec3 | np.ndarray | Vec3):
-        if isinstance(value, glm.vec3): self._rotational_velocity = glm.vec3(value)
-        elif isinstance(value, Vec3): self._rotational_velocity = glm.vec3(value.data)
-        elif isinstance(value, tuple) or isinstance(value, list) or isinstance(value, np.ndarray):
-            if len(value) != 3: raise ValueError(f'Node: Invalid number of values for rotational velocity. Expected 3, got {len(value)}')
-            self._rotational_velocity = glm.vec3(value)
-        else: raise TypeError(f'Node: Invalid rotational velocity value type {type(value)}')
-        
-    @mass.setter
-    def mass(self, value: int | float):
-        if not self.physics_body: raise RuntimeError('Node: Cannot set the mass of a node that has no physics body')
-        if isinstance(value, int) or isinstance(value, float): self.physics_body.mass = value
-        else: raise TypeError(f'Node: Invalid mass value type {type(value)}')
-        
-    @static_friction.setter
-    def static_friction(self, value: int | float):
-        if not self.collider: raise RuntimeError('Node: Cannot set the static friction of a node that has no physics body')
-        if isinstance(value, int) or isinstance(value, float): self.collider.static_friction = value
-        else: raise TypeError(f'Node: Invalid static friction value type {type(value)}')
-    
-    @kinetic_friction.setter
-    def kinetic_friction(self, value: int | float):
-        if not self.collider: raise RuntimeError('Node: Cannot set the kinetic friction of a node that has no physics body')
-        if isinstance(value, int) or isinstance(value, float): self.collider.kinetic_friction = value
-        else: raise TypeError(f'Node: Invalid kinetic friction value type {type(value)}')
-        
-    @elasticity.setter
-    def elasticity(self, value: int | float):
-        if not self.collider: raise RuntimeError('Node: Cannot set the elasticity of a node that has no physics body')
-        if isinstance(value, int) or isinstance(value, float): self.collider.elasticity = value
-        else: raise TypeError(f'Node: Invalid elasticity value type {type(value)}')
-        
-    @collision_group.setter
-    def collision_group(self, value: str):
-        if not self.collider: raise RuntimeError('Node: Cannot set the collision gruop of a node that has no physics body')
-        if isinstance(value, (str, type(None))): self.collider.collision_group = value
-        else: raise TypeError(f'Node: Invalid collision group value type {type(value)}')
-        
-    @name.setter
-    def name(self, value: str):
-        if isinstance(value, str): self._name = value
-        else: raise TypeError(f'Node: Invalid name value type {type(value)}')
-        
-    @tags.setter
-    def tags(self, value: list[str]):
-        if isinstance(value, list) or isinstance(value, tuple):
-            for tag in value:
-                if not isinstance(tag, str): raise TypeError(f'Node: Invalid tag value in tags list of type {type(tag)}')
-            self._tags = value
-        else: raise TypeError(f'Node: Invalid tags value type {type(value)}')
-        
-    @static.setter
-    def static(self, value: bool):
-        self._static = value
-
-    @x.setter
-    def x(self, value: int | float):
-        if isinstance(value, int) or isinstance(value, float): self.internal_position.x = value
-        else: raise TypeError(f'Node: Invalid positional x value type {type(value)}')
-        
-    @y.setter
-    def y(self, value: int | float):
-        if isinstance(value, int) or isinstance(value, float): self.internal_position.y = value
-        else: raise TypeError(f'Node: Invalid positional y value type {type(value)}')
-        
-    @z.setter
-    def z(self, value: int | float):
-        if isinstance(value, int) or isinstance(value, float): self.internal_position.z = value
-        else: raise TypeError(f'Node: Invalid positional z value type {type(value)}')
-        
-    @physics.setter
-    def physics(self, value: bool | PhysicsBody):
-        if not value and self.physics: # remove physics body from self and scene
-            if self.node_handler: self.node_handler.scene.physics_engine.remove(self.physics_body)
-            self.physics_body = None
-        elif isinstance(value, PhysicsBody): # deep copy physics body
-            if self.physics: 
-                self.mass = value.mass
-            else: 
-                self.physics_body = PhysicsBody(value.mass)
-                if self.node_handler: self.physics_body.physics_engine = self.node_handler.scene.physics_engine
-        elif not self.physics:
-            self.physics_body = PhysicsBody(mass = 1)
-            if self.node_handler: self.physics_body.physics_engine = self.node_handler.scene.physics_engine
-
-            
