diff --git a/Assets/CollisionTags.SHConfig b/Assets/CollisionTags.SHConfig
new file mode 100644
index 00000000..18a339dd
--- /dev/null
+++ b/Assets/CollisionTags.SHConfig
@@ -0,0 +1,20 @@
+0 	1
+1 	2
+2 	3
+3 	4
+4 	5
+5 	6
+6 	7
+7 	8
+8 	9
+9 	10
+10 	11
+11 	12
+12 	13
+13 	14
+14 	15
+15 	16
+
+note: 
+All collision tags should follow the above format "index<space>tag name". 
+If it fails to follow this, the default tag names will be used.
\ No newline at end of file
diff --git a/SHADE_Application/premake5.lua b/SHADE_Application/premake5.lua
index faa741a6..014df726 100644
--- a/SHADE_Application/premake5.lua
+++ b/SHADE_Application/premake5.lua
@@ -78,7 +78,10 @@ project "SHADE_Application"
     "26451",
     "26437",
     "4275",
-    "4635"
+    "4633",
+    "4634",
+    "4635",
+    "4638"
   }
 
   linkoptions { "-IGNORE:4006" }
diff --git a/SHADE_Application/src/Application/SBApplication.cpp b/SHADE_Application/src/Application/SBApplication.cpp
index 44d39c1f..5062b4de 100644
--- a/SHADE_Application/src/Application/SBApplication.cpp
+++ b/SHADE_Application/src/Application/SBApplication.cpp
@@ -85,6 +85,7 @@ namespace Sandbox
 
     SHSystemManager::CreateSystem<SHGraphicsSystem>();
     SHGraphicsSystem* graphicsSystem = static_cast<SHGraphicsSystem*>(SHSystemManager::GetSystem<SHGraphicsSystem>());
+    SHPhysicsSystem* physicsSystem = SHSystemManager::GetSystem<SHPhysicsSystem>();
 
     // Link up SHDebugDraw
     SHSystemManager::CreateSystem<SHDebugDrawSystem>();
@@ -176,11 +177,16 @@ namespace Sandbox
 
 #ifdef SHEDITOR
       if(editor->editorState == SHEditor::State::PLAY)
-        SHSceneManager::SceneUpdate(0.016f);
-      SHSystemManager::RunRoutines(editor->editorState != SHEditor::State::PLAY, 0.016f);
-      editor->PollPicking();
-#endif
 
+#endif
+      SHSceneManager::SceneUpdate(0.016f);
+#ifdef SHEDITOR
+      SHSystemManager::RunRoutines(editor->editorState != SHEditor::State::PLAY, SHFrameRateController::GetRawDeltaTime());
+      editor->PollPicking();
+#else
+      SHSystemManager::RunRoutines(false, SHFrameRateController::GetRawDeltaTime());
+#endif
+      // TODO: Move into an Editor menu
       static bool drawColliders = false;
       if (SHInputManager::GetKeyDown(SHInputManager::SH_KEYCODE::F10))
       {
@@ -193,6 +199,13 @@ namespace Sandbox
         drawRays = !drawRays;
         SHSystemManager::GetSystem<SHPhysicsDebugDrawSystem>()->SetDebugDrawFlag(SHPhysicsDebugDrawSystem::DebugDrawFlags::RAYCASTS, drawRays);
       }
+      static bool drawContacts = false;
+      if (SHInputManager::GetKeyDown(SHInputManager::SH_KEYCODE::F9))
+      {
+        drawContacts = !drawContacts;
+        SHSystemManager::GetSystem<SHPhysicsDebugDrawSystem>()->SetDebugDrawFlag(SHPhysicsDebugDrawSystem::DebugDrawFlags::CONTACT_POINTS, drawContacts);
+        SHSystemManager::GetSystem<SHPhysicsDebugDrawSystem>()->SetDebugDrawFlag(SHPhysicsDebugDrawSystem::DebugDrawFlags::CONTACT_NORMALS, drawContacts);
+      }
     }
     // Finish all graphics jobs first
     graphicsSystem->AwaitGraphicsExecution();
diff --git a/SHADE_Application/src/Scenes/SBMainScene.cpp b/SHADE_Application/src/Scenes/SBMainScene.cpp
index a0e80556..929d28fa 100644
--- a/SHADE_Application/src/Scenes/SBMainScene.cpp
+++ b/SHADE_Application/src/Scenes/SBMainScene.cpp
@@ -7,6 +7,7 @@
 #include "Graphics/MiddleEnd/Interface/SHRenderable.h"
 #include "Scene/SHSceneManager.h"
 #include "Graphics/MiddleEnd/Interface/SHGraphicsSystem.h"
+#include "Physics/System/SHPhysicsSystem.h"
 #include "Scripting/SHScriptEngine.h"
 #include "Math/Transform/SHTransformComponent.h"
 #include "Graphics/MiddleEnd/Interface/SHMaterialInstance.h"
@@ -42,6 +43,28 @@ namespace Sandbox
   void SBMainScene::Init()
   {
     sceneName = SHSerialization::DeserializeSceneFromFile(sceneAssetID);
+
+    auto* physicsSystem = SHSystemManager::GetSystem<SHPhysicsSystem>();
+    if (!physicsSystem)
+    {
+      SHLOGV_CRITICAL("Failed to get the physics system for building the scene!")
+      return;
+    }
+
+    physicsSystem->BuildScene(SHSceneManager::GetCurrentSceneGraph());
+
+    /*-----------------------------------------------------------------------*/
+    /* TESTING CODE                                                          */
+    /*-----------------------------------------------------------------------*/
+    //testText = SHEntityManager::CreateEntity<SHTransformComponent, SHTextRendererComponent>(MAX_EID, "Test Text");
+    //auto gfxSystem =SHSystemManager::GetSystem<SHGraphicsSystem>();
+
+    //auto textComp = SHComponentManager::GetComponent<SHTextRendererComponent>(testText);
+
+    //textComp->SetFont(gfxSystem->GetFontLibrary().GetFonts()[0]);
+    /*-----------------------------------------------------------------------*/
+    /* TESTING CODE                                                          */
+    /*-----------------------------------------------------------------------*/
   }
 
   void SBMainScene::Update(float dt)
diff --git a/SHADE_Engine/premake5.lua b/SHADE_Engine/premake5.lua
index 88df50d7..7fb7291d 100644
--- a/SHADE_Engine/premake5.lua
+++ b/SHADE_Engine/premake5.lua
@@ -79,7 +79,10 @@ project "SHADE_Engine"
     "26451",
     "26437",
     "4275",
-    "4635"
+    "4633",
+    "4634",
+    "4635",
+    "4638"
   }
 
   linkoptions { "-IGNORE:4006" }
diff --git a/SHADE_Engine/src/Editor/EditorWindow/Inspector/SHEditorComponentView.hpp b/SHADE_Engine/src/Editor/EditorWindow/Inspector/SHEditorComponentView.hpp
index 386f0988..80ae3331 100644
--- a/SHADE_Engine/src/Editor/EditorWindow/Inspector/SHEditorComponentView.hpp
+++ b/SHADE_Engine/src/Editor/EditorWindow/Inspector/SHEditorComponentView.hpp
@@ -252,7 +252,7 @@ namespace SHADE
       if(rbType == SHRigidBodyComponent::Type::DYNAMIC) //Dynamic only fields
       {
         SHEditorWidgets::CheckBox("Use Gravity", [component]{return component->IsGravityEnabled();}, [component](bool const& value){component->SetGravityEnabled(value);}, "Gravity");
-        SHEditorWidgets::DragFloat("Mass", [component] {return component->GetMass(); }, [component](float const& value) {component->SetMass(value); }, "Mass");
+        //SHEditorWidgets::DragFloat("Mass", [component] {return component->GetMass(); }, [component](float const& value) {component->SetMass(value); }, "Mass");
       }
       if (rbType == SHRigidBodyComponent::Type::DYNAMIC || rbType == SHRigidBodyComponent::Type::KINEMATIC) //Dynamic or Kinematic only fields
       {
@@ -284,6 +284,7 @@ namespace SHADE
       //Debug Info (Read-Only)
       if(ImGui::CollapsingHeader("Debug Information", ImGuiTreeNodeFlags_DefaultOpen))//Dynamic or Kinematic only fields
       {
+        SHEditorWidgets::DragFloat("Mass", [component] { return component->GetMass(); }, [](float value){}, "Mass", 0.1f, 0.0f, std::numeric_limits<float>::infinity(), "%.3f", ImGuiSliderFlags_ReadOnly);
         SHEditorWidgets::DragVec3("Position", { "X", "Y", "Z" }, [component] {return component->GetPosition(); }, [](SHVec3 const& value) {}, false, "Position", 0.1f, "%.3f", 0.0f, 0.0f, ImGuiSliderFlags_ReadOnly);
         SHEditorWidgets::DragVec3("Rotation", { "X", "Y", "Z" }, [component] {return component->GetRotation(); }, [](SHVec3 const& value) {}, false, "Rotation", 0.1f, "%.3f", 0.0f, 0.0f, ImGuiSliderFlags_ReadOnly);
         if (rbType == SHRigidBodyComponent::Type::DYNAMIC || rbType == SHRigidBodyComponent::Type::KINEMATIC) //Dynamic or Kinematic only fields
diff --git a/SHADE_Engine/src/Editor/SHEditorUI.cpp b/SHADE_Engine/src/Editor/SHEditorUI.cpp
index 40e08042..9fdcbde7 100644
--- a/SHADE_Engine/src/Editor/SHEditorUI.cpp
+++ b/SHADE_Engine/src/Editor/SHEditorUI.cpp
@@ -4,9 +4,9 @@
 \par            email: kahwei.tng\@digipen.edu
 \date           Nov 7, 2021
 \brief          Contains the implementation of the EditorUI class.
- 
+
 Copyright (C) 2021 DigiPen Institute of Technology.
-Reproduction or disclosure of this file or its contents without the prior written consent 
+Reproduction or disclosure of this file or its contents without the prior written consent
 of DigiPen Institute of Technology is prohibited.
 *//*************************************************************************************/
 // Precompiled Header
@@ -57,10 +57,10 @@ namespace SHADE
   {
     const bool OPENED = ImGui::CollapsingHeader(title.c_str(), ImGuiTreeNodeFlags_DefaultOpen);
     if (isHovered)
-        *isHovered = ImGui::IsItemHovered();
+      *isHovered = ImGui::IsItemHovered();
     return OPENED;
   }
-  
+
   void SHEditorUI::SameLine()
   {
     ImGui::SameLine();
@@ -98,7 +98,7 @@ namespace SHADE
 
   void SHEditorUI::EndTooltip()
   {
-      ImGui::EndTooltip();
+    ImGui::EndTooltip();
   }
 
