Random uint util

Changed the profiler into a node based system for better data access, more overhead than the simple struct+depth info but can hold more detail and less post processing of data
Profiler now also profiles threads
Added some test profile tags
The profiler window now also has a FlameGraph

.gitmodules

@@ -16,3 +16,6 @@
 [submodule "Nerfed.Runtime/Libraries/ImGui.NET"]
 	path = Nerfed.Runtime/Libraries/ImGui.NET
 	url = https://github.com/ImGuiNET/ImGui.NET.git
+[submodule "Nerfed.Runtime/Libraries/MoonTools.ECS"]
+	path = Nerfed.Runtime/Libraries/MoonTools.ECS
+	url = https://github.com/MoonsideGames/MoonTools.ECS.git

.idea/.idea.Nerfed/.idea/vcs.xml

@@ -4,6 +4,7 @@
     <mapping directory="" vcs="Git" />
     <mapping directory="$PROJECT_DIR$/Nerfed.Runtime/Libraries/FAudio" vcs="Git" />
     <mapping directory="$PROJECT_DIR$/Nerfed.Runtime/Libraries/ImGui.NET" vcs="Git" />
+    <mapping directory="$PROJECT_DIR$/Nerfed.Runtime/Libraries/MoonTools.ECS" vcs="Git" />
     <mapping directory="$PROJECT_DIR$/Nerfed.Runtime/Libraries/RefreshCS" vcs="Git" />
     <mapping directory="$PROJECT_DIR$/Nerfed.Runtime/Libraries/SDL2CS" vcs="Git" />
     <mapping directory="$PROJECT_DIR$/Nerfed.Runtime/Libraries/WellspringCS" vcs="Git" />

Nerfed.Editor/Components/HierachyComponents.cs

@@ -0,0 +1,4 @@
+namespace Nerfed.Editor.Components;
+
+public readonly record struct SelectedInHierachy;
+public readonly record struct ClickedInHierachy;

Nerfed.Editor/Editor/EditorGui.cs

@@ -66,6 +66,12 @@ private static void HandleOnGui()
             UpdateDock();
 
             ImGui.ShowDemoWindow();
+
+            foreach (MoonTools.ECS.System system in Program.editorSystems)
+            {
+                using ProfilerScope scope = new(system.GetType().Name);
+                system.Update(Engine.Timestep);
+            }
         }
     }
 }

Nerfed.Editor/Nerfed.Editor.csproj

@@ -9,6 +9,7 @@
         <IsPackable>false</IsPackable>
         <Configurations>Debug;Test;Release</Configurations>
         <Platforms>x64</Platforms>
+        <AllowUnsafeBlocks>true</AllowUnsafeBlocks>
     </PropertyGroup>
 
     <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|x64' ">

Nerfed.Editor/Program.cs

@@ -1,9 +1,19 @@
-using Nerfed.Runtime;
+using MoonTools.ECS;
+using Nerfed.Editor.Systems;
+using Nerfed.Runtime;
+using Nerfed.Runtime.Components;
+using Nerfed.Runtime.Systems;
+using Nerfed.Runtime.Util;
+using System.Numerics;
 
 namespace Nerfed.Editor;
 
 internal class Program
 {
+    private static readonly World world = new World();
+    private static List<MoonTools.ECS.System> systems = new List<MoonTools.ECS.System>();
+    public static List<MoonTools.ECS.System> editorSystems = new List<MoonTools.ECS.System>();
+
     private static void Main(string[] args)
     {
         Engine.OnInitialize += HandleOnInitialize;
@@ -16,6 +26,45 @@ private static void Main(string[] args)
 