-    @collision.setter
-    def collision(self, value: bool | PhysicsBody):
-        if not value and self.collision:
-            if self.node_handler: self.node_handler.scene.collider_handler.remove(self.collider)
-            self.collider = None
-        elif isinstance(value, Collider):
-            if self.collision:
-                self.kinetic_friction = value.kinetic_friction
-                self.elasticity = value.elasticity
-                self.static_friction = value.static_friction
-            else:
-                self.collider = Collider(self, value.mesh, value.static_friction, value.kinetic_friction, value.elasticity, value.collision_group)
-                if self.node_handler: self.collider.collider_handler = self.node_handler.scene.collider_handler
-        elif not self.collider:
-            self.collider = Collider(self)
+import glm
+import numpy as np
+from .helper import node_is
+from ..generic.vec3 import Vec3
+from ..generic.quat import Quat
+from ..generic.matrices import get_model_matrix
+from ..mesh.mesh import Mesh
+from ..render.material import Material
+from ..physics.physics_body import PhysicsBody
+from ..collisions.collider import Collider
+from ..render.chunk import Chunk
+from ..render.shader import Shader
+
+
+class Node():
+    position: Vec3
+    """The position of the node in meters with swizzle xyz"""
+    scale: Vec3
+    """The scale of the node in meters in each direction"""
+    rotation: Quat
+    """The rotation of the node"""
+    relative_position: bool
+    """The position of this node relative to the parent node"""
+    relative_scale: bool
+    """The scale of this node relative to the parent node"""
+    relative_rotation: bool
+    """The rotation of this node relative to the parent node"""
+    forward: glm.vec3
+    """The forward facing vector of the node"""
+    mesh: Mesh
+    """The mesh of the node stored as a basilisk mesh object"""
+    material: Material
+    """The mesh of the node stored as a basilisk material object"""
+    velocity: glm.vec3
+    """The translational velocity of the node"""
+    rotational_velocity: glm.vec3
+    """The rotational velocity of the node"""
+    physics: bool
+    """Allows the node's movement to be affected by the physics engine and collisions"""
+    mass: float
+    """The mass of the node in kg"""
+    collision: bool
+    """Gives the node collision with other nodes in the scene""" 
+    collider_mesh: str
+    """The collider type of the node. Can be either 'box' or 'mesh'"""
+    static_friction: float
+    """Determines the friction of the node when still: recommended value 0.0 - 1.0"""
+    kinetic_friction: float
+    """Determines the friction of the node when moving: recommended value 0.0 - 1.0"""  
+    elasticity: float
+    """Determines how bouncy an object is: recommended value 0.0 - 1.0"""
+    collision_group: str
+    """Nodes of the same collision group do not collide with each other"""
+    name: str
+    """The name of the node for reference"""  
+    tags: list[str]
+    """Tags are used to sort nodes into separate groups"""
+    static: bool
+    """Objects that don't move should be marked as static"""
+    chunk: Chunk
+    """The parent chunk of the node. Used for callbacks to update chunk meshes"""
+    children: list
+    """List of nodes that this node is a parent of"""
+    shader: Shader
+    """Shader that is used to render the node. If none is given, engine default will be used"""
+
+    def __init__(self,
+            position:            glm.vec3=None, 
+            scale:               glm.vec3=None, 
+            rotation:            glm.quat=None, 
+            relative_position:   bool=True,
+            relative_scale:      bool=True,
+            relative_rotation:   bool=True,
+            forward:             glm.vec3=None, 
+            mesh:                Mesh=None, 
+            material:            Material=None, 
+            velocity:            glm.vec3=None, 
+            rotational_velocity: glm.vec3=None, 
+            physics:             bool=False, 
+            mass:                float=None, 
+            collision:           bool=False, 
+            collider_mesh:       str|Mesh=None, 
+            static_friction:     float=None, 
+            kinetic_friction:    float=None, 
+            elasticity:          float=None, 
+            collision_group:     float=None, 
+            name:                str='', 
+            tags:                list[str]=None,
+            static:              bool=None,
+            shader:              Shader=None
+        ) -> None:
+        """
+        Basilisk node object. 
+        Contains mesh data, translation, material, physics, collider, and descriptive information. 
+        Base building block for populating a Basilisk scene.