   /*-----------------------------------------------------------------------------------*/
@@ -146,7 +146,7 @@ namespace SHADE
 
   bool SHEditorUI::Selectable(const std::string& label)
   {
-  return ImGui::Selectable(label.data());
+    return ImGui::Selectable(label.data());
   }
 
   bool SHEditorUI::Selectable(const std::string& label, const char* icon)
@@ -156,30 +156,41 @@ namespace SHADE
 
   bool SHEditorUI::InputCheckbox(const std::string& label, bool& value, bool* isHovered)
   {
-    ImGui::Text(label.c_str());
+    if (!label.empty())
+    {
+      ImGui::Text(label.c_str());
+      ImGui::SameLine();
+    }
     if (isHovered)
-        *isHovered = ImGui::IsItemHovered();
-    ImGui::SameLine();
+      *isHovered = ImGui::IsItemHovered();
     return ImGui::Checkbox("##", &value);
   }
   bool SHEditorUI::InputInt(const std::string& label, int& value, bool* isHovered)
   {
-    ImGui::Text(label.c_str());
+    if (!label.empty())
+    {
+      ImGui::Text(label.c_str());
+      ImGui::SameLine();
+    }
     if (isHovered)
-        *isHovered = ImGui::IsItemHovered();
+      *isHovered = ImGui::IsItemHovered();
     ImGui::SameLine();
     return ImGui::DragInt("##", &value, 0.001f,
-                           std::numeric_limits<int>::min(),
-                           std::numeric_limits<int>::max(),
-                           "%d",
-                           ImGuiInputTextFlags_EnterReturnsTrue);
+      std::numeric_limits<int>::min(),
+      std::numeric_limits<int>::max(),
+      "%d",
+      ImGuiInputTextFlags_EnterReturnsTrue);
   }
   bool SHEditorUI::InputUnsignedInt(const std::string& label, unsigned int& value, bool* isHovered)
   {
     int signedVal = static_cast<int>(value);
-    ImGui::Text(label.c_str());
+    if (!label.empty())
+    {
+      ImGui::Text(label.c_str());
+      ImGui::SameLine();
+    }
     if (isHovered)
-        *isHovered = ImGui::IsItemHovered();
+      *isHovered = ImGui::IsItemHovered();
     ImGui::SameLine();
     const bool CHANGED = InputInt("##", signedVal);
     if (CHANGED)
@@ -191,15 +202,19 @@ namespace SHADE
   }
   bool SHEditorUI::InputFloat(const std::string& label, float& value, bool* isHovered)
   {
-    ImGui::Text(label.c_str());
+    if (!label.empty())
+    {
+      ImGui::Text(label.c_str());
+      ImGui::SameLine();
+    }
     if (isHovered)
-        *isHovered = ImGui::IsItemHovered();
+      *isHovered = ImGui::IsItemHovered();
     ImGui::SameLine();
     return ImGui::DragFloat("##", &value, 0.001f,
-                             std::numeric_limits<float>::lowest(), 
-                             std::numeric_limits<float>::max(),
-                             "%.3f",
-                             ImGuiInputTextFlags_EnterReturnsTrue);
+      std::numeric_limits<float>::lowest(),
+      std::numeric_limits<float>::max(),
+      "%.3f",
+      ImGuiInputTextFlags_EnterReturnsTrue);
   }
   bool SHEditorUI::InputDouble(const std::string& label, double& value, bool* isHovered)
   {
@@ -213,48 +228,56 @@ namespace SHADE
   }
   bool SHEditorUI::InputSlider(const std::string& label, int min, int max, int& value, bool* isHovered /*= nullptr*/)
   {
+    if (!label.empty())
+    {
       ImGui::Text(label.c_str());
-      if (isHovered)
-          *isHovered = ImGui::IsItemHovered();
       ImGui::SameLine();
-      return ImGui::SliderInt("##", &value,
-          static_cast<float>(min), static_cast<float>(max), "%d",
-          ImGuiInputTextFlags_EnterReturnsTrue);
+    }
+    if (isHovered)
+      *isHovered = ImGui::IsItemHovered();
+    ImGui::SameLine();
+    return ImGui::SliderInt("##", &value,
+      static_cast<float>(min), static_cast<float>(max), "%d",
+      ImGuiInputTextFlags_EnterReturnsTrue);
   }
 
   bool SHEditorUI::InputSlider(const std::string& label, unsigned int min, unsigned int max, unsigned int& value, bool* isHovered /*= nullptr*/)
   {
-      int val = static_cast<int>(value);
-      const bool CHANGED = InputSlider(label, min, max, val, isHovered);
-      if (CHANGED)
-      {
-          value = static_cast<int>(val);
-      }
+    int val = static_cast<int>(value);
+    const bool CHANGED = InputSlider(label, min, max, val, isHovered);
+    if (CHANGED)
+    {
+      value = static_cast<int>(val);
+    }
 
-      return CHANGED;
+    return CHANGED;
   }
 
   bool SHEditorUI::InputSlider(const std::string& label, float min, float max, float& value, bool* isHovered)
   {
+    if (!label.empty())
+    {
       ImGui::Text(label.c_str());
-      if (isHovered)
-          *isHovered = ImGui::IsItemHovered();
       ImGui::SameLine();
-      return ImGui::SliderFloat("##", &value,
-          static_cast<float>(min), static_cast<float>(max), "%.3f",
-          ImGuiInputTextFlags_EnterReturnsTrue);
+    }
+    if (isHovered)
+      *isHovered = ImGui::IsItemHovered();
+    ImGui::SameLine();
+    return ImGui::SliderFloat("##", &value,
+      static_cast<float>(min), static_cast<float>(max), "%.3f",
+      ImGuiInputTextFlags_EnterReturnsTrue);
   }
 
   bool SHEditorUI::InputSlider(const std::string& label, double min, double max, double& value, bool* isHovered /*= nullptr*/)
   {
-      float val = static_cast<float>(value);
-      const bool CHANGED = InputSlider(label, min, max, val, isHovered);
-      if (CHANGED)
-      {
-          value = static_cast<double>(val);
-      }
+    float val = static_cast<float>(value);
+    const bool CHANGED = InputSlider(label, min, max, val, isHovered);
+    if (CHANGED)
+    {
+      value = static_cast<double>(val);
+    }
 
-      return CHANGED;
+    return CHANGED;
   }
 
   bool SHEditorUI::InputVec2(const std::string& label, SHVec2& value, bool* isHovered)
@@ -264,7 +287,7 @@ namespace SHADE
   }
   bool SHEditorUI::InputVec3(const std::string& label, SHVec3& value, bool* isHovered)
   {
-    static const std::vector<std::string> COMPONENT_LABELS = { "X", "Y", "Z"};
+    static const std::vector<std::string> COMPONENT_LABELS = { "X", "Y", "Z" };
     return SHEditorWidgets::DragN<float, 3>(label, COMPONENT_LABELS, { &value.x, &value.y, &value.z }, 0.1f, "%.3f", float{}, float{}, 0, isHovered);
   }
 
@@ -272,9 +295,13 @@ namespace SHADE
   {
     std::array<char, TEXT_FIELD_MAX_LENGTH> buffer = { '\0' };
     strcpy_s(buffer.data(), TEXT_FIELD_MAX_LENGTH, value.c_str());
-    ImGui::Text(label.c_str());
+    if (!label.empty())
+    {
+      ImGui::Text(label.c_str());
+      ImGui::SameLine();
+    }
     if (isHovered)
-        *isHovered = ImGui::IsItemHovered();
+      *isHovered = ImGui::IsItemHovered();
     ImGui::SameLine();
     const bool CHANGED = ImGui::InputText("##", &buffer[0], TEXT_FIELD_MAX_LENGTH);
     if (CHANGED)
@@ -286,7 +313,11 @@ namespace SHADE
 
   bool SHEditorUI::InputGameObjectField(const std::string& label, uint32_t& value, bool* isHovered, bool alwaysNull)
   {
-    ImGui::Text(label.c_str());
+    if (!label.empty())
+    {
+      ImGui::Text(label.c_str());
+      ImGui::SameLine();
+    }
     if (isHovered)
       *isHovered = ImGui::IsItemHovered();
     ImGui::SameLine();
@@ -326,9 +357,13 @@ namespace SHADE
     const std::string& INITIAL_NAME = v >= static_cast<int>(enumNames.size()) ? "Unknown" : enumNames[v];
     bool b = false;
 
-    ImGui::Text(label.c_str());
+    if (!label.empty())
+    {
+      ImGui::Text(label.c_str());
+      ImGui::SameLine();
+    }
     if (isHovered)
-        *isHovered = ImGui::IsItemHovered();
+      *isHovered = ImGui::IsItemHovered();
     ImGui::SameLine();
     if (ImGui::BeginCombo("##", INITIAL_NAME.c_str(), ImGuiComboFlags_None))
     {
diff --git a/SHADE_Engine/src/Graphics/MiddleEnd/Batching/SHSuperBatch.cpp b/SHADE_Engine/src/Graphics/MiddleEnd/Batching/SHSuperBatch.cpp
index 91728d71..ec19691f 100644
--- a/SHADE_Engine/src/Graphics/MiddleEnd/Batching/SHSuperBatch.cpp
+++ b/SHADE_Engine/src/Graphics/MiddleEnd/Batching/SHSuperBatch.cpp
@@ -55,7 +55,7 @@ namespace SHADE
 
   void SHSuperBatch::Remove(const SHRenderable* renderable) noexcept
   {
-    Handle<SHMaterial> baseMat = renderable->GetMaterial()->GetBaseMaterial();
+    Handle<SHMaterial> baseMat = (renderable->HasMaterialChanged() ? renderable->GetPrevMaterial() : renderable->GetMaterial())->GetBaseMaterial();
     const Handle<SHVkPipeline> PIPELINE = baseMat->HasPipelineChanged() ? baseMat->GetPrevPipeline() : baseMat->GetPipeline();
 
     // Check if we have a Batch with the same pipeline yet
diff --git a/SHADE_Engine/src/Graphics/MiddleEnd/Interface/SHGraphicsSystem.cpp b/SHADE_Engine/src/Graphics/MiddleEnd/Interface/SHGraphicsSystem.cpp
index 17dcf2d7..651ad951 100644
--- a/SHADE_Engine/src/Graphics/MiddleEnd/Interface/SHGraphicsSystem.cpp
+++ b/SHADE_Engine/src/Graphics/MiddleEnd/Interface/SHGraphicsSystem.cpp
@@ -119,15 +119,12 @@ namespace SHADE
 
     SHFreetypeInstance::Init();
 
-#ifdef _DEBUG
-    SHAssetManager::CompileAsset("../../Assets/Shaders/Text_VS.glsl", false);
-    SHAssetManager::CompileAsset("../../Assets/Shaders/Text_FS.glsl", false);
-    SHAssetManager::CompileAsset("../../Assets/Shaders/TestCube_VS.glsl", false);
-    SHAssetManager::CompileAsset("../../Assets/Shaders/UI_VS.glsl", false);
-    SHAssetManager::CompileAsset("../../Assets/Shaders/UI_FS.glsl", false);
-    
-    SHAssetManager::CompileAsset("../../Assets/Models/Quad.gltf", false);
-#endif
+    //SHAssetManager::CompileAsset("../../Assets/Shaders/Text_VS.glsl", false);
+    //SHAssetManager::CompileAsset("../../Assets/Shaders/Text_FS.glsl", false);
+    //SHAssetManager::CompileAsset("../../Assets/Shaders/TestCube_VS.glsl", false);
+    //SHAssetManager::CompileAsset("../../Assets/Shaders/UI_VS.glsl", false);
+    //SHAssetManager::CompileAsset("../../Assets/Shaders/UI_FS.glsl", false);
+    //SHAssetManager::CompileAsset("../../Assets/Models/Quad.gltf", false);
 