     private static void HandleOnInitialize()
     {
+        //systems.Add(new ParentSystem(world));
+        systems.Add(new LocalToWorldSystem(world));
+        editorSystems.Add(new EditorProfilerWindow(world));
+        editorSystems.Add(new EditorHierarchyWindow(world));
+#if DEBUG
+        editorSystems.Add(new EditorInspectorWindow(world));
+#endif
+
+        Entity ent1 = world.CreateEntity("parent");
+        world.Set(ent1, new Root());
+        world.Set(ent1, new LocalTransform(new Vector3(1, 0, 0), Quaternion.Identity, Vector3.One));
+
+        Entity ent2 = world.CreateEntity("child");
+        world.Set(ent2, new LocalTransform(new Vector3(0, 1, 0), Quaternion.Identity, Vector3.One));
+        Transform.SetParent(world, ent2, ent1);
+
+        Entity ent3 = world.CreateEntity("entity3");
+        world.Set(ent3, new Root());
+        Transform.SetParent(world, ent3, ent2);
+
+        Entity ent4 = world.CreateEntity("entity4");
+        world.Set(ent4, new Root());
+
+        Entity ent5 = world.CreateBaseEntity("entity5");
+
+        for (int i = 0; i < 256; i++)
+        {
+            Entity newEnt = world.CreateBaseEntity();
+            world.Set(newEnt, new LocalTransform(new Vector3(i, i, i), Quaternion.Identity, Vector3.One));
+
+            Entity parent = newEnt;
+            for (int j = 0; j < 2; j++) {
+                Entity newChildEnt = world.CreateEntity();
+                world.Set(newChildEnt, new LocalTransform(new Vector3(i + j * i, i - j * i, j - i * i), Quaternion.Identity, Vector3.One));
+                Transform.SetParent(world, newChildEnt, parent);
+                parent = newChildEnt;
+            }
+        }
+
         // Open project.
         // Setip EditorGui.
         EditorGui.Initialize();
@@ -23,16 +72,32 @@ private static void HandleOnInitialize()
 
     private static void HandleOnUpdate()
     {
-        // Editor Update.
-        EditorGui.Update();
+        foreach (MoonTools.ECS.System system in systems)
+        {
+            using ProfilerScope scope = new(system.GetType().Name);
+            system.Update(Engine.Timestep);
+        }
 
+        using (new ProfilerScope("EditorGui.Update"))
+        {
+            // Editor Update.
+            EditorGui.Update();
+        }
 
         // Try Catch UserCode Update.
+
+        using (new ProfilerScope("world.FinishUpdate"))
+        {
+            world.FinishUpdate();
+        }
     }
 
     private static void HandleOnRender()
     {
-        EditorGui.Render();
+        using (new ProfilerScope("EditorGui.Render"))
+        {
+            EditorGui.Render();
+        }
     }
 
     private static void HandleOnQuit()