+        """
+        
+        # parents
+        self.node_handler = None
+        self.scene        = None
+        self.engine       = None
+        self.chunk        = None
+        self.parent       = None
+        
+        # lazy update variables
+        self.needs_geometric_center = True # pos
+        self.needs_model_matrix = True # pos, scale, rot
+
+        # node data
+        self.internal_position: Vec3 = Vec3(position) if position else Vec3(0, 0, 0)
+        self.internal_scale   : Vec3 = Vec3(scale)    if scale    else Vec3(1, 1, 1)
+        self.internal_rotation: Quat = Quat(rotation) if rotation else Quat(1, 0, 0, 0)
+        
+        # relative transformations
+        self.relative_position = glm.vec3(0, 0, 0)    if relative_position else None
+        self.relative_scale    = glm.vec3(0, 0, 0)    if relative_scale    else None
+        self.relative_rotation = glm.quat(1, 0, 0, 0) if relative_rotation else None
+        
+        self.forward  = forward  if forward  else glm.vec3(1, 0, 0)
+        self.mesh     = mesh
+        self._mtl_list = material if isinstance(material, list) else [material]
+        self.material = material if material else None
+        self.velocity = velocity if velocity else glm.vec3(0, 0, 0)
+        self.rotational_velocity = rotational_velocity if rotational_velocity else glm.vec3(0, 0, 0)
+        
+        self._static = static
+
+        # Physics updates
+        if physics: self.physics_body = PhysicsBody(mass = mass if mass else 1.0)
+        elif mass: raise ValueError('Node: cannot have mass if it does not have physics')
+        else: self.physics_body = None
+        
+        # collider
+        if collision: 
+            self.collider = Collider(
+                node = self,
+                collider_mesh = collider_mesh,
+                static_friction = static_friction,
+                kinetic_friction = kinetic_friction,
+                elasticity = elasticity,
+                collision_group = collision_group
+            )
+        elif collider_mesh:         raise ValueError('Node: cannot have collider mesh if it does not allow collisions')
+        elif static_friction:  raise ValueError('Node: cannot have static friction if it does not allow collisions')
+        elif kinetic_friction: raise ValueError('Node: cannot have kinetic friction if it does not allow collisions')
+        elif elasticity:       raise ValueError('Node: cannot have elasticity if it does not allow collisions')
+        elif collision_group:  raise ValueError('Node: cannot have collider group if it does not allow collisions')
+        else: self.collider = None
+
+        # information and recursion
+        self.name = name
+        self.tags = tags if tags else []
+
+        self.data_index = 0
+        self.children = []
+
+        # Shader given by user or none for default
+        self.shader = shader
+
+        # callback function to be added to the custom Vec3 and Quat classes
+        def position_callback():
+
+            if self.chunk:
+                
+                chunk_size = self.scene.engine.config.chunk_size
+                chunk_pos = self.position // chunk_size
+
+                if self.chunk.position[0] == chunk_pos.x and self.chunk.position[1] == chunk_pos.y and self.chunk.position[2] == chunk_pos.z:
+                    self.chunk.node_update_callback(self)
+                else:
+                    self.chunk.remove(self)
+                    self.chunk.chunk_handler.add(self)
+            
+            # update variables
+            self.needs_geometric_center = True
+            self.needs_model_matrix = True
+            if self.collider:
+                self.collider.needs_bvh = True
+                self.collider.needs_obb = True
+            
+        def scale_callback():
+            if self.chunk:
+                self.chunk.node_update_callback(self)
+            
+            # update variables
+            self.needs_model_matrix = True
+            if self.collider:
+                self.collider.needs_bvh = True
+                self.collider.needs_obb = True
+                self.collider.needs_half_dimensions = True
+            
+        def rotation_callback():
+            if self.chunk:
+                self.chunk.node_update_callback(self)
+            
+            # update variables
+            self.needs_model_matrix = True
+            if self.collider:
+                self.collider.needs_bvh = True
+                self.collider.needs_obb = True
+                self.collider.needs_half_dimensions = True
+        
+        self.internal_position.callback = position_callback
+        self.internal_scale.callback    = scale_callback
+        self.internal_rotation.callback = rotation_callback
+    
+    def init_scene(self, scene: ...) -> None:
+        """
+        Updates the scene of the node
+        """
+        self.scene = scene
+        self.engine = scene.engine