 
     // Load Built In Shaders
diff --git a/SHADE_Engine/src/Physics/Collision/SHCollisionTagMatrix.cpp b/SHADE_Engine/src/Physics/Collision/SHCollisionTagMatrix.cpp
new file mode 100644
index 00000000..b687c6ca
--- /dev/null
+++ b/SHADE_Engine/src/Physics/Collision/SHCollisionTagMatrix.cpp
@@ -0,0 +1,223 @@
+/****************************************************************************************
+ * \file      SHCollisionTagMatrix.cpp
+ * \author    Diren D Bharwani, diren.dbharwani, 390002520
+ * \brief     Implementation for Collision Tag Matrix for handling sets of Collision Tags.
+ *
+ * \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
+ *            disclosure of this file or its contents without the prior written consent
+ *            of DigiPen Institute of Technology is prohibited.
+****************************************************************************************/
+
+#include <SHpch.h>
+#include <fstream>
+
+// Primary Header
+#include "SHCollisionTagMatrix.h"
+
+namespace SHADE
+{
+  /*-----------------------------------------------------------------------------------*/
+  /* Static Data Member Definitions                                                    */
+  /*-----------------------------------------------------------------------------------*/
+
+  SHCollisionTag SHCollisionTagMatrix::collisionTags[SHCollisionTag::NUM_LAYERS];
+
+  /*-----------------------------------------------------------------------------------*/
+  /* Getter Function Definitions                                                       */
+  /*-----------------------------------------------------------------------------------*/
+
+  const std::string& SHCollisionTagMatrix::GetTagName(int tagIndex)
+  {
+    if (tagIndex < 0 || tagIndex > SHCollisionTag::NUM_LAYERS)
+      throw std::invalid_argument("Index out of range!");
+
+    return collisionTags[tagIndex].GetName();
+  }
+
+  int SHCollisionTagMatrix::GetTagIndex(const std::string& tagName) noexcept
+  {
+    for (int i = 0; i < SHCollisionTag::NUM_LAYERS; ++i)
+    {
+      if (collisionTags[i].GetName() == tagName)
+        return i;
+    }
+
+    SHLOGV_WARNING("Collision Tag {} cannot be found!", tagName)
+    return -1;
+  }
+
+  SHCollisionTag* SHCollisionTagMatrix::GetTag(int tagIndex)
+  {
+    if (tagIndex < 0 || tagIndex > SHCollisionTag::NUM_LAYERS)
+      throw std::invalid_argument("Index out of range!");
+
+    return &collisionTags[tagIndex];
+  }
+
+  SHCollisionTag* SHCollisionTagMatrix::GetTag(const std::string& tagName) noexcept
+  {
+    for (int i = 0; i < SHCollisionTag::NUM_LAYERS; ++i)
+    {
+      if (collisionTags[i].GetName() == tagName)
+        return &collisionTags[i];
+    }
+
+    SHLOGV_WARNING("Collision Tag {} cannot be found!", tagName)
+    return nullptr;
+  }
+
+  /*-----------------------------------------------------------------------------------*/
+  /* Setter Function Definitions                                                       */
+  /*-----------------------------------------------------------------------------------*/
+
+  void SHCollisionTagMatrix::SetTagName(const std::string& oldTagName, const std::string& newTagName) noexcept
+  {
+    for (auto& collisionTag : collisionTags)
+    {
+      if (collisionTag.GetName() != oldTagName)
+        continue;
+
+      collisionTag.SetName(newTagName);
+      return;
+    }
+
+    SHLOGV_WARNING("Collision tag {} cannot be found!", oldTagName)
+  }
+
+  void SHCollisionTagMatrix::SetTag(const std::string& tagName, const SHCollisionTag& newTag) noexcept
+  {
+    for (auto& collisionTag : collisionTags)
+    {
+      if (collisionTag.GetName() != tagName)
+        continue;
+
+      collisionTag = newTag;
+      return;
+    }
+
+    SHLOGV_WARNING("Collision tag {} cannot be found!", tagName)
+  }
+
+  void SHCollisionTagMatrix::SetTag(const std::string& tagName, uint16_t mask) noexcept
+  {
+    for (auto& collisionTag : collisionTags)
+    {
+      if (collisionTag.GetName() != tagName)
+        continue;
+
+      collisionTag.SetMask(mask);
+      return;
+    }
+
+    SHLOGV_WARNING("Collision tag {} cannot be found!", tagName)
+  }
+
+  void SHCollisionTagMatrix::SetTagName(int tagIndex, const std::string& newTagName)
+  {
+     if (tagIndex < 0 || tagIndex > SHCollisionTag::NUM_LAYERS)
+      throw std::invalid_argument("Index out of range!");
+
+     collisionTags[tagIndex].SetName(newTagName);
+  }
+
+  void SHCollisionTagMatrix::SetTag(int tagIndex, const SHCollisionTag& newTag)
+  {
+    if (tagIndex < 0 || tagIndex > SHCollisionTag::NUM_LAYERS)
+      throw std::invalid_argument("Index out of range!");
+
+    collisionTags[tagIndex] = newTag;
+  }
+
+  void SHCollisionTagMatrix::SetTag(int tagIndex, uint16_t mask)
+  {
+    if (tagIndex < 0 || tagIndex > SHCollisionTag::NUM_LAYERS)
+      throw std::invalid_argument("Index out of range!");
+
+    collisionTags[tagIndex].SetMask(mask);
+  }
+
+  /*-----------------------------------------------------------------------------------*/
+  /* Public Function Member Definitions                                                */
+  /*-----------------------------------------------------------------------------------*/
+
+  void SHCollisionTagMatrix::Init(const std::filesystem::path& tagNameFilePath) noexcept
+  {
+    /**
+      * I HATE FILE IO
+      *
+      * Each line in the file should be "index<space>tag name".
+      * If the line fails to follow this format, use the default tag name (index + 1)
+      */
+
+    // Populate tag names with default
+    for (int i = 0; i < SHCollisionTag::NUM_LAYERS; ++i)
+      collisionTags[i].SetName(std::to_string(i + 1));
+
+    std::ifstream collisionTagNamesFile { tagNameFilePath };
+
+    if (!collisionTagNamesFile.is_open())
+    {
+      SHLOG_ERROR("Failed to open file for Collision Tag Names! Default tag names used!")
+      return;
+    }
+
+    std::stringstream ss;
+    std::string line;
+
+    int linesRead = 0;
+    while (std::getline(collisionTagNamesFile, line))
+    {
+      // Do not read anything beyond the first 16 lines
+      if (linesRead >= 16)
+        break;
+
+      ss << line;
+      ++linesRead;
+
+      // First element is index.
+      int tagIndex;
+      ss >> tagIndex;
+
+      // Next element is name of the tag
+      std::string tagName;
+      ss >> tagName;
+
+      // If no tag name read, use default.
+      if (tagName.empty())
+      {
+        SHLOG_ERROR
+        (
+          "Collision tag file line {} does not match the required format of 'index<space>tag name'. Default tag used for index {}"
+        , linesRead + 1
+        , tagIndex
+        )
+
+        // Use default
+        collisionTags[tagIndex].SetName(std::to_string(tagIndex + 1));
+        continue;
+      }
+
+      collisionTags[tagIndex].SetName(tagName);
+
+      ss.clear();
+    }
+
+    collisionTagNamesFile.close();
+  }
+
+  void SHCollisionTagMatrix::Exit(const std::filesystem::path& tagNameFilePath) noexcept
+  {
+    std::ofstream collisionTagNamesFile { tagNameFilePath };
+
+    if (!collisionTagNamesFile.is_open())
+    {
+      SHLOG_ERROR("Failed to open file for Collision Tag Names! Tag names not saved!")
+      return;
+    }
+
+    for (int i = 0; i < SHCollisionTag::NUM_LAYERS; ++i)
+      collisionTagNamesFile << i << " " << collisionTags[i].GetName() << std::endl;
+
+    collisionTagNamesFile.close();
+  }
+} // namespace SHADE
\ No newline at end of file
diff --git a/SHADE_Engine/src/Physics/Collision/SHCollisionTagMatrix.h b/SHADE_Engine/src/Physics/Collision/SHCollisionTagMatrix.h
new file mode 100644
index 00000000..90018fe4
--- /dev/null
+++ b/SHADE_Engine/src/Physics/Collision/SHCollisionTagMatrix.h
@@ -0,0 +1,67 @@
+/****************************************************************************************
+ * \file      SHCollisionTagMatrix.h
+ * \author    Diren D Bharwani, diren.dbharwani, 390002520
+ * \brief     Interface for Collision Tag Matrix for handling sets of Collision Tags.
+ *
+ * \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
+ *            disclosure of this file or its contents without the prior written consent
+ *            of DigiPen Institute of Technology is prohibited.
+****************************************************************************************/
+
+#pragma once
+
+#include <filesystem>
+
+// Project Includes
+#include "SH_API.h"
+#include "SHCollisionTags.h"
+
+namespace SHADE
+{
+  /*-----------------------------------------------------------------------------------*/
+  /* Type Definitions                                                                  */
+  /*-----------------------------------------------------------------------------------*/
+
+  class SH_API SHCollisionTagMatrix
+  {
+  public:
+    /*---------------------------------------------------------------------------------*/
+    /* Getter Functions                                                                */
+    /*---------------------------------------------------------------------------------*/
+
+    [[nodiscard]] static const std::string& GetTagName  (int tagIndex);
+    [[nodiscard]] static int                GetTagIndex (const std::string& tagName) noexcept;
+
+    [[nodiscard]] static SHCollisionTag*    GetTag      (int tagIndex);
+    [[nodiscard]] static SHCollisionTag*    GetTag      (const std::string& tagName) noexcept;
+
+    /*---------------------------------------------------------------------------------*/
+    /* Setter Functions                                                                */
+    /*---------------------------------------------------------------------------------*/
+
+    static void SetTagName (const std::string& oldTagName, const std::string& newTagName)  noexcept;
+    static void SetTag     (const std::string& tagName, const SHCollisionTag& newTag)      noexcept;
+    static void SetTag     (const std::string& tagName, uint16_t mask)                     noexcept;
+
+    // Unsafe Setters: Can throw exceptions
+
+    static void SetTagName (int tagIndex, const std::string& newTagName);
+    static void SetTag     (int tagIndex, const SHCollisionTag& newTag);
+    static void SetTag     (int tagIndex, uint16_t mask);
+
+
+    /*---------------------------------------------------------------------------------*/
+    /* Function Members                                                                */
+    /*---------------------------------------------------------------------------------*/
+
+    static void Init                   (const std::filesystem::path& tagNameFilePath) noexcept;
+    static void Exit                   (const std::filesystem::path& tagNameFilePath) noexcept;
+
+  private:
+    /*---------------------------------------------------------------------------------*/
+    /* Data Members                                                                    */
+    /*---------------------------------------------------------------------------------*/
+
+    static SHCollisionTag collisionTags[SHCollisionTag::NUM_LAYERS];
+  };
+}
\ No newline at end of file
diff --git a/SHADE_Engine/src/Physics/Collision/SHCollisionTags.cpp b/SHADE_Engine/src/Physics/Collision/SHCollisionTags.cpp
new file mode 100644
index 00000000..b1d2d5fc
--- /dev/null
+++ b/SHADE_Engine/src/Physics/Collision/SHCollisionTags.cpp
@@ -0,0 +1,116 @@
+/****************************************************************************************
+ * \file      SHCollisionTags.cpp
+ * \author    Diren D Bharwani, diren.dbharwani, 390002520
+ * \brief     Implementation for Collision Tags for filtering collisions.
+ *
+ * \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
+ *            disclosure of this file or its contents without the prior written consent
+ *            of DigiPen Institute of Technology is prohibited.
+****************************************************************************************/
+
+#include <SHpch.h>
+#include <fstream>
+
+// Primary Header
+#include "SHCollisionTags.h"
+// Project Headers
+#include "Tools/Utilities/SHUtilities.h"
+
+namespace SHADE
+{
+  /*-----------------------------------------------------------------------------------*/
+  /* Constructors & Destructor Definitions                                             */
+  /*-----------------------------------------------------------------------------------*/
+
+  SHCollisionTag::SHCollisionTag() noexcept
+  : mask { SHUtilities::ConvertEnum(Layer::ALL) }
+  {}
+
+  SHCollisionTag::SHCollisionTag(uint16_t _mask) noexcept
+  : mask { _mask }
+  {}
+
+  SHCollisionTag::SHCollisionTag(Layer layer) noexcept
+  : mask { SHUtilities::ConvertEnum(layer) }
+  {}
+
+  /*-----------------------------------------------------------------------------------*/
+  /* Operator Overload Definitions                                                     */
+  /*-----------------------------------------------------------------------------------*/
+
+  bool SHCollisionTag::operator==(const SHCollisionTag& rhs) const noexcept
+  {
+    return mask == rhs.mask;
+  }
+
+  bool SHCollisionTag::operator!=(const SHCollisionTag& rhs) const noexcept
+  {
+    return mask != rhs.mask;
+  }
+
+  SHCollisionTag::operator uint16_t() const noexcept
+  {
+    return mask;
+  }
+
+  /*-----------------------------------------------------------------------------------*/
+  /* Getter Function Definitions                                                       */
+  /*-----------------------------------------------------------------------------------*/
+
+  uint16_t SHCollisionTag::GetMask() const noexcept
+  {
+    return mask;
+  }
+
+  const std::string& SHCollisionTag::GetName() const noexcept
+  {
+    return name;
+  }
+
+  bool SHCollisionTag::GetLayerState(Layer layer) const noexcept
+  {
+    return (mask & SHUtilities::ConvertEnum(layer)) > 0;
+  }
+
+  bool SHCollisionTag::GetLayerState(int layerIndex) const
+  {
+    if (layerIndex < 0 || layerIndex > NUM_LAYERS)
+      throw std::invalid_argument("Index out of range!");
+
+    return (mask & (1U << layerIndex)) > 0;
+  }
+
+  /*-----------------------------------------------------------------------------------*/
+  /* Setter Function Definitions                                                       */
+  /*-----------------------------------------------------------------------------------*/
+
+  void SHCollisionTag::SetMask(uint16_t newMask) noexcept
+  {
+    mask = newMask;
+  }
+
+  void SHCollisionTag::SetName(const std::string_view& newName) noexcept
+  {
+    name = newName;
+  }
+
+  void SHCollisionTag::SetLayerState(Layer layer, bool state) noexcept
+  {
+    const auto VALUE = SHUtilities::ConvertEnum(layer);
+    state ? mask |= VALUE : mask &= ~(VALUE);
+  }
+
+  void SHCollisionTag::SetLayerState(int layerIndex, bool state)
+  {
+    if (layerIndex < 0 || layerIndex > NUM_LAYERS)
+      throw std::invalid_argument("Index out of range!");
+
+    const auto VALUE = 1U << layerIndex;
+    state ? mask |= (VALUE) : mask &= ~(VALUE);
+  }
+} // namespace SHADE
+
+SHADE::SHCollisionTag::Layer operator|(SHADE::SHCollisionTag::Layer lhs, SHADE::SHCollisionTag::Layer rhs) noexcept
+{
+  return static_cast<SHADE::SHCollisionTag::Layer>(SHADE::SHUtilities::ConvertEnum(lhs) | SHADE::SHUtilities::ConvertEnum(rhs));
+}
\ No newline at end of file
diff --git a/SHADE_Engine/src/Physics/Collision/SHCollisionTags.h b/SHADE_Engine/src/Physics/Collision/SHCollisionTags.h
new file mode 100644
index 00000000..9c7b4364
--- /dev/null
+++ b/SHADE_Engine/src/Physics/Collision/SHCollisionTags.h
@@ -0,0 +1,112 @@
+/****************************************************************************************
+ * \file      SHCollisionTags.h
+ * \author    Diren D Bharwani, diren.dbharwani, 390002520
+ * \brief     Interface for Collision Tags for filtering collisions.
+ *
+ * \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
+ *            disclosure of this file or its contents without the prior written consent
+ *            of DigiPen Institute of Technology is prohibited.
+****************************************************************************************/
+
+#pragma once
+
+#include <string>
+
+// Project Headers
+#include "SH_API.h"
+
+namespace SHADE
+{
+  /*-----------------------------------------------------------------------------------*/
+  /* Type Definitions                                                                  */
+  /*-----------------------------------------------------------------------------------*/
+
+  class SH_API SHCollisionTag
+  {
+  public:
+    /*---------------------------------------------------------------------------------*/
+    /* Type Definitions                                                                */
+    /*---------------------------------------------------------------------------------*/
+
+    enum class Layer : uint16_t
+    {
+      _1  = 0x0001
+    , _2  = 0x0002
+    , _3  = 0x0004
+    , _4  = 0x0008
+    , _5  = 0x0010
+    , _6  = 0x0020
+    , _7  = 0x0040
+    , _8  = 0x0080
+    , _9  = 0x0100
+    , _10 = 0x0200
+    , _11 = 0x0400
+    , _12 = 0x0800
+    , _13 = 0x1000
+    , _14 = 0x2000
+    , _15 = 0x4000
+    , _16 = 0x8000
+    , ALL = 0xFFFF
+    };
+
+    /*---------------------------------------------------------------------------------*/
+    /* Data Members                                                                    */
+    /*---------------------------------------------------------------------------------*/
+    static constexpr int NUM_LAYERS = 16;
+
+    /*---------------------------------------------------------------------------------*/
+    /* Constructors & Destructor                                                       */
+    /*---------------------------------------------------------------------------------*/
+
+    SHCollisionTag  ()              noexcept;
+    SHCollisionTag  (uint16_t mask) noexcept;
+    SHCollisionTag  (Layer layer)   noexcept;
+
+    SHCollisionTag  (const SHCollisionTag&) noexcept = default;
+    SHCollisionTag  (SHCollisionTag&&)      noexcept = default;
+    ~SHCollisionTag ()                      = default;
+
+    /*---------------------------------------------------------------------------------*/
+    /* Operator Overloads                                                              */
+    /*---------------------------------------------------------------------------------*/
+
+    SHCollisionTag& operator=(const SHCollisionTag&)  noexcept = default;
+    SHCollisionTag& operator=(SHCollisionTag&&)       noexcept = default;
+
+    [[nodiscard]] bool operator==(const SHCollisionTag& rhs)  const noexcept;
+    [[nodiscard]] bool operator!=(const SHCollisionTag& rhs)  const noexcept;
+
+    operator uint16_t() const noexcept;
+
+    /*---------------------------------------------------------------------------------*/
+    /* Getter Functions                                                                */
+    /*---------------------------------------------------------------------------------*/
+
+    [[nodiscard]] uint16_t            GetMask       ()                const noexcept;
+    [[nodiscard]] const std::string&  GetName       ()                const noexcept;
+    [[nodiscard]] bool                GetLayerState (Layer layer)     const noexcept;
+    [[nodiscard]] bool                GetLayerState (int layerIndex)  const;
+
+    /*---------------------------------------------------------------------------------*/
+    /* Setter Functions                                                                */
+    /*---------------------------------------------------------------------------------*/
+
+    void SetMask        (uint16_t newMask)                noexcept;
+    void SetName        (const std::string_view& newName) noexcept;
+    void SetLayerState  (Layer layer, bool state)         noexcept;
+    void SetLayerState  (int layerIndex, bool state);
+
+  private:
+    /*---------------------------------------------------------------------------------*/
+    /* Data Members                                                                    */
+    /*---------------------------------------------------------------------------------*/
+
+    uint16_t    mask;
+    std::string name;
+  };
+
+} // namespace SHADE
+
+SHADE::SHCollisionTag::Layer SH_API operator|(SHADE::SHCollisionTag::Layer lhs, SHADE::SHCollisionTag::Layer rhs) noexcept;
+
+
diff --git a/SHADE_Engine/src/Physics/Interface/SHColliderComponent.cpp b/SHADE_Engine/src/Physics/Interface/SHColliderComponent.cpp
index 877d238f..135e7e42 100644
--- a/SHADE_Engine/src/Physics/Interface/SHColliderComponent.cpp
+++ b/SHADE_Engine/src/Physics/Interface/SHColliderComponent.cpp
@@ -80,6 +80,14 @@ namespace SHADE
     }
 