Nerfed.Editor/Systems/EditorHierarchyWindow.cs

@@ -0,0 +1,190 @@
+using ImGuiNET;
+using MoonTools.ECS;
+using Nerfed.Editor.Components;
+using Nerfed.Runtime;
+using Nerfed.Runtime.Components;
+using Nerfed.Runtime.Util;
+
+namespace Nerfed.Editor.Systems
+{
+    // Window that draws entities.
+    internal class EditorHierarchyWindow : MoonTools.ECS.System
+    {
+        private const ImGuiTreeNodeFlags baseFlags = ImGuiTreeNodeFlags.OpenOnArrow | ImGuiTreeNodeFlags.OpenOnDoubleClick | ImGuiTreeNodeFlags.SpanAvailWidth;
+
+        //private readonly Filter rootEntitiesWithTransformFilter;
+        //private readonly Filter rootEntitiesFilterBroken;
+        private readonly Filter rootEntitiesFilter;
+
+        private readonly EditorHierachySelectionSystem hierachySelectionSystem;
+
+        public EditorHierarchyWindow(World world) : base(world)
+        {
+            //rootEntitiesWithTransformFilter = FilterBuilder.Include<LocalTransform>().Exclude<Child>().Build();
+
+            // TODO: this doesn't work.
+            //rootEntitiesFilterBroken = FilterBuilder.Exclude<Child>().Build();
+
+            // Maybe the parent/child functions should add a root component when not being a child.
+            rootEntitiesFilter = FilterBuilder.Include<Root>().Build();
+
+            // Maybe instead of a root, if we need a component that is always on an entity and has some use we could create something like a VersionComponent which only hold an int.
+            // The version would update each time something changes on the entity.
+            // Or a EditorComponent, just a component that always gets added when in editor mode.
+
+            hierachySelectionSystem = new EditorHierachySelectionSystem(world);
+        }
+
+        public override void Update(TimeSpan delta)
+        {
+            ImGui.Begin("Hierarchy");
+
+            ImGuiTreeNodeFlags flags = baseFlags;
+            flags |= ImGuiTreeNodeFlags.DefaultOpen;
+
+            if (ImGui.TreeNodeEx("World", flags))
+            {
+                if (ImGui.BeginDragDropTarget())
+                {
+                    unsafe
+                    {
+                        ImGuiPayloadPtr payload = ImGui.AcceptDragDropPayload($"{nameof(EditorHierarchyWindow)}");
+                        if (payload.NativePtr != null)
+                        {
+                            Entity* data = (Entity*)payload.Data;
+                            Entity child = data[0];
+
+                            Log.Info($"Dropped {child.ID}");
+
+                            Transform.RemoveParent(World, child);
+                        }
+                    }
+                    ImGui.EndDragDropTarget();
+                }
+
+                //foreach (Entity entity in rootEntitiesWithTransformFilter.Entities)
+                //{
+                //    DrawEntityAndChildren(entity);
+                //}
+
+                foreach (Entity entity in rootEntitiesFilter.Entities)
+                {
+                    DrawEntityAndChildren(entity);
+                }
+
+                ImGui.TreePop();
+            }
+
+            ImGui.End();
+
+            hierachySelectionSystem.Update(delta);
+        }
+
+        private void DrawEntityAndChildren(in Entity entity)
+        {
+            ImGuiTreeNodeFlags flags = baseFlags;
+
+            if (!World.HasInRelation<ChildParentRelation>(entity))
+            {
+                flags |= ImGuiTreeNodeFlags.Leaf;
+            }
+
+            if (World.Has<SelectedInHierachy>(entity))
+            {
+                flags |= ImGuiTreeNodeFlags.Selected;
+            }
+
+            if (ImGui.TreeNodeEx($"{entity.ID} | {GetTag(entity)}", flags))
+            {
+                // TODO: fix selection, look at ImGui 1.91, https://github.com/ocornut/imgui/wiki/Multi-Select
+                // Selection.
+                if (ImGui.IsItemClicked() && !ImGui.IsItemToggledOpen())
+                {
+                    World.Set(entity, new ClickedInHierachy());
+                }
+
+                // Drag and drop.
+                if (ImGui.BeginDragDropSource())
+                {
+                    unsafe
+                    {
+                        fixed (Entity* payload = &entity)
+                        {
+                            ImGui.SetDragDropPayload($"{nameof(EditorHierarchyWindow)}", (IntPtr)payload, (uint)sizeof(Entity));
+                        }
+                    }
+
+                    ImGui.EndDragDropSource();
+                }
+
+                if (ImGui.BeginDragDropTarget())
+                {
+                    unsafe
+                    {
+                        ImGuiPayloadPtr payload = ImGui.AcceptDragDropPayload($"{nameof(EditorHierarchyWindow)}");
+                        if (payload.NativePtr != null)
+                        {
+                            Entity ent = *(Entity*)payload.Data;
+
+                            Log.Info($"Dropped {ent.ID}");
+
+                            Transform.SetParent(World, ent, entity);
+                        }
+                    }
+                    ImGui.EndDragDropTarget();
+                }
+
+                // Draw children.
+                ReverseSpanEnumerator<Entity> childEntities = World.InRelations<ChildParentRelation>(entity);
+                foreach (Entity childEntity in childEntities)
+                {
+                    DrawEntityAndChildren(childEntity);
+                }
+
+                ImGui.TreePop();
+            }
+        }
+
+        // System for handling the selected entities in the hierachy.
+        private class EditorHierachySelectionSystem : MoonTools.ECS.System
+        {
+            private readonly Filter selectedEntities;
+            private readonly Filter clickedEntities;
+
+            public EditorHierachySelectionSystem(World world) : base(world)
+            {
+                selectedEntities = FilterBuilder.Include<SelectedInHierachy>().Build();
+                clickedEntities = FilterBuilder.Include<ClickedInHierachy>().Build();
+            }
+
+            public override void Update(TimeSpan delta)
+            {
+                ImGuiIOPtr io = ImGui.GetIO();
+
+                if (!clickedEntities.Empty && !io.KeyCtrl)
+                {
+                    foreach (Entity entity in selectedEntities.Entities)
+                    {
+                        Remove<SelectedInHierachy>(entity);
+                    }
+                }
+
+                foreach (Entity entity in clickedEntities.Entities)
+                {
+                    // Unselect.
+                    if (Has<SelectedInHierachy>(entity))
+                    {
+                        Remove<SelectedInHierachy>(entity);
+                    }
+                    // Select.
+                    else
+                    {
+                        Set(entity, new SelectedInHierachy());
+                    }
+
+                    Remove<ClickedInHierachy>(entity);
+                }
+            }
+        }
+    }
+}