+        self.node_handler = scene.node_handler
+
+        # Update materials
+        self.write_materials()
+
+        # Update the mesh
+        self.mesh = self.mesh if self.mesh else self.engine.cube
+
+        # Update physics and collider
+        if self.physics_body: self.physics_body.physics_engine = scene.physics_engine
+        if self.collider: self.collider.collider_handler = scene.collider_handler
+
+    def update(self, dt: float) -> None:
+        """
+        Updates the node's movement variables based on the delta time
+        """
+        # update based on physical properties
+        if any(self.velocity): self.position += dt * self.velocity
+        if any(self.rotational_velocity): self.rotation = glm.normalize(self.rotation.data - dt / 2 * self.rotation.data * glm.quat(0, *self.rotational_velocity))
+
+        if self.physics_body:
+            self.velocity += self.physics_body.get_delta_velocity(dt)
+            self.rotational_velocity += self.physics_body.get_delta_rotational_velocity(dt)
+            
+        # update children transforms
+        for child in self.children: child.sync_data()
+        
+    def sync_data(self) -> None:
+        """
+        Syncronizes this node with the parent node based on its relative positioning
+        """
+        # calculate transform matrix with the given input
+        transform = glm.mat4x4()
+        if self.relative_position: transform  = glm.translate(transform, self.parent.position.data)
+        if self.relative_rotation: transform *= glm.transpose(glm.mat4_cast(self.parent.rotation.data))
+        if self.relative_scale:    transform  = glm.scale(transform, self.parent.scale.data)
+        
+        # set this node's transforms based on the parent
+        if self.relative_position: self.position = transform * self.relative_position
+        if self.relative_scale:    self.scale = self.relative_scale * self.parent.scale.data
+        if self.relative_rotation: self.rotation = self.relative_rotation * self.parent.rotation.data
+        
+        for child in self.children: child.sync_data()
+        
+    def deep_copy(self) -> ...:
+        """
+        Creates a deep copy of this node and returns it. The new node is not added to the scene.
+        """
+        
+        copy = Node(
+            position = self.position,
+            scale = self.scale,
+            rotation = self.rotation,
+            relative_position = bool(self.relative_position),
+            relative_scale = bool(self.relative_scale),
+            relative_rotation = bool(self.relative_rotation),
+            forward = glm.vec3(self.forward),
+            mesh = self.mesh,
+            material = self.material,
+            velocity = glm.vec3(self.velocity),
+            rotational_velocity = glm.vec3(self.rotational_velocity),
+            physics = bool(self.physics_body),
+            mass = self.mass if self.physics_body else None,
+            collision = bool(self.collider),
+            static_friction = self.static_friction if self.collider else None,
+            kinetic_friction = self.kinetic_friction if self.collider else None,
+            elasticity = self.elasticity if self.collider else None,
+            collision_group = self.collision_group if self.collider else None,
+            name = self.name,
+            tags = [tag for tag in self.tags], # deep copy tags list
+            static = self.static,
+            shader = self.shader
+        )
+        
+        return copy
+    
+    def get_all(self, position: glm.vec3=None, scale: glm.vec3=None, rotation: glm.quat=None, forward: glm.vec3=None, mesh: Mesh=None, material: Material=None, velocity: glm.vec3=None, rotational_velocity: glm.quat=None, physics: bool=None, mass: float=None, collisions: bool=None, static_friction: float=None, kinetic_friction: float=None, elasticity: float=None, collision_group: float=None, name: str=None, tags: list[str]=None,static: bool=None) -> list:
+        nodes = [self] if node_is(self, position, scale, rotation, forward, mesh, material, velocity, rotational_velocity, physics, mass, collisions, static_friction, kinetic_friction, elasticity, collision_group, name, tags, static) else []
+        for node in self.children: nodes += node.get_all(position, scale, rotation, forward, mesh, material, velocity, rotational_velocity, physics, mass, collisions, static_friction, kinetic_friction, elasticity, collision_group, name, tags, static)
+        return nodes
+        
+    # tree functions for managing children 
+    def add(self, child: ..., relative_position: bool=None, relative_scale: bool=None, relative_rotation: glm.vec3=None) -> None:
+        """
+        Adopts a node as a child. Relative transforms can be changed, if left bank they will not be chnaged from the current child nodes settings.
+        """
+        if child in self.children or child is self: return
+        assert isinstance(child, Node), 'Nodes can only accept other Nodes as children.'
