diff --git a/Blocks3D.vcproj b/Blocks3D.vcproj
index dd4dfb1..d92fa8e 100644
--- a/Blocks3D.vcproj
+++ b/Blocks3D.vcproj
@@ -172,7 +172,7 @@
 			/>
 			<Tool
 				Name="VCLinkerTool"
-				AdditionalDependencies="Advapi32.lib UxTheme.lib Comctl32.lib Comdlg32.lib Shell32.lib Urlmon.lib ole32.lib oleaut32.lib uuid.lib oded.lib OPCODE_D.lib"
+				AdditionalDependencies="Advapi32.lib UxTheme.lib Comctl32.lib Comdlg32.lib Shell32.lib Urlmon.lib ole32.lib oleaut32.lib uuid.lib ode.lib OPCODE.lib"
 				OutputFile="./Blocks3D-Debug.exe"
 				LinkIncremental="2"
 				SuppressStartupBanner="true"
diff --git a/src/source/DataModelV2/PartInstance.cpp b/src/source/DataModelV2/PartInstance.cpp
index d001057..d6c0410 100644
--- a/src/source/DataModelV2/PartInstance.cpp
+++ b/src/source/DataModelV2/PartInstance.cpp
@@ -156,6 +156,7 @@ PartInstance::PartInstance(const PartInstance &oinst)
 	bottom = oinst.bottom;
 	shape = oinst.shape;
 	changed = true;
+	physBody = NULL;
 }
 
 void PartInstance::setSize(Vector3 newSize)
diff --git a/src/source/XplicitNgine/XplicitNgine.cpp b/src/source/XplicitNgine/XplicitNgine.cpp
index afe5e1d..d7f4c30 100644
--- a/src/source/XplicitNgine/XplicitNgine.cpp
+++ b/src/source/XplicitNgine/XplicitNgine.cpp
@@ -16,7 +16,7 @@ XplicitNgine::XplicitNgine()
 	contactgroup = dJointGroupCreate(0);
 
 	dWorldSetGravity(physWorld, 0, -0.5, 0);
-	dGeomID ground_geom = dCreatePlane(physSpace, 0, 1, 0, 0);
+	//dGeomID ground_geom = dCreatePlane(physSpace, 0, 1, 0, 0);
 }
 
 XplicitNgine::~XplicitNgine() 
@@ -42,16 +42,22 @@ void collisionCallback(void *data, dGeomID o1, dGeomID o2)
 	if (n > 0) {
 		for (i=0; i<n; i++) {
 			contact[i].surface.mode = dContactSlip1 | dContactSlip2 | dContactSoftERP | dContactSoftCFM | dContactApprox1;
-			if (dGeomGetClass(o1) == dSphereClass || dGeomGetClass(o2) == dSphereClass)
-				contact[i].surface.mu = 20;
-			else
-				contact[i].surface.mu = 0.5;
+
+			// Define contact surface properties
+			contact[i].surface.mu = 0.5;
 			contact[i].surface.slip1 = 0.0;
 			contact[i].surface.slip2 = 0.0;
 			contact[i].surface.soft_erp = 0.8;
 			contact[i].surface.soft_cfm = 0.01;
-			dJointID c = dJointCreateContact (g_xplicitNgine->physWorld,g_xplicitNgine->contactgroup,contact+i);
-			dJointAttach (c,dGeomGetBody(o1),dGeomGetBody(o2));
+			
+			// Create joints
+			dJointID c = dJointCreateContact(
+				g_xplicitNgine->physWorld,
+				g_xplicitNgine->contactgroup,
+				contact+i
+			);
+
+			dJointAttach (c,b1,b2);
 		}
 	}
 }
@@ -66,13 +72,14 @@ void XplicitNgine::createBody(PartInstance* partInstance)
 		// init body
 		partInstance->physBody = dBodyCreate(physWorld);
 		
-		// init geom
+		// Create geom
 		partInstance->physGeom[0] = dCreateBox(physSpace,
 			partInstance->getSize()[0],
 			partInstance->getSize()[1],
 			partInstance->getSize()[2]
 		);
 
+		// Debug output
 		dVector3 result;
 		dGeomBoxGetLengths(partInstance->physGeom[0], result);
 		printf("[XplicitNgine] Part Geom Size: %.1f, %.1f, %.1f\n", 
@@ -81,8 +88,8 @@ void XplicitNgine::createBody(PartInstance* partInstance)
 			result[2]
 		);
 
+		// Create rigid body
 		printf("[XplicitNgine] Created Geom for PartInstance\n");
-
 		dBodySetPosition(partInstance->physBody, 
 			partInstance->getPosition()[0],
 			partInstance->getPosition()[1],
@@ -91,22 +98,17 @@ void XplicitNgine::createBody(PartInstance* partInstance)
 
 		printf("[XplicitNgine] Created Body for PartInstance\n");
 		
-		dGeomSetBody(partInstance->physGeom[0], partInstance->physBody);
+		if(!partInstance->anchored)
+			dGeomSetBody(partInstance->physGeom[0], partInstance->physBody);
+
 	} else {
-		// There is 100% a better way of doing this, but for now, anchored parts can be like this?
-		if(partInstance->anchored) {
-			dBodySetPosition(partInstance->physBody, 
-				partInstance->getPosition()[0],
-				partInstance->getPosition()[1],
-				partInstance->getPosition()[2]
-			);
-			
-			dBodySetLinearVel(partInstance->physBody, 0, 0, 0);
-		}
+		if(partInstance->anchored)
+			return;
 
 		const dReal* physPosition = dBodyGetPosition(partInstance->physBody);
 		
-		// I hate matricies
+		// TODO: Rotation code
+		// Probably should be done AFTER we get physics KINDA working!!!
 		const dReal* physRotation = dGeomGetRotation(partInstance->physGeom[0]);
 		partInstance->setPosition(Vector3(physPosition[0], physPosition[1], physPosition[2]));