Nerfed.Editor/Systems/EditorInspectorWindow.cs

@@ -0,0 +1,100 @@
+using System.Numerics;
+using ImGuiNET;
+using MoonTools.ECS;
+using Nerfed.Editor.Components;
+using Nerfed.Runtime.Serialization;
+
+#if DEBUG
+namespace Nerfed.Editor.Systems
+{
+    // Window that draws entities.
+    internal class EditorInspectorWindow : MoonTools.ECS.DebugSystem
+    {
+        private readonly Filter selectedEntityFilter;
+
+        public EditorInspectorWindow(World world) : base(world)
+        {
+            selectedEntityFilter = FilterBuilder.Include<SelectedInHierachy>().Build();
+        }
+
+        public override void Update(TimeSpan delta)
+        {
+            ImGui.Begin("Inspector");
+
+            foreach (Entity entity in selectedEntityFilter.Entities)
+            {
+                DrawEntityComponents(entity);
+            }
+
+            ImGui.End();
+        }
+
+        private void DrawEntityComponents(Entity entity)
+        {
+            World.ComponentTypeEnumerator componentTypes = World.Debug_GetAllComponentTypes(entity);
+            
+            // Add button of all types that we can add. Also filter out types we already have.
+            List<Type> componentTypesToAdd = ComponentHelper.AddComponentByType.Keys.ToList();
+            foreach (Type componentType in componentTypes)
+            {
+                componentTypesToAdd.Remove(componentType);
+            }
+
+            const string popupId = "AddComponentPopup";
+            if (ImGui.Button("Add Component"))
+            {
+                ImGui.OpenPopup(popupId);
+            }
+
+            if (ImGui.BeginPopup(popupId))
+            {
+                foreach (Type componentType in componentTypesToAdd)
+                {
+                    if (ImGui.Selectable(componentType.Name))
+                    {
+                        if (ComponentHelper.AddComponentByType.TryGetValue(componentType, out Action<World, Entity> componentSetter))
+                        {
+                            componentSetter.Invoke(World, entity);
+                        }
+                    }
+                }
+                ImGui.EndPopup();
+            }
+
+            ImGui.Dummy(new Vector2(16, 16));
+            
+            ImGui.Text("ComponentInspectorByType");
+            foreach (Type componentType in componentTypes)
+            {
+                if (ComponentHelper.ComponentInspectorByType.TryGetValue(componentType, out Action<World, Entity> componentInspector))
+                {
+                    componentInspector(World, entity);
+                }
+                else if (ComponentHelper.GetComponentByType.TryGetValue(componentType, out Func<World, Entity, ValueType> componentGetter))
+                {
+                    ValueType component = componentGetter.Invoke(World, entity);
+                    ImGui.Text(component.ToString());
+                }
+                else
+                {
+                    ImGui.Text(componentType.Name);
+                }
+                ImGui.Separator();
+            }
+            
+            ImGui.Dummy(new Vector2(16, 16));
+
+            // ImGui.Text("Reflection");
+            // foreach (Type component in componentTypes)
+            // {
+            //     System.Reflection.MethodInfo getMethodInfo = typeof(World).GetMethod("Get");
+            //     System.Reflection.MethodInfo getComponentMethod = getMethodInfo.MakeGenericMethod(component);
+            //     object result = getComponentMethod.Invoke(World, [entity]);
+            //
+            //     // process here
+            //     ImGui.Text(result.ToString());
+            // }
+        }
+    }
+}
+#endif