+        
+        relative = glm.inverse(self.model_matrix) * child.model_matrix
+        position = glm.vec3(relative[3])
+        scale = glm.vec3([glm.length(relative[i]) for i in range(3)])
+        rotation = child.rotation * glm.inverse(self.rotation.data)
+        
+        # compute relative transformations
+        if relative_position or (relative_position is None and child.relative_position): child.relative_position = position
+        if relative_scale    or (relative_scale    is None and child.relative_scale):    child.relative_scale    = scale
+        if relative_rotation or (relative_rotation is None and child.relative_rotation): child.relative_rotation = rotation
+        
+        # add as a child to by synchronized and controlled
+        if self.node_handler: self.node_handler.add(child)
+        child.parent = self
+        self.children.append(child)
+        
+    def remove(self, child: ...) -> None:
+        """
+        Removes a child node from this nodes chlid list.
+        """
+        if child in self.children: 
+            if self.node_handler: self.node_handler.remove(child)
+            child.parent = None
+            self.children.remove(child)
+        
+    def apply_force(self, force: glm.vec3, dt: float) -> None:
+        """
+        Applies a force at the center of the node
+        """
+        self.apply_offset_force(force, glm.vec3(0.0), dt)
+        
+    def apply_offset_force(self, force: glm.vec3, offset: glm.vec3, dt: float) -> None:
+        """
+        Applies a force at the given offset
+        """
+        # translation
+        assert self.physics_body, 'Node: Cannot apply a force to a node that doesn\'t have a physics body'
+        self.velocity += force / self.mass * dt
+        
+        # rotation
+        torque = glm.cross(offset, force)
+        self.apply_torque(torque, dt)
+        
+    def apply_torque(self, torque: glm.vec3, dt: float) -> None:
+        """
+        Applies a torque on the node
+        """
+        assert self.physics_body, 'Node: Cannot apply a torque to a node that doesn\'t have a physics body'
+        ...
+    
+    # TODO change geometric variables into properties
+    def get_inverse_inertia(self) -> glm.mat3x3:
+        """
+        Transforms the mesh inertia tensor and inverts it
+        """
+        if not ((self.mesh or (self.collider and self.collider.mesh)) and self.physics_body): return None 
+        mesh = self.collider.mesh if self.collider else self.mesh
+        inertia_tensor = mesh.get_inertia_tensor(self.scale) / 2
+    
+        # mass
+        if self.physics_body: inertia_tensor *= self.physics_body.mass
+                
+        # rotation
+        rotation_matrix = glm.mat3_cast(self.rotation.data)
+        inertia_tensor  = rotation_matrix * inertia_tensor * glm.transpose(rotation_matrix)
+        
+        return glm.inverse(inertia_tensor)
+    
+    def get_vertex(self, index) -> glm.vec3:
+        """
+        Gets the world space position of a vertex indicated by the index in the mesh
+        """
+        return glm.vec3(self.model_matrix * glm.vec4(*self.mesh.points[index], 1))
+
+    def get_data(self) -> np.ndarray:
+        """
+        Gets the node batch data for chunk batching
+        """
+        
+        # Get data from the mesh node
+        mesh_data = self.mesh.data
+        node_data = np.array([*self.position, *self.rotation, *self.scale, 0])
+
+        per_vertex_mtl = isinstance(self.material, list)
+
+        if not per_vertex_mtl: node_data[-1] = self.material.index
+
+        # Create an array to hold the node's data
+        width = 25 if not self.mesh.custom else 11 + mesh_data.shape[1]
+        data = np.zeros(shape=(mesh_data.shape[0], width), dtype='f4')
+
+
+        data[:,:mesh_data.shape[1]] = mesh_data
+        data[:,mesh_data.shape[1]:] = node_data
+
+        if per_vertex_mtl: data[:,-1] = self.material
+
+        if self.shader and not self.mesh.custom: data = np.take(data, self.shader.attribute_indices, axis=1)
+
+        return data
+
+    def write_materials(self):
+        """
+        Internal function to write the material list to the material handler and get the material ids
+        """
+
+        if isinstance(self.material, list):
+            mtl_index_list = []
+            for mtl in self._mtl_list:
+                self.engine.material_handler.add(mtl)
+                mtl_index_list.append(mtl.index)
+                mtl_index_list.append(mtl.index)
+                mtl_index_list.append(mtl.index)
+            self._material = mtl_index_list
+
+        if isinstance(self.material, type(None)):
+            self.material = self.engine.material_handler.base
+        
+
+    def __repr__(self) -> str:
+        """
+        Returns a string representation of the node
+        """
+
+        return f'<Bailisk Node | {self.name}, {self.mesh}, ({self.position})>'