     system = physicsSystem;
+
+    // Sync with transform if one already exists
+    if (auto* transformComponent = SHComponentManager::GetComponent_s<SHTransformComponent>(GetEID()); transformComponent)
+    {
+      position    = transformComponent->GetWorldPosition();
+      orientation = transformComponent->GetWorldOrientation();
+      scale       = transformComponent->GetWorldScale();
+    }
   }
 
   void SHColliderComponent::OnDestroy()
diff --git a/SHADE_Engine/src/Physics/Interface/SHCollisionShape.cpp b/SHADE_Engine/src/Physics/Interface/SHCollisionShape.cpp
index 14743845..c8a082a5 100644
--- a/SHADE_Engine/src/Physics/Interface/SHCollisionShape.cpp
+++ b/SHADE_Engine/src/Physics/Interface/SHCollisionShape.cpp
@@ -16,6 +16,7 @@
 #include "Math/Geometry/SHBox.h"
 #include "Math/Geometry/SHSphere.h"
 #include "Math/SHMathHelpers.h"
+#include "Physics/Collision/SHCollisionTagMatrix.h"
 #include "Reflection/SHReflectionMetadata.h"
 #include "SHColliderComponent.h"
 
@@ -26,12 +27,13 @@ namespace SHADE
   /*-----------------------------------------------------------------------------------*/
 
   SHCollisionShape::SHCollisionShape(EntityID eid, Type colliderType, const SHPhysicsMaterial& physicsMaterial)
-  : type      { colliderType }
-  , entityID  { eid }
-  , isTrigger { false }
-  , dirty     { true }
-  , shape     { nullptr }
-  , material  { physicsMaterial }
+  : type          { colliderType }
+  , entityID      { eid }
+  , isTrigger     { false }
+  , dirty         { true }
+  , shape         { nullptr }
+  , material      { physicsMaterial }
+  , collisionTag  { SHCollisionTagMatrix::GetTag(0) }
   {
     switch (type)
     {
@@ -57,6 +59,8 @@ namespace SHADE
   , shape           { nullptr }
   , material        { rhs.material }
   , positionOffset  { rhs.positionOffset }
+  , rotationOffset  { rhs.rotationOffset }
+  , collisionTag    { rhs.collisionTag }
   {
     CopyShape(rhs.shape);
   }
@@ -69,6 +73,8 @@ namespace SHADE
   , shape           { nullptr }
   , material        { rhs.material }
   , positionOffset  { rhs.positionOffset }
+  , rotationOffset  { rhs.rotationOffset }
+  , collisionTag    { rhs.collisionTag }
   {
     CopyShape(rhs.shape);
   }
@@ -93,6 +99,8 @@ namespace SHADE
     dirty           = true;
     material        = rhs.material;
     positionOffset  = rhs.positionOffset;
+    rotationOffset  = rhs.rotationOffset;
+    collisionTag    = rhs.collisionTag;
 
     delete shape;
     CopyShape(rhs.shape);
@@ -108,6 +116,8 @@ namespace SHADE
     dirty           = true;
     material        = rhs.material;
     positionOffset  = rhs.positionOffset;
+    rotationOffset  = rhs.rotationOffset;
+    collisionTag    = rhs.collisionTag;
 
     delete shape;
     CopyShape(rhs.shape);
@@ -134,6 +144,11 @@ namespace SHADE
     return type;
   }
 
+  const SHCollisionTag& SHCollisionShape::GetCollisionTag() const noexcept
+  {
+    return *collisionTag;
+  }
+
   float SHCollisionShape::GetFriction() const noexcept
   {
     return material.GetFriction();
@@ -240,6 +255,12 @@ namespace SHADE
     isTrigger = trigger;
   }
 
+  void SHCollisionShape::SetCollisionTag(SHCollisionTag* newCollisionTag) noexcept
+  {
+    dirty = true;
+    collisionTag = newCollisionTag;
+  }
+
   void SHCollisionShape::SetFriction(float friction) noexcept
   {
     dirty = true;
diff --git a/SHADE_Engine/src/Physics/Interface/SHCollisionShape.h b/SHADE_Engine/src/Physics/Interface/SHCollisionShape.h
index 526428fd..597814a6 100644
--- a/SHADE_Engine/src/Physics/Interface/SHCollisionShape.h
+++ b/SHADE_Engine/src/Physics/Interface/SHCollisionShape.h
@@ -17,6 +17,7 @@
 #include "Math/Geometry/SHShape.h"
 #include "Math/SHQuaternion.h"
 #include "SHPhysicsMaterial.h"
+#include "Physics/Collision/SHCollisionTags.h"
 
 namespace SHADE
 {
@@ -74,6 +75,8 @@ namespace SHADE
 
     [[nodiscard]] Type                      GetType           ()  const noexcept;
 