Nerfed.Editor/Systems/EditorProfilerWindow.cs

@@ -0,0 +1,204 @@
+using ImGuiNET;
+using MoonTools.ECS;
+using Nerfed.Runtime;
+
+namespace Nerfed.Editor.Systems
+{
+    internal class EditorProfilerWindow : MoonTools.ECS.System
+    {
+        const ImGuiTableFlags tableFlags = ImGuiTableFlags.Resizable | ImGuiTableFlags.BordersOuter | ImGuiTableFlags.NoBordersInBody | ImGuiTableFlags.ScrollY | ImGuiTableFlags.ScrollX;
+        const ImGuiTreeNodeFlags treeNodeFlags = ImGuiTreeNodeFlags.SpanAllColumns;
+        const ImGuiTreeNodeFlags treeNodeLeafFlags = ImGuiTreeNodeFlags.SpanAllColumns | ImGuiTreeNodeFlags.Leaf | ImGuiTreeNodeFlags.NoTreePushOnOpen;
+
+        private int selectedFrame = 0;
+        private int previousSelectedFrame = -1;
+        private IOrderedEnumerable<KeyValuePair<string, (double ms, uint calls)>> orderedCombinedData = null;
+
+        public EditorProfilerWindow(World world) : base(world)
+        {
+        }
+
+        public override void Update(TimeSpan delta)
+        {
+            if (Profiler.Frames.Count <= 0)
+            {
+                return;
+            }
+
+            ImGui.Begin("Profiler");
+
+            ImGui.BeginChild("Toolbar", new System.Numerics.Vector2(0, 0), ImGuiChildFlags.AutoResizeY);
+            if (ImGui.RadioButton("Recording", Profiler.IsRecording))
+            {
+                Profiler.SetActive(!Profiler.IsRecording);
+            }
+
+            ImGui.SameLine();
+
+            if (Profiler.IsRecording)
+            {
+                // Select last frame when recording to see latest frame data.
+                selectedFrame = Profiler.Frames.Count - 1;
+            }
+            if (ImGui.SliderInt(string.Empty, ref selectedFrame, 0, Profiler.Frames.Count - 1))
+            {
+                // Stop recording when browsing frames.
+                Profiler.SetActive(false);
+            }
+
+            Profiler.Frame frame = Profiler.Frames.ElementAt(selectedFrame);
+            double ms = frame.ElapsedMilliseconds();
+            double s = 1000;
+            ImGui.Text($"Frame: {frame.FrameCount} ({ms:0.000} ms | {(s / ms):0} fps)");
+            ImGui.EndChild();
+
+            if (!Profiler.IsRecording) {
+                if (previousSelectedFrame != selectedFrame)
+                {
+                    previousSelectedFrame = selectedFrame;
+                    orderedCombinedData = CalculateCombinedData(frame);
+                }
+
+                DrawFlameGraph(frame);
+
+                DrawHierachy(frame);
+
+                ImGui.SameLine();
+
+                DrawCombined(orderedCombinedData);
+            }
+
+            ImGui.End();
+        }
+
+        private static void DrawHierachy(Profiler.Frame frame)
+        {
+            if(frame == null)
+            {
+                return;
+            }
+
+            ImGui.BeginChild("Hierachy", new System.Numerics.Vector2(150, 0), ImGuiChildFlags.ResizeX);
+
+            if (ImGui.BeginTable("ProfilerData", 3, tableFlags, new System.Numerics.Vector2(0, 0)))
+            {
+                ImGui.TableSetupColumn("name", ImGuiTableColumnFlags.WidthStretch, 0.8f, 0);
+                ImGui.TableSetupColumn("thread", ImGuiTableColumnFlags.WidthStretch, 0.2f, 1);
+                ImGui.TableSetupColumn("ms", ImGuiTableColumnFlags.WidthStretch, 0.2f, 1);
+                ImGui.TableSetupScrollFreeze(0, 1); // Make row always visible
+                ImGui.TableHeadersRow();
+
+                foreach (Profiler.ScopeNode node in frame.RootNodes)
+                {
+                    DrawHierachyNode(node);
+                }
+
+                ImGui.EndTable();
+            }
+
+            ImGui.EndChild();
+        }
+
+        private static void DrawHierachyNode(Profiler.ScopeNode node)
+        {
+            ImGui.TableNextRow();
+            ImGui.TableNextColumn();
+
+            bool isOpen = false;
+            bool isLeaf = node.Children.Count == 0;
+
+            if (isLeaf) {
+                ImGui.TreeNodeEx(node.Label, treeNodeLeafFlags);
+            }
+            else
+            {
+                isOpen = ImGui.TreeNodeEx(node.Label, treeNodeFlags);
+            }
+
+            ImGui.TableNextColumn();
+            ImGui.Text($"{node.ManagedThreadId}");
+            ImGui.TableNextColumn();
+            ImGui.Text($"{node.ElapsedMilliseconds():0.000}");
+
+            if (isOpen)
+            {
+                for (int i = 0; i < node.Children.Count; i++)
+                {
+                    DrawHierachyNode(node.Children[i]);
+                }
+                ImGui.TreePop();
+            }
+        }
+
+        private static void DrawCombined(in IOrderedEnumerable<KeyValuePair<string, (double ms, uint calls)>> orderedCombinedData)
+        {
+            if(orderedCombinedData == null)
+            {
+                return;
+            }
+
+            ImGui.BeginChild("Combined", new System.Numerics.Vector2(0, 0));
+
+            if (ImGui.BeginTable("ProfilerCombinedData", 3, tableFlags, new System.Numerics.Vector2(0, 0)))
+            {
+                ImGui.TableSetupColumn("name", ImGuiTableColumnFlags.WidthStretch, 0.6f, 0);
+                ImGui.TableSetupColumn("ms", ImGuiTableColumnFlags.WidthStretch, 0.2f, 1);
+                ImGui.TableSetupColumn("calls", ImGuiTableColumnFlags.WidthStretch, 0.2f, 2);
+                ImGui.TableSetupScrollFreeze(0, 1); // Make row always visible
+                ImGui.TableHeadersRow();
+
+                foreach (KeyValuePair<string, (double ms, uint calls)> combinedData in orderedCombinedData)
+                {
+                    ImGui.TableNextRow();
+                    ImGui.TableNextColumn();
+                    ImGui.Text($"{combinedData.Key}");
+                    ImGui.TableNextColumn();
+                    ImGui.Text($"{combinedData.Value.ms:0.000}");
+                    ImGui.TableNextColumn();
+                    ImGui.Text($"{combinedData.Value.calls}");
+                }
+
+                ImGui.EndTable();
+            }
+
+            ImGui.EndChild();
+        }
+
+        private static IOrderedEnumerable<KeyValuePair<string, (double ms, uint calls)>> CalculateCombinedData(Profiler.Frame frame)
+        {
+            Dictionary<string, (double ms, uint calls)> combinedRecordData = new Dictionary<string, (double ms, uint calls)>(128);
+            foreach (Profiler.ScopeNode node in frame.RootNodes)
+            {
+                CalculateCombinedData(node, in combinedRecordData);
+            }
+            return combinedRecordData.OrderByDescending(x => x.Value.ms);
+        }
+
+        private static void CalculateCombinedData(Profiler.ScopeNode node, in Dictionary<string, (double ms, uint calls)> combinedRecordData)
+        {
+            if (combinedRecordData.TryGetValue(node.Label, out (double ms, uint calls) combined))
+            {
+                combinedRecordData[node.Label] = (combined.ms + node.ElapsedMilliseconds(), combined.calls + 1);
+            }
+            else
+            {
+                combinedRecordData.Add(node.Label, (node.ElapsedMilliseconds(), 1));
+            }
+
+            for (int i = 0; i < node.Children.Count; i++)
+            {
+                CalculateCombinedData(node.Children[i], combinedRecordData);
+            }
+        }
+
+        private static void DrawFlameGraph(Profiler.Frame frame)
+        {
+            if (frame == null)
+            {
+                return;
+            }
+
+            ProfilerVisualizer.RenderFlameGraph(frame);
+        }
+    }
+}