+    
+    @property
+    def position(self): return self.internal_position
+    @property
+    def scale(self):    return self.internal_scale
+    @property
+    def rotation(self): return self.internal_rotation
+    @property
+    def forward(self):  return self._forward
+    @property
+    def mesh(self):     return self._mesh
+    @property
+    def material(self): return self._material
+    @property
+    def velocity(self): return self._velocity
+    @property
+    def rotational_velocity(self): return self._rotational_velocity
+    @property
+    def mass(self): 
+        if self.physics_body: return self.physics_body.mass
+        raise RuntimeError('Node: Cannot access the mass of a node that has no physics body')
+    @property
+    def static_friction(self):
+        if self.collider: return self.collider.static_friction
+        raise RuntimeError('Node: Cannot access the static friction of a node that has no collider')
+    @property
+    def kinetic_friction(self):
+        if self.collider: return self.collider.kinetic_friction
+        raise RuntimeError('Node: Cannot access the kinetic friction of a node that has no collider')
+    @property
+    def elasticity(self):
+        if self.collider: return self.collider.elasticity
+        raise RuntimeError('Node: Cannot access the elasticity of a node that has no collider')
+    @property
+    def collision_group(self):
+        if self.collider: return self.collider.collision_group
+        raise RuntimeError('Node: Cannot access the collision_group of a node that has no collider')
+    @property
+    def name(self): return self._name
+    @property
+    def tags(self): return self._tags
+    @property
+    def static(self):
+        return self._static if self._static is not None else not(self.physics or any(self.velocity) or any(self.rotational_velocity) or (self.parent and not self.parent.static))
+    @property
+    def x(self): return self.internal_position.data.x
+    @property
+    def y(self): return self.internal_position.data.y
+    @property
+    def z(self): return self.internal_position.data.z
+    
+    # TODO add descriptions in the class header
+    @property
+    def model_matrix(self): 
+        if self.needs_model_matrix: 
+            self._model_matrix = get_model_matrix(self.position, self.scale, self.rotation)
+            self.needs_model_matrix = False
+        return self._model_matrix
+    @property
+    def geometric_center(self): # assumes the node has a mesh
+        # if not self.mesh: raise RuntimeError('Node: Cannot retrieve geometric center if node does not have mesh')
+        if self.needs_geometric_center: 
+            self._geometric_center = self.model_matrix * self.mesh.geometric_center
+            self.needs_geometric_center = False
+        return self._geometric_center
+    @property
+    def center_of_mass(self): 
+        if not self.mesh: raise RuntimeError('Node: Cannot retrieve center of mass if node does not have mesh')
+        return self.model_matrix * self.mesh.center_of_mass
+    @property
+    def volume(self):
+        if not self.mesh: raise RuntimeError('Node: Cannot retrieve volume if node does not have mesh')
+        return self.mesh.volume * self.scale.x * self.scale.y * self.scale.z
+    
+    @property
+    def physics(self):
+        return bool(self.physics_body)
+    @property
+    def collision(self):
+        return bool(self.collider)
+    
+    @property
+    def collisions(self):
+        assert self.collision, 'Node: Cannot access collision data without collisions enabled on Node'
+        return self.collider.collisions
+    
+    @position.setter
+    def position(self, value: tuple | list | glm.vec3 | np.ndarray):
+        if isinstance(value, glm.vec3): self.internal_position.data = value
+        elif isinstance(value, Vec3): self.internal_position.data = value.data
+        elif isinstance(value, tuple) or isinstance(value, list) or isinstance(value, np.ndarray):
+            if len(value) != 3: raise ValueError(f'Node: Invalid number of values for position. Expected 3, got {len(value)}')
+            self.internal_position.data = glm.vec3(value)
+        else: raise TypeError(f'Node: Invalid position value type {type(value)}')
+        
+        # # compute relative position if all cases passed
+        # if self.parent and self.relative_position: self.relative_position = self.internal_position.data - self.parent.position
+    
+    @scale.setter
+    def scale(self, value: tuple | list | glm.vec3 | np.ndarray):
+        if isinstance(value, glm.vec3): self.internal_scale.data = value
+        elif isinstance(value, Vec3): self.internal_scale.data = value.data
+        elif isinstance(value, tuple) or isinstance(value, list) or isinstance(value, np.ndarray):
+            if len(value) != 3: raise ValueError(f'Node: Invalid number of values for scale. Expected 3, got {len(value)}')