+    [[nodiscard]] const SHCollisionTag&     GetCollisionTag   ()  const noexcept;
+
     [[nodiscard]] float                     GetFriction       ()  const noexcept;
     [[nodiscard]] float                     GetBounciness     ()  const noexcept;
     [[nodiscard]] float                     GetDensity        ()  const noexcept;
@@ -92,6 +95,7 @@ namespace SHADE
     void    SetBoundingSphere   (float radius);
 
     void    SetIsTrigger        (bool isTrigger)                        noexcept;
+    void    SetCollisionTag     (SHCollisionTag* newCollisionTag)       noexcept;
     void    SetFriction         (float friction)                        noexcept;
     void    SetBounciness       (float bounciness)                      noexcept;
     void    SetDensity          (float density)                         noexcept;
@@ -109,11 +113,15 @@ namespace SHADE
     EntityID          entityID;     // The entity this collider belongs to
     bool              isTrigger;
     bool              dirty;
+
     SHShape*          shape;
     SHPhysicsMaterial material;
+
     SHVec3            positionOffset;
     SHVec3            rotationOffset;
 
+    SHCollisionTag*   collisionTag;
+
     /*---------------------------------------------------------------------------------*/
     /* Function Members                                                                */
     /*---------------------------------------------------------------------------------*/
diff --git a/SHADE_Engine/src/Physics/Interface/SHRigidBodyComponent.cpp b/SHADE_Engine/src/Physics/Interface/SHRigidBodyComponent.cpp
index 28b6f842..4fddc892 100644
--- a/SHADE_Engine/src/Physics/Interface/SHRigidBodyComponent.cpp
+++ b/SHADE_Engine/src/Physics/Interface/SHRigidBodyComponent.cpp
@@ -322,25 +322,25 @@ namespace SHADE
   //  dirtyFlags |= 1U << FLAG_POS;
   //}
 
-  void SHRigidBodyComponent::SetMass(float newMass) noexcept
-  {
-    static constexpr int FLAG_POS = 9;
+  //void SHRigidBodyComponent::SetMass(float newMass) noexcept
+  //{
+  //  static constexpr int FLAG_POS = 9;
 
-    if (newMass < 0.0f)
-      return;
+  //  if (newMass < 0.0f)
+  //    return;
 
-    if (type != Type::DYNAMIC)
-    {
-      SHLOG_WARNING("Cannot set mass of a non-dynamic object {}", GetEID())
-        return;
-    }
+  //  if (type != Type::DYNAMIC)
+  //  {
+  //    SHLOG_WARNING("Cannot set mass of a non-dynamic object {}", GetEID())
+  //      return;
+  //  }
 
-    dirtyFlags |= 1U << FLAG_POS;
-    mass = newMass;
+  //  dirtyFlags |= 1U << FLAG_POS;
+  //  mass = newMass;
 
-    // Turn off automass
-    flags &= ~(1U << FLAG_POS);
-  }
+  //  // Turn off automass
+  //  flags &= ~(1U << FLAG_POS);
+  //}
 
   void SHRigidBodyComponent::SetDrag(float newDrag) noexcept
   {
@@ -411,6 +411,13 @@ namespace SHADE
     }
 
     system = physicsSystem;
+
+    // Sync with transform if one already exists
+    if (auto* transformComponent = SHComponentManager::GetComponent_s<SHTransformComponent>(GetEID()); transformComponent)
+    {
+      position    = transformComponent->GetWorldPosition();
+      orientation = transformComponent->GetWorldOrientation();
+    }
   }
 
   void SHRigidBodyComponent::AddForce(const SHVec3& force) const noexcept
@@ -489,7 +496,7 @@ RTTR_REGISTRATION
 
   registration::class_<SHRigidBodyComponent>("RigidBody Component")
     .property("Type"              , &SHRigidBodyComponent::GetType            , &SHRigidBodyComponent::SetType            )
-    .property("Mass"              , &SHRigidBodyComponent::GetMass            , &SHRigidBodyComponent::SetMass            )
+    //.property("Mass"              , &SHRigidBodyComponent::GetMass            , &SHRigidBodyComponent::SetMass            )
     .property("Drag"              , &SHRigidBodyComponent::GetDrag            , &SHRigidBodyComponent::SetDrag            )
     .property("Angular Drag"      , &SHRigidBodyComponent::GetAngularDrag     , &SHRigidBodyComponent::SetAngularDrag     )
     .property("Use Gravity"       , &SHRigidBodyComponent::IsGravityEnabled   , &SHRigidBodyComponent::SetGravityEnabled  )
diff --git a/SHADE_Engine/src/Physics/Interface/SHRigidBodyComponent.h b/SHADE_Engine/src/Physics/Interface/SHRigidBodyComponent.h
index d5204d94..532b3312 100644
--- a/SHADE_Engine/src/Physics/Interface/SHRigidBodyComponent.h
+++ b/SHADE_Engine/src/Physics/Interface/SHRigidBodyComponent.h
@@ -114,7 +114,7 @@ namespace SHADE
     void SetInterpolate       (bool allowInterpolation)           noexcept;
     //void SetAutoMass          (bool autoMass)                     noexcept;
 
-    void SetMass              (float newMass)                     noexcept;
+    //void SetMass              (float newMass)                     noexcept;
     void SetDrag              (float newDrag)                     noexcept;
     void SetAngularDrag       (float newAngularDrag)              noexcept;
 
diff --git a/SHADE_Engine/src/Physics/PhysicsObject/SHPhysicsObject.cpp b/SHADE_Engine/src/Physics/PhysicsObject/SHPhysicsObject.cpp
index 3cfa3ec9..00f280e9 100644
--- a/SHADE_Engine/src/Physics/PhysicsObject/SHPhysicsObject.cpp
+++ b/SHADE_Engine/src/Physics/PhysicsObject/SHPhysicsObject.cpp
@@ -94,7 +94,7 @@ namespace SHADE
   /* Public Function Member Definitions                                                */
   /*-----------------------------------------------------------------------------------*/
 
-  int SHPhysicsObject::AddCollisionShape(int index) const
+  int SHPhysicsObject::AddCollisionShape(int index)
   {
     // Get collider component
     auto* colliderComponent = SHComponentManager::GetComponent_s<SHColliderComponent>(entityID);
@@ -123,13 +123,19 @@ namespace SHADE
       default: break;
     }
 
-    rp3dBody->updateLocalCenterOfMassFromColliders();
-    rp3dBody->updateLocalInertiaTensorFromColliders();
+    if (rp3dBody->getType() == rp3d::BodyType::DYNAMIC)
+    {
+      rp3dBody->updateMassPropertiesFromColliders();
+
+      auto* rigidBodyComponent = SHComponentManager::GetComponent_s<SHRigidBodyComponent>(entityID);
+      if (rigidBodyComponent)
+        rigidBodyComponent->mass = rp3dBody->getMass();
+    }
 
     return index;
   }
 
-  void SHPhysicsObject::RemoveCollisionShape(int index) const
+  void SHPhysicsObject::RemoveCollisionShape(int index)
   {
     const int NUM_COLLIDERS = static_cast<int>(rp3dBody->getNbColliders());
     if (NUM_COLLIDERS == 0)
@@ -140,6 +146,15 @@ namespace SHADE
 
     auto* collider = rp3dBody->getCollider(index);
     rp3dBody->removeCollider(collider);
+
+    if (rp3dBody->getType() == rp3d::BodyType::DYNAMIC)
+    {
+      rp3dBody->updateMassPropertiesFromColliders();
+
+      auto* rigidBodyComponent = SHComponentManager::GetComponent_s<SHRigidBodyComponent>(entityID);
+      if (rigidBodyComponent)
+        rigidBodyComponent->mass = rp3dBody->getMass();
+    }
   }
 
   void SHPhysicsObject::RemoveAllCollisionShapes() const noexcept
@@ -254,6 +269,8 @@ namespace SHADE
           }
           case 9:   // Mass
           {
+            //rp3dBody->setMass(component.mass);
+
             //if (component.GetAutoMass())
             //{
             //  rp3dBody->updateMassPropertiesFromColliders();
@@ -261,9 +278,9 @@ namespace SHADE
             //}
             //else
             //{
-              rp3dBody->setMass(component.mass);
-              rp3dBody->updateLocalCenterOfMassFromColliders();
-              rp3dBody->updateLocalInertiaTensorFromColliders();
+            //  rp3dBody->setMass(component.mass);
+            //  rp3dBody->updateLocalCenterOfMassFromColliders();
+            //  rp3dBody->updateLocalInertiaTensorFromColliders();
             //}
 
             break;
@@ -309,7 +326,18 @@ namespace SHADE
         default: break;
       }
 
-      syncMaterial(i, collisionShape);
+      // Sync material
+      auto* rp3dCollider = rp3dBody->getCollider(i);
+      auto& rp3dMaterial = rp3dCollider->getMaterial();
+
+      rp3dMaterial.setFrictionCoefficient(collisionShape.GetFriction());
+      rp3dMaterial.setBounciness(collisionShape.GetBounciness());
+      rp3dMaterial.setMassDensity(collisionShape.GetDensity());
+
+      // Sync tags
+      const unsigned short MASK_BITS = collisionShape.GetCollisionTag();
+      rp3dCollider->setCollisionCategoryBits(MASK_BITS);
+      rp3dCollider->setCollideWithMaskBits(MASK_BITS);
 
       collisionShape.dirty = false;
     }
@@ -319,14 +347,6 @@ namespace SHADE
   /* Private Function Member Definitions                                               */
   /*-----------------------------------------------------------------------------------*/
 
-  void SHPhysicsObject::syncMaterial(int colliderIndex, SHCollisionShape& collisionShape) const noexcept
-  {
-    auto& rp3dMaterial = rp3dBody->getCollider(colliderIndex)->getMaterial();
-    rp3dMaterial.setFrictionCoefficient(collisionShape.GetFriction());
-    rp3dMaterial.setBounciness(collisionShape.GetBounciness());
-    rp3dMaterial.setMassDensity(collisionShape.GetDensity());
-  }
-
   void SHPhysicsObject::addBoxShape(SHCollisionShape& boxShape) const noexcept
   {
     const rp3d::Transform OFFSETS
diff --git a/SHADE_Engine/src/Physics/PhysicsObject/SHPhysicsObject.h b/SHADE_Engine/src/Physics/PhysicsObject/SHPhysicsObject.h
index 5a0e62ac..818e5471 100644
--- a/SHADE_Engine/src/Physics/PhysicsObject/SHPhysicsObject.h
+++ b/SHADE_Engine/src/Physics/PhysicsObject/SHPhysicsObject.h
@@ -71,8 +71,8 @@ namespace SHADE
     /* Function Members                                                                */
     /*---------------------------------------------------------------------------------*/
 
-    int   AddCollisionShape         (int index) const;
-    void  RemoveCollisionShape      (int index) const;
+    int   AddCollisionShape         (int index);
+    void  RemoveCollisionShape      (int index);
     void  RemoveAllCollisionShapes  () const noexcept;
 
     void  SyncRigidBody             (SHRigidBodyComponent& component) const noexcept;
@@ -96,16 +96,14 @@ namespace SHADE
     /* Function Members                                                                */
     /*---------------------------------------------------------------------------------*/
 
-    void syncMaterial     (int colliderIndex, SHCollisionShape& collisionShape) const noexcept;
-
     // Box Shapes
 
-    void addBoxShape      (SHCollisionShape& boxShape) const noexcept;
-    void syncBoxShape     (int index, SHCollisionShape& boxShape) const noexcept;
+    void addBoxShape            (SHCollisionShape& boxShape) const noexcept;
+    void syncBoxShape           (int index, SHCollisionShape& boxShape) const noexcept;
 