+            self.internal_scale.data = glm.vec3(value)
+        else: raise TypeError(f'Node: Invalid scale value type {type(value)}')
+        
+        # # compute relative scale
+        # if self.parent and self.relative_scale: self.relative_scale = self.internal_scale.data / self.parent.scale
+
+    @rotation.setter
+    def rotation(self, value: tuple | list | glm.vec3 | glm.quat | glm.vec4 | np.ndarray):
+        if isinstance(value, glm.quat) or isinstance(value, glm.vec4) or isinstance(value, glm.vec3): self.internal_rotation.data = glm.quat(value)
+        elif isinstance(value, Quat): self.internal_rotation.data = value.data
+        elif isinstance(value, tuple) or isinstance(value, list) or isinstance(value, np.ndarray):
+            if len(value) == 3: self.internal_rotation.data = glm.quat(glm.vec3(*value))
+            elif len(value) == 4: self.internal_rotation.data = glm.quat(*value)
+            else: raise ValueError(f'Node: Invalid number of values for rotation. Expected 3 or 4, got {len(value)}')
+        else: raise TypeError(f'Node: Invalid rotation value type {type(value)}')
+        
+        # # compute relative rotation
+        # if self.parent and self.relative_rotation: self.relative_rotation = self.rotation * glm.inverse(self.parent.rotation)
+
+    @forward.setter
+    def forward(self, value: tuple | list | glm.vec3 | np.ndarray):
+        if isinstance(value, glm.vec3): self._forward = value
+        elif isinstance(value, tuple) or isinstance(value, list) or isinstance(value, np.ndarray):
+            if len(value) != 3: raise ValueError(f'Node: Invalid number of values for forward. Expected 3, got {len(value)}')
+            self._forward = glm.vec3(value)
+        else: raise TypeError(f'Node: Invalid forward value type {type(value)}')
+        
+    @mesh.setter
+    def mesh(self, value: Mesh | None):
+        if isinstance(value, Mesh):
+            self._mesh = value
+            if self.chunk: self.chunk.update()
+        elif isinstance(value, type(None)):
+            self._mesh = None
+            if not self.chunk: return
+            self.chunk.remove(self)
+            self.chunk.update()
+        else: raise TypeError(f'Node: Invalid mesh value type {type(value)}')
+    
+    @material.setter
+    def material(self, value: Material):
+        if isinstance(value, list):
+            self._mtl_list = value
+            if not self.node_handler: 
+                self._material = value
+            else:
+                mtl_index_list = []
+                for mtl in self._mtl_list:
+                    self.engine.material_handler.add(mtl)
+                    mtl_index_list.append(mtl.index)
+                    mtl_index_list.append(mtl.index)
+                    mtl_index_list.append(mtl.index)
+                self._material = mtl_index_list
+        elif isinstance(value, Material): 
+            self._material = value
+            if self.node_handler: self.engine.material_handler.add(value)
+        elif isinstance(value, type(None)):
+            if self.engine: self._material = self.engine.material_handler.base
+            else: self._material = None
+
+        else: raise TypeError(f'Node: Invalid material value type {type(value)}')
+        if not self.chunk: return
+        self.chunk.node_update_callback(self)
+    
+    @velocity.setter
+    def velocity(self, value: tuple | list | glm.vec3 | np.ndarray | Vec3):
+        if isinstance(value, glm.vec3): self._velocity = glm.vec3(value)
+        elif isinstance(value, Vec3): self._velocity = glm.vec3(value.data)
+        elif isinstance(value, tuple) or isinstance(value, list) or isinstance(value, np.ndarray):
+            if len(value) != 3: raise ValueError(f'Node: Invalid number of values for velocity. Expected 3, got {len(value)}')
+            self._velocity = glm.vec3(value)
+        else: raise TypeError(f'Node: Invalid velocity value type {type(value)}')
+        
+    @rotational_velocity.setter
+    def rotational_velocity(self, value: tuple | list | glm.vec3 | np.ndarray | Vec3):
+        if isinstance(value, glm.vec3): self._rotational_velocity = glm.vec3(value)
+        elif isinstance(value, Vec3): self._rotational_velocity = glm.vec3(value.data)
+        elif isinstance(value, tuple) or isinstance(value, list) or isinstance(value, np.ndarray):
+            if len(value) != 3: raise ValueError(f'Node: Invalid number of values for rotational velocity. Expected 3, got {len(value)}')
+            self._rotational_velocity = glm.vec3(value)
+        else: raise TypeError(f'Node: Invalid rotational velocity value type {type(value)}')
+        
+    @mass.setter
+    def mass(self, value: int | float):
+        if not self.physics_body: raise RuntimeError('Node: Cannot set the mass of a node that has no physics body')
+        if isinstance(value, int) or isinstance(value, float): self.physics_body.mass = value
+        else: raise TypeError(f'Node: Invalid mass value type {type(value)}')
+        
+    @static_friction.setter
+    def static_friction(self, value: int | float):
+        if not self.collider: raise RuntimeError('Node: Cannot set the static friction of a node that has no physics body')
+        if isinstance(value, int) or isinstance(value, float): self.collider.static_friction = value
+        else: raise TypeError(f'Node: Invalid static friction value type {type(value)}')
+    
+    @kinetic_friction.setter
+    def kinetic_friction(self, value: int | float):
+        if not self.collider: raise RuntimeError('Node: Cannot set the kinetic friction of a node that has no physics body')
+        if isinstance(value, int) or isinstance(value, float): self.collider.kinetic_friction = value
+        else: raise TypeError(f'Node: Invalid kinetic friction value type {type(value)}')
+        
+    @elasticity.setter
+    def elasticity(self, value: int | float):
+        if not self.collider: raise RuntimeError('Node: Cannot set the elasticity of a node that has no physics body')
+        if isinstance(value, int) or isinstance(value, float): self.collider.elasticity = value
+        else: raise TypeError(f'Node: Invalid elasticity value type {type(value)}')
+        
+    @collision_group.setter
+    def collision_group(self, value: str):
+        if not self.collider: raise RuntimeError('Node: Cannot set the collision gruop of a node that has no physics body')
+        if isinstance(value, (str, type(None))): self.collider.collision_group = value
+        else: raise TypeError(f'Node: Invalid collision group value type {type(value)}')
+        
+    @name.setter
+    def name(self, value: str):
+        if isinstance(value, str): self._name = value
+        else: raise TypeError(f'Node: Invalid name value type {type(value)}')
+        
+    @tags.setter
+    def tags(self, value: list[str]):
+        if isinstance(value, list) or isinstance(value, tuple):
+            for tag in value:
+                if not isinstance(tag, str): raise TypeError(f'Node: Invalid tag value in tags list of type {type(tag)}')
+            self._tags = value
+        else: raise TypeError(f'Node: Invalid tags value type {type(value)}')
+        
+    @static.setter
+    def static(self, value: bool):
+        self._static = value
+
+    @x.setter
+    def x(self, value: int | float):
+        if isinstance(value, int) or isinstance(value, float): self.internal_position.x = value
+        else: raise TypeError(f'Node: Invalid positional x value type {type(value)}')
+        
+    @y.setter
+    def y(self, value: int | float):
+        if isinstance(value, int) or isinstance(value, float): self.internal_position.y = value
+        else: raise TypeError(f'Node: Invalid positional y value type {type(value)}')
+        
+    @z.setter
+    def z(self, value: int | float):
+        if isinstance(value, int) or isinstance(value, float): self.internal_position.z = value
+        else: raise TypeError(f'Node: Invalid positional z value type {type(value)}')
+        
+    @physics.setter
+    def physics(self, value: bool | PhysicsBody):
+        if not value and self.physics: # remove physics body from self and scene
+            if self.node_handler: self.node_handler.scene.physics_engine.remove(self.physics_body)
+            self.physics_body = None
+        elif isinstance(value, PhysicsBody): # deep copy physics body
+            if self.physics: 
+                self.mass = value.mass
+            else: 
+                self.physics_body = PhysicsBody(value.mass)
+                if self.node_handler: self.physics_body.physics_engine = self.node_handler.scene.physics_engine
+        elif not self.physics:
+            self.physics_body = PhysicsBody(mass = 1)
+            if self.node_handler: self.physics_body.physics_engine = self.node_handler.scene.physics_engine
+
+            
+    @collision.setter
+    def collision(self, value: bool | PhysicsBody):
+        if not value and self.collision:
+            if self.node_handler: self.node_handler.scene.collider_handler.remove(self.collider)
+            self.collider = None
+        elif isinstance(value, Collider):
+            if self.collision:
+                self.kinetic_friction = value.kinetic_friction
+                self.elasticity = value.elasticity
+                self.static_friction = value.static_friction
+            else:
+                self.collider = Collider(self, value.mesh, value.static_friction, value.kinetic_friction, value.elasticity, value.collision_group)
+                if self.node_handler: self.collider.collider_handler = self.node_handler.scene.collider_handler
+        elif not self.collider:
+            self.collider = Collider(self)
             if self.node_handler: self.collider.collider_handler = self.node_handler.scene.collider_handler