     // Sphere Shapes
 
-    void addSphereShape   (SHCollisionShape& sphereShape) const noexcept;
-    void syncSphereShape  (int index, SHCollisionShape& sphereShape) const noexcept;
+    void addSphereShape         (SHCollisionShape& sphereShape) const noexcept;
+    void syncSphereShape        (int index, SHCollisionShape& sphereShape) const noexcept;
   };
 } // namespace SHADE
\ No newline at end of file
diff --git a/SHADE_Engine/src/Physics/System/SHPhysicsDebugDrawSystem.cpp b/SHADE_Engine/src/Physics/System/SHPhysicsDebugDrawSystem.cpp
index bf1debac..3c80883c 100644
--- a/SHADE_Engine/src/Physics/System/SHPhysicsDebugDrawSystem.cpp
+++ b/SHADE_Engine/src/Physics/System/SHPhysicsDebugDrawSystem.cpp
@@ -15,6 +15,7 @@
 
 // Project Headers
 #include "ECS_Base/Managers/SHSystemManager.h"
+#include "Editor/SHEditor.h"
 #include "Scene/SHSceneManager.h"
 
 namespace SHADE
@@ -118,11 +119,22 @@ namespace SHADE
       return;
     }
 
+    rp3d::DebugRenderer* rp3dRenderer = nullptr;
+  #ifdef SHEDITOR
+    const auto* EDITOR = SHSystemManager::GetSystem<SHEditor>();
+    if (EDITOR && EDITOR->editorState != SHEditor::State::STOP)
+    {
+      rp3dRenderer = &system->physicsSystem->worldState.world->getDebugRenderer();
+      rp3dRenderer->setIsDebugItemDisplayed(rp3d::DebugRenderer::DebugItem::CONTACT_POINT, false);
+      rp3dRenderer->setIsDebugItemDisplayed(rp3d::DebugRenderer::DebugItem::CONTACT_NORMAL, false);
+    }
+  #endif
+
     for (int i = 0; i < SHUtilities::ConvertEnum(DebugDrawFlags::NUM_FLAGS); ++i)
     {
       const bool DRAW = (system->debugDrawFlags & (1U << i)) > 0;
       if (DRAW)
-        drawFunctions[i](debugDrawSystem);
+        drawFunctions[i](debugDrawSystem, rp3dRenderer);
     }
 
     // Automatically clear the container of raycasts despite debug drawing state
@@ -134,7 +146,7 @@ namespace SHADE
   /* Private Function Member Definitions                                               */
   /*-----------------------------------------------------------------------------------*/
 
-  void SHPhysicsDebugDrawSystem::drawColliders(SHDebugDrawSystem* debugRenderer) noexcept
+  void SHPhysicsDebugDrawSystem::drawColliders(SHDebugDrawSystem* debugRenderer, rp3d::DebugRenderer* rp3dRenderer) noexcept
   {
     const auto& COLLIDER_SET = SHComponentManager::GetDense<SHColliderComponent>();
     for (const auto& COLLIDER : COLLIDER_SET)
@@ -155,27 +167,53 @@ namespace SHADE
     }
   }
 
-  void SHPhysicsDebugDrawSystem::drawColliderAABBs(SHDebugDrawSystem* debugRenderer) noexcept
+  void SHPhysicsDebugDrawSystem::drawColliderAABBs(SHDebugDrawSystem* debugRenderer, rp3d::DebugRenderer* rp3dRenderer) noexcept
   {
     
   }
 
-  void SHPhysicsDebugDrawSystem::drawBroadPhaseAABBs(SHDebugDrawSystem* debugRenderer) noexcept
+  void SHPhysicsDebugDrawSystem::drawBroadPhaseAABBs(SHDebugDrawSystem* debugRenderer, rp3d::DebugRenderer* rp3dRenderer) noexcept
   {
 
   }
 
-  void SHPhysicsDebugDrawSystem::drawContactPoints(SHDebugDrawSystem* debugRenderer) noexcept
+  void SHPhysicsDebugDrawSystem::drawContactPoints(SHDebugDrawSystem* debugRenderer, rp3d::DebugRenderer* rp3dRenderer) noexcept
   {
-    
+  #ifdef SHEDITOR
+    const auto* EDITOR = SHSystemManager::GetSystem<SHEditor>();
+    if (EDITOR && EDITOR->editorState != SHEditor::State::STOP)
+    {
+      rp3dRenderer->setIsDebugItemDisplayed(rp3d::DebugRenderer::DebugItem::CONTACT_POINT, true);
+      const int NUM_TRIS = static_cast<int>(rp3dRenderer->getNbTriangles());
+      if (NUM_TRIS == 0)
+        return;
+
+      const auto& TRI_ARRAY = rp3dRenderer->getTrianglesArray();
+      for (int i = 0; i < NUM_TRIS; ++i)
+        debugRenderer->DrawTri(SHColour::RED, TRI_ARRAY[i].point1, TRI_ARRAY[i].point2, TRI_ARRAY[i].point3);
+    }
+  #endif
   }
 
-  void SHPhysicsDebugDrawSystem::drawContactNormals(SHDebugDrawSystem* debugRenderer) noexcept
+  void SHPhysicsDebugDrawSystem::drawContactNormals(SHDebugDrawSystem* debugRenderer, rp3d::DebugRenderer* rp3dRenderer) noexcept
   {
-    
+  #ifdef SHEDITOR
+    const auto* EDITOR = SHSystemManager::GetSystem<SHEditor>();
+    if (EDITOR && EDITOR->editorState != SHEditor::State::STOP)
+    {
+      rp3dRenderer->setIsDebugItemDisplayed(rp3d::DebugRenderer::DebugItem::CONTACT_NORMAL, true);
+      const int NUM_LINES = static_cast<int>(rp3dRenderer->getNbLines());
+      if (NUM_LINES == 0)
+        return;
+
+      const auto& LINE_ARRAY = rp3dRenderer->getLinesArray();
+      for (int i = 0; i < NUM_LINES; ++i)
+        debugRenderer->DrawLine(SHColour::RED, LINE_ARRAY[i].point1, LINE_ARRAY[i].point2);
+    }
+  #endif
   }
 
-  void SHPhysicsDebugDrawSystem::drawRaycasts(SHDebugDrawSystem* debugRenderer) noexcept
+  void SHPhysicsDebugDrawSystem::drawRaycasts(SHDebugDrawSystem* debugRenderer, rp3d::DebugRenderer* rp3dRenderer) noexcept
   {
     auto* physicsSystem = SHSystemManager::GetSystem<SHPhysicsSystem>();
     if (!physicsSystem)
diff --git a/SHADE_Engine/src/Physics/System/SHPhysicsDebugDrawSystem.h b/SHADE_Engine/src/Physics/System/SHPhysicsDebugDrawSystem.h
index 867a6e11..dc703092 100644
--- a/SHADE_Engine/src/Physics/System/SHPhysicsDebugDrawSystem.h
+++ b/SHADE_Engine/src/Physics/System/SHPhysicsDebugDrawSystem.h
@@ -93,7 +93,7 @@ namespace SHADE
     /* Type Definitions                                                                */
     /*---------------------------------------------------------------------------------*/
 
-    using DebugDrawFunction = void(*)(SHDebugDrawSystem*) noexcept;
+    using DebugDrawFunction = void(*)(SHDebugDrawSystem*, rp3d::DebugRenderer*) noexcept;
 
     /*---------------------------------------------------------------------------------*/
     /* Data Members                                                                    */
@@ -118,12 +118,12 @@ namespace SHADE
 
     // Generic Draw Functions
 
-    static void drawColliders       (SHDebugDrawSystem* debugRenderer) noexcept;
-    static void drawColliderAABBs   (SHDebugDrawSystem* debugRenderer) noexcept;
-    static void drawBroadPhaseAABBs (SHDebugDrawSystem* debugRenderer) noexcept;
-    static void drawContactPoints   (SHDebugDrawSystem* debugRenderer) noexcept;
-    static void drawContactNormals  (SHDebugDrawSystem* debugRenderer) noexcept;
-    static void drawRaycasts        (SHDebugDrawSystem* debugRenderer) noexcept;
+    static void drawColliders       (SHDebugDrawSystem* debugRenderer, rp3d::DebugRenderer* rp3dRenderer) noexcept;
+    static void drawColliderAABBs   (SHDebugDrawSystem* debugRenderer, rp3d::DebugRenderer* rp3dRenderer) noexcept;
+    static void drawBroadPhaseAABBs (SHDebugDrawSystem* debugRenderer, rp3d::DebugRenderer* rp3dRenderer) noexcept;
+    static void drawContactPoints   (SHDebugDrawSystem* debugRenderer, rp3d::DebugRenderer* rp3dRenderer) noexcept;
+    static void drawContactNormals  (SHDebugDrawSystem* debugRenderer, rp3d::DebugRenderer* rp3dRenderer) noexcept;
+    static void drawRaycasts        (SHDebugDrawSystem* debugRenderer, rp3d::DebugRenderer* rp3dRenderer) noexcept;
 
     // Shape Generation Functions
 
diff --git a/SHADE_Engine/src/Physics/System/SHPhysicsSystem.cpp b/SHADE_Engine/src/Physics/System/SHPhysicsSystem.cpp
index f3513ffb..89be2614 100644
--- a/SHADE_Engine/src/Physics/System/SHPhysicsSystem.cpp
+++ b/SHADE_Engine/src/Physics/System/SHPhysicsSystem.cpp
@@ -14,10 +14,12 @@
 #include "SHPhysicsSystem.h"
 
 // Project Headers
+#include "Assets/SHAssetMacros.h"
 #include "ECS_Base/Managers/SHComponentManager.h"
 #include "ECS_Base/Managers/SHEntityManager.h"
 #include "ECS_Base/Managers/SHSystemManager.h"
 #include "Editor/SHEditor.h"
+#include "Physics/Collision/SHCollisionTagMatrix.h"
 #include "Physics/SHPhysicsEvents.h"
 #include "Scene/SHSceneManager.h"
 #include "Scripting/SHScriptEngine.h"
@@ -90,6 +92,18 @@ namespace SHADE
 
   void SHPhysicsSystem::Init()
   {
+    // Initialise collision tags
+    std::filesystem::path defaultCollisionTagNameFilePath { ASSET_ROOT };
+    defaultCollisionTagNameFilePath.append("CollisionTags.SHConfig");
+    SHCollisionTagMatrix::Init(defaultCollisionTagNameFilePath);
+
+    // Link Physics Object Manager with System & Raycaster
+    objectManager.SetFactory(factory);
+    raycaster.SetObjectManager(&objectManager);
+
+    // Link Collision Listener with System
+    collisionListener.BindToSystem(this);
+
     // Subscribe to component events
     const std::shared_ptr ADD_COMPONENT_RECEIVER { std::make_shared<SHEventReceiverSpec<SHPhysicsSystem>>(this, &SHPhysicsSystem::addPhysicsComponent) };
     const ReceiverPtr ADD_COMPONENT_RECEIVER_PTR = std::dynamic_pointer_cast<SHEventReceiver>(ADD_COMPONENT_RECEIVER);
@@ -111,17 +125,66 @@ namespace SHADE
     SHEventManager::SubscribeTo(SH_EDITOR_ON_STOP_EVENT, ON_STOP_RECEIVER_PTR);
 
   #endif
-    // Link Physics Object Manager with System & Raycaster
-    objectManager.SetFactory(factory);
-    raycaster.SetObjectManager(&objectManager);
-
-    // Link Collision Listener with System
-    collisionListener.BindToSystem(this);
+    
   }
 
   void SHPhysicsSystem::Exit()
   {
     worldState.DestroyWorld(factory);
+
+    // Write collision tag names to file
+    std::filesystem::path defaultCollisionTagNameFilePath { ASSET_ROOT };
+    defaultCollisionTagNameFilePath.append("CollisionTags.SHConfig");
+    SHCollisionTagMatrix::Exit(defaultCollisionTagNameFilePath);
+  }
+
+  void SHPhysicsSystem::BuildScene(SHSceneGraph& sceneGraph)
+  {
+    static const auto BUILD_NEW_SCENE_PHYSICS_OBJECT = [&](SHSceneNode* node)
+    {
+      const EntityID EID = node->GetEntityID();
+
+      if (SHComponentManager::HasComponent<SHRigidBodyComponent>(EID))
+        objectManager.AddRigidBody(EID);
+
+      if (SHComponentManager::HasComponent<SHColliderComponent>(EID))
+        objectManager.AddCollider(EID);
+    };
+
+    ////////////////////////////////
+
+    // Destroy an existing world
+    if (worldState.world != nullptr)
+    {
+      objectManager.RemoveAllObjects();
+      objectManager.SetWorld(nullptr);
+
+      collisionListener.ClearContainers();
+      raycaster.ClearFrame();
+
+      worldState.DestroyWorld(factory);
+    }
+
+      worldState.CreateWorld(factory);
+    #ifdef _PUBLISH
+      worldState.world->setIsDebugRenderingEnabled(false);
+    #else
+      worldState.world->setIsDebugRenderingEnabled(true);
+    #endif
+
+    // Link Collision Listener & Raycaster
+    collisionListener.BindToWorld(worldState.world);
+    raycaster.BindToWorld(worldState.world);
+
+    // Link with object manager & create all physics objects
+    objectManager.SetWorld(worldState.world);
+
+    // When building a scene, clear the object manager command queue and build scene objects again.
+    // This is done to avoid duplicate adds.
+    while (!objectManager.commandQueue.empty())
+      objectManager.commandQueue.pop();
+
+    sceneGraph.Traverse(BUILD_NEW_SCENE_PHYSICS_OBJECT);
   }
 
   void SHPhysicsSystem::ForceUpdate()
@@ -216,10 +279,13 @@ namespace SHADE
     {
       objectManager.AddCollisionShape(entityID, index);
 
+      auto* colliderComponent = SHComponentManager::GetComponent<SHColliderComponent>(entityID);
+      auto& collisionShape    = colliderComponent->GetCollisionShape(index);
+
       const SHPhysicsColliderAddedEvent COLLIDER_ADDED_EVENT_DATA
       {
         .entityID       = entityID
-      , .colliderType   = SHComponentManager::GetComponent<SHColliderComponent>(entityID)->GetCollisionShape(index).GetType()
+      , .colliderType   = collisionShape.GetType()
       , .colliderIndex  = index
       };
 
@@ -355,6 +421,11 @@ namespace SHADE
       return onPlayEvent->handle;
 
     worldState.CreateWorld(factory);
+  #ifdef _PUBLISH
+    worldState.world->setIsDebugRenderingEnabled(false);
+  #else
+    worldState.world->setIsDebugRenderingEnabled(true);
+  #endif
 
     // Link Collision Listener & Raycaster
     collisionListener.BindToWorld(worldState.world);
@@ -363,8 +434,8 @@ namespace SHADE
     // Link with object manager & create all physics objects
     objectManager.SetWorld(worldState.world);
 
-    const auto& SCENE_GRAPH = SHSceneManager::GetCurrentSceneGraph();
-    SCENE_GRAPH.Traverse(BUILD_PHYSICS_OBJECT);
+    // Build scene
+    SHSceneManager::GetCurrentSceneGraph().Traverse(BUILD_PHYSICS_OBJECT);
 
     return onPlayEvent->handle;
   }
@@ -378,11 +449,11 @@ namespace SHADE
     // Clear all collision info
     // Collision listener is automatically unbound when world is destroyed
     collisionListener.ClearContainers();
+    raycaster.ClearFrame();
 
     // Destroy the world
     worldState.DestroyWorld(factory);
 
     return onStopEvent->handle;
   }
-
 } // namespace SHADE
\ No newline at end of file
diff --git a/SHADE_Engine/src/Physics/System/SHPhysicsSystem.h b/SHADE_Engine/src/Physics/System/SHPhysicsSystem.h
index f92be4cd..f7340d31 100644
--- a/SHADE_Engine/src/Physics/System/SHPhysicsSystem.h
+++ b/SHADE_Engine/src/Physics/System/SHPhysicsSystem.h
@@ -27,7 +27,7 @@
 #include "Physics/Interface/SHColliderComponent.h"
 #include "Physics/PhysicsObject/SHPhysicsObjectManager.h"
 #include "Physics/SHPhysicsWorld.h"
-
+#include "Scene/SHSceneGraph.h"
 
 namespace SHADE
 {
@@ -74,10 +74,12 @@ namespace SHADE
     /* Function Members                                                                */
     /*---------------------------------------------------------------------------------*/
 
-    void  Init                  () override;
-    void  Exit                  () override;
+    void  Init        () override;
+    void  Exit        () override;
+
+    void  BuildScene  (SHSceneGraph& sceneGraph);
+    void  ForceUpdate ();
 
-    void  ForceUpdate           ();
 
     /**
      * @brief Casts a ray into the world.
@@ -280,11 +282,11 @@ namespace SHADE
     /* Function Members                                                                */
     /*---------------------------------------------------------------------------------*/
 
-    SHEventHandle     addPhysicsComponent     (SHEventPtr addComponentEvent) noexcept;
-    SHEventHandle     removePhysicsComponent  (SHEventPtr removeComponentEvent) noexcept;
-
-    SHEventHandle     onPlay                  (SHEventPtr onPlayEvent);
-    SHEventHandle     onStop                  (SHEventPtr onStopEvent);
+    SHEventHandle addPhysicsComponent     (SHEventPtr addComponentEvent) noexcept;
+    SHEventHandle removePhysicsComponent  (SHEventPtr removeComponentEvent) noexcept;
 
+    SHEventHandle onPlay                  (SHEventPtr onPlayEvent);
+    SHEventHandle onStop                  (SHEventPtr onStopEvent);
+    SHEventHandle buildScene              (SHEventPtr onSceneChangeEvent);
   };
 } // namespace SHADE
\ No newline at end of file
diff --git a/SHADE_Engine/src/Scene/SHSceneGraphEvents.h b/SHADE_Engine/src/Scene/SHSceneEvents.h
similarity index 72%
rename from SHADE_Engine/src/Scene/SHSceneGraphEvents.h
rename to SHADE_Engine/src/Scene/SHSceneEvents.h
index ccdf06be..c0d7dbc1 100644
--- a/SHADE_Engine/src/Scene/SHSceneGraphEvents.h
+++ b/SHADE_Engine/src/Scene/SHSceneEvents.h
@@ -1,7 +1,7 @@
 /****************************************************************************************
- * \file      SHSceneGraphEvents.h
+ * \file      SHSceneEvents.h
  * \author    Diren D Bharwani, diren.dbharwani, 390002520
- * \brief     Interface for Scene Graph Events.
+ * \brief     Interface for Scene Events.
  *
  * \copyright Copyright (C) 2022 DigiPen Institute of Technology. Reproduction or
  *            disclosure of this file or its contents without the prior written consent
@@ -21,21 +21,21 @@ namespace SHADE
 
   struct SHSceneGraphChangeParentEvent
   {
-    SHSceneNode* node;
-    SHSceneNode* oldParent;
-    SHSceneNode* newParent;
+    SHSceneNode* node      = nullptr;
+    SHSceneNode* oldParent = nullptr;
+    SHSceneNode* newParent = nullptr;
   };
 
   struct SHSceneGraphAddChildEvent
   {
-    SHSceneNode* parent;
-    SHSceneNode* childAdded;
+    SHSceneNode* parent     = nullptr;
+    SHSceneNode* childAdded = nullptr;
   };
 
   struct SHSceneGraphRemoveChildEvent
   {
-    SHSceneNode* parent;
-    SHSceneNode* childRemoved;
+    SHSceneNode* parent       = nullptr;
+    SHSceneNode* childRemoved = nullptr;
   };
 
 } // namespace SHADE
\ No newline at end of file
diff --git a/SHADE_Engine/src/Scene/SHSceneGraph.h b/SHADE_Engine/src/Scene/SHSceneGraph.h
index 5747be7b..37d0e063 100644
--- a/SHADE_Engine/src/Scene/SHSceneGraph.h
+++ b/SHADE_Engine/src/Scene/SHSceneGraph.h
@@ -16,7 +16,7 @@
 #include "ECS_Base/Entity/SHEntity.h"
 #include "SH_API.h"
 #include "SHSceneNode.h"
-#include "SHSceneGraphEvents.h"
+#include "SHSceneEvents.h"
 
 namespace SHADE
 {
diff --git a/SHADE_Engine/src/Scene/SHSceneManager.cpp b/SHADE_Engine/src/Scene/SHSceneManager.cpp
index be9c7755..110aaea6 100644
--- a/SHADE_Engine/src/Scene/SHSceneManager.cpp
+++ b/SHADE_Engine/src/Scene/SHSceneManager.cpp
@@ -85,7 +85,6 @@ namespace SHADE
 				currentScene->Load();
 				currentScene->Init();
 			}
-			
 		}
 		else // restarting scene
 		{
diff --git a/SHADE_Engine/src/Scripting/SHScriptEngine.cpp b/SHADE_Engine/src/Scripting/SHScriptEngine.cpp
index 84b50373..90121994 100644
--- a/SHADE_Engine/src/Scripting/SHScriptEngine.cpp
+++ b/SHADE_Engine/src/Scripting/SHScriptEngine.cpp
@@ -27,7 +27,7 @@ of DigiPen Institute of Technology is prohibited.
 #include "Events/SHEventManager.hpp"
 #include "Physics/System/SHPhysicsSystem.h"
 #include "Physics/SHPhysicsEvents.h"
-#include "Scene/SHSceneGraphEvents.h"
+#include "Scene/SHSceneEvents.h"
 
 #include "Assets/SHAssetMacros.h"
 
diff --git a/SHADE_Engine/src/Serialization/SHYAMLConverters.h b/SHADE_Engine/src/Serialization/SHYAMLConverters.h
index eb273a15..06c785ae 100644
--- a/SHADE_Engine/src/Serialization/SHYAMLConverters.h
+++ b/SHADE_Engine/src/Serialization/SHYAMLConverters.h
@@ -116,6 +116,7 @@ namespace YAML
     static constexpr const char* Bounciness = "Bounciness";
     static constexpr const char* Density = "Density";
     static constexpr const char* PositionOffset = "Position Offset";
+    static constexpr const char* RotationOffset = "Rotation Offset";
 
     static Node encode(SHCollisionShape& rhs)
     {
@@ -151,6 +152,7 @@ namespace YAML
       node[Bounciness] = rhs.GetBounciness();
       node[Density] = rhs.GetDensity();
       node[PositionOffset] = rhs.GetPositionOffset();
+      node[RotationOffset] = rhs.GetRotationOffset();
 
       return node;
     }
@@ -191,6 +193,8 @@ namespace YAML
         rhs.SetDensity(node[Density].as<float>());
       if (node[PositionOffset].IsDefined())
         rhs.SetPositionOffset(node[PositionOffset].as<SHVec3>());
+      if (node[RotationOffset].IsDefined())
+        rhs.SetRotationOffset(node[RotationOffset].as<SHVec3>());
 
       return true;
     }
diff --git a/SHADE_Managed/premake5.lua b/SHADE_Managed/premake5.lua
index 2384cae8..70b01e18 100644
--- a/SHADE_Managed/premake5.lua
+++ b/SHADE_Managed/premake5.lua
@@ -62,7 +62,11 @@ project "SHADE_Managed"
 
   disablewarnings
   {
-    "4251"
+    "4251",
+    "4633",
+    "4634",
+    "4635",
+    "4638"
   }
   
   defines
diff --git a/SHADE_Managed/src/Components/RigidBody.cxx b/SHADE_Managed/src/Components/RigidBody.cxx
index cdaa296a..a564402f 100644
--- a/SHADE_Managed/src/Components/RigidBody.cxx
+++ b/SHADE_Managed/src/Components/RigidBody.cxx
@@ -58,7 +58,7 @@ namespace SHADE
     }
     void RigidBody::Mass::set(float value)
     {
-        return GetNativeComponent()->SetMass(value);
+        /*return GetNativeComponent()->SetMass(value);*/
     }
     float RigidBody::Drag::get()
     {
diff --git a/SHADE_Managed/src/Editor/Editor.cxx b/SHADE_Managed/src/Editor/Editor.cxx
index 7b2e0982..beb667e3 100644
--- a/SHADE_Managed/src/Editor/Editor.cxx
+++ b/SHADE_Managed/src/Editor/Editor.cxx
@@ -117,6 +117,12 @@ namespace SHADE
 
         // Header
         SHEditorUI::PushID(index);
+        bool enabled = script->Enabled;
+        if (SHEditorUI::InputCheckbox("", enabled))
+        {
+            script->Enabled = enabled;
+        }
+        SHEditorUI::SameLine();
         if (SHEditorUI::CollapsingHeader(LABEL))
         {
             SHEditorUI::PushID(LABEL);
diff --git a/SHADE_Managed/src/Engine/GameObject.cxx b/SHADE_Managed/src/Engine/GameObject.cxx
index 200b2079..3557e8f1 100644
--- a/SHADE_Managed/src/Engine/GameObject.cxx
+++ b/SHADE_Managed/src/Engine/GameObject.cxx
@@ -54,6 +54,14 @@ namespace SHADE
         return GameObject(ENTITY_ID);
     }
 
+    /*---------------------------------------------------------------------------------*/
+    /* Static Properties                                                               */
+    /*---------------------------------------------------------------------------------*/
+    GameObject GameObject::Null::get()
+    {
+        return GameObject();
+    }
+
     /*---------------------------------------------------------------------------------*/
     /* Properties                                                                      */
     /*---------------------------------------------------------------------------------*/
diff --git a/SHADE_Managed/src/Engine/GameObject.hxx b/SHADE_Managed/src/Engine/GameObject.hxx
index 64d1b428..1ebfc250 100644
--- a/SHADE_Managed/src/Engine/GameObject.hxx
+++ b/SHADE_Managed/src/Engine/GameObject.hxx
@@ -62,6 +62,17 @@ namespace SHADE
         /// <returns>GameObject that has the specified name. Null if not found.</returns>
         static System::Nullable<GameObject> Find(System::String^ name);
 
+        /*-----------------------------------------------------------------------------*/
+        /* Static Properties                                                           */
+        /*-----------------------------------------------------------------------------*/
+        /// <summary>
+        /// Default empty GameObject.
+        /// </summary>
+        static property GameObject Null
+        {
+            GameObject get();
+        }
+
         /*-----------------------------------------------------------------------------*/
         /* Properties                                                                  */
         /*-----------------------------------------------------------------------------*/
diff --git a/SHADE_Managed/src/Scripts/Script.cxx b/SHADE_Managed/src/Scripts/Script.cxx
index a2af38a3..2ee7dbf7 100644
--- a/SHADE_Managed/src/Scripts/Script.cxx
+++ b/SHADE_Managed/src/Scripts/Script.cxx
@@ -22,6 +22,36 @@ of DigiPen Institute of Technology is prohibited.
 
 namespace SHADE
 {
+    /*---------------------------------------------------------------------------------*/
+    /* Properties                                                                      */
+    /*---------------------------------------------------------------------------------*/
+    GameObject Script::Owner::get()
+    {
+        return owner;
+    }
+    GameObject Script::GameObject::get()
+    {
+        return owner;
+    }
+    bool Script::Enabled::get()
+    {
+        return enabled;
+    }
+    void Script::Enabled::set(bool value)
+    {
+        // Same, don't set
+        if (value == enabled)
+            return;
+
+        enabled = value;
+
+        // There's a change, so call the appropriate function
+        if (enabled)
+            OnEnable();
+        else
+            OnDisable();
+    }
+
     /*---------------------------------------------------------------------------------*/
     /* Component Access Functions                                                      */
     /*---------------------------------------------------------------------------------*/
@@ -104,11 +134,10 @@ namespace SHADE
     /*---------------------------------------------------------------------------------*/
     /* "All-time" Lifecycle Functions                                                  */
     /*---------------------------------------------------------------------------------*/
-    void Script::Initialize(GameObject newOwner)
+    void Script::Initialize(SHADE::GameObject newOwner)
     {
         owner = newOwner;
     }
-
     void Script::OnAttached()
     {
         SAFE_NATIVE_CALL_BEGIN
@@ -131,6 +160,12 @@ namespace SHADE
         awake();
         SAFE_NATIVE_CALL_END(this)
     }
+    void Script::OnEnable()
+    {
+        SAFE_NATIVE_CALL_BEGIN
+        onEnable();
+        SAFE_NATIVE_CALL_END(this)
+    }
     void Script::Start()
     {
         SAFE_NATIVE_CALL_BEGIN
@@ -162,6 +197,12 @@ namespace SHADE
         onDrawGizmos();
         SAFE_NATIVE_CALL_END(this)
     }
+    void Script::OnDisable()
+    {
+        SAFE_NATIVE_CALL_BEGIN
+        onDisable();
+        SAFE_NATIVE_CALL_END(this)
+    }
     void Script::OnDestroy()
     {
         SAFE_NATIVE_CALL_BEGIN
@@ -228,6 +269,7 @@ namespace SHADE
     /* Virtual Lifecycle Functions                                                     */
     /*---------------------------------------------------------------------------------*/
     void Script::awake() {}
+    void Script::onEnable() {}
     void Script::start() {}
     void Script::fixedUpdate() {}
     void Script::update() {}
@@ -236,6 +278,7 @@ namespace SHADE
     {
         OnGizmosDrawOverriden = false;
     }
+    void Script::onDisable() {}
     void Script::onDestroy() {}
 
     /*---------------------------------------------------------------------------------*/
diff --git a/SHADE_Managed/src/Scripts/Script.hxx b/SHADE_Managed/src/Scripts/Script.hxx
index 46736245..62c5015c 100644
--- a/SHADE_Managed/src/Scripts/Script.hxx
+++ b/SHADE_Managed/src/Scripts/Script.hxx
@@ -38,11 +38,28 @@ namespace SHADE
         /* Properties                                                                  */
         /*-----------------------------------------------------------------------------*/
         /// <summary>
+        /// GameObject that this Script belongs to. This is a legacy interface, use
+        /// GameObject instead.
+        /// </summary>
+        [System::ObsoleteAttribute("Use GameObject instead.", false)]
+        property SHADE::GameObject Owner
+        {
+            SHADE::GameObject get();
+        }
+        /// <summary>
         /// GameObject that this Script belongs to.
         /// </summary>
-        property GameObject Owner
+        property SHADE::GameObject GameObject
         {
-            GameObject get() { return owner; }
+            SHADE::GameObject get();
+        }
+        /// <summary>
+        /// Whether or not this Script should have it's update functions be executed.
+        /// </summary>
+        property bool Enabled
+        {
+            bool get();
+            void set(bool value);
         }
 
         /*-----------------------------------------------------------------------------*/
@@ -127,7 +144,7 @@ namespace SHADE
         /// </summary>
         /// <typeparam name="T">
         /// Type of script to get.
-        /// This needs to be a default constructable Script.
+        /// This needs to be a default constructible Script.
         /// </typeparam>
         /// <returns>Reference to the script added</returns>
         generic<typename T> where T : ref class, Script
@@ -206,7 +223,7 @@ namespace SHADE
         /// <summary>
         /// Used to initialize a Script with a GameObject.
         /// </summary>
-        void Initialize(GameObject newOwner);
+        void Initialize(SHADE::GameObject newOwner);
         /// <summary>
         /// Used to call onAttached(). This is called immediately when this script is
         /// attached to a GameObject.
@@ -232,6 +249,11 @@ namespace SHADE
         /// </summary>
         void Start();
         /// <summary>
+        /// Used to call onEnable. This should be called right when a script is enabled
+        /// directly.
+        /// </summary>
+        void OnEnable();
+        /// <summary>
         /// Used to call fixedUpdate(). This should be called in sync with Physics
         /// update steps and thus in most cases will execute more than Update() will.
         /// This will be called immediately before a Physics update step.
@@ -253,6 +275,11 @@ namespace SHADE
         /// </summary>
         void OnDrawGizmos();
         /// <summary>
+        /// Used to call onDisable. This should be called right when a script is disabled
+        /// directly.
+        /// </summary>
+        void OnDisable();
+        /// <summary>
         /// Used to call onDestroy(). This should be called at the end of the frame
         /// where the attached GameObject or this script is destroyed directly or
         /// indirectly due to destruction of the owner.
@@ -329,6 +356,10 @@ namespace SHADE
         /// </summary>
         virtual void awake();
         /// <summary>
+        /// Called when this script is enabled.
+        /// </summary>
+        virtual void onEnable();
+        /// <summary>
         /// Called on the first frame that the attached GameObject is active but always
         /// after Awake().
         /// </summary>
@@ -353,6 +384,10 @@ namespace SHADE
         /// </summary>
         virtual void onDrawGizmos();
         /// <summary>
+        /// Called when this script is disabled.
+        /// </summary>
+        virtual void onDisable();
+        /// <summary>
         /// Called just before the end of the frame where the attached GameObject or
         /// this script is destroyed directly or indirectly due to destruction of the
         /// owner.
@@ -403,7 +438,8 @@ namespace SHADE
         /*-----------------------------------------------------------------------------*/
         /* Data Members                                                                */
         /*-----------------------------------------------------------------------------*/
-        GameObject owner;
+        SHADE::GameObject owner;
+        bool enabled = true;
     };
 
 }
diff --git a/SHADE_Managed/src/Scripts/ScriptStore.cxx b/SHADE_Managed/src/Scripts/ScriptStore.cxx
index 29ba6e52..96eb7361 100644
--- a/SHADE_Managed/src/Scripts/ScriptStore.cxx
+++ b/SHADE_Managed/src/Scripts/ScriptStore.cxx
@@ -528,7 +528,8 @@ namespace SHADE
             ScriptList^ scripts = entity.Value;
             for (int i = 0; i < scripts->Count; ++i)
             {
-                scripts[i]->FixedUpdate();
+                if (scripts[i]->Enabled)
+                    scripts[i]->FixedUpdate();
             }
         }
         SAFE_NATIVE_CALL_END_N("SHADE_Managed.ScriptStore")
@@ -546,7 +547,8 @@ namespace SHADE
             ScriptList^ scripts = entity.Value;
             for (int i = 0; i < scripts->Count; ++i)
             {
-                scripts[i]->Update();
+                if (scripts[i]->Enabled)
+                    scripts[i]->Update();
             }
         }
         SAFE_NATIVE_CALL_END_N("SHADE_Managed.ScriptStore")
@@ -564,7 +566,8 @@ namespace SHADE
             ScriptList^ scripts = entity.Value;
             for (int i = 0; i < scripts->Count; ++i)
             {
-                scripts[i]->LateUpdate();
+                if (scripts[i]->Enabled)
+                    scripts[i]->LateUpdate();
             }
         }
         SAFE_NATIVE_CALL_END_N("SHADE_Managed.ScriptStore")
@@ -583,7 +586,8 @@ namespace SHADE
             ScriptList^ scripts = entity.Value;
             for (int i = 0; i < scripts->Count; ++i)
             {
-                scripts[i]->OnDrawGizmos();
+                if (scripts[i]->Enabled)
+                    scripts[i]->OnDrawGizmos();
             }
         }
         SAFE_NATIVE_CALL_END_N("SHADE_Managed.ScriptStore")