Nerfed.Runtime/Components/LocalToWorld.cs

@@ -0,0 +1,6 @@
+using System.Numerics;
+
+namespace Nerfed.Runtime.Components
+{
+    public readonly record struct LocalToWorld(Matrix4x4 localToWorldMatrix);
+}

Nerfed.Runtime/Components/LocalTransform.cs

@@ -0,0 +1,9 @@
+using System.Numerics;
+
+namespace Nerfed.Runtime.Components
+{
+    public readonly record struct LocalTransform(Vector3 position, Quaternion rotation, Vector3 scale)
+    {
+        public static readonly LocalTransform Identity = new(Vector3.Zero, Quaternion.Identity, Vector3.One);
+    }
+}

Nerfed.Runtime/Components/Parent.cs

@@ -0,0 +1,11 @@
+using MoonTools.ECS;
+
+namespace Nerfed.Runtime.Components
+{
+    public readonly record struct Root;
+    //public readonly record struct Parent;
+    //public readonly record struct PreviousParent;
+    public readonly record struct Child;
+    // Describes a relation from the child to the parent.
+    public readonly record struct ChildParentRelation;
+}

Nerfed.Runtime/Components/Test.cs

@@ -0,0 +1,4 @@
+namespace Nerfed.Runtime.Components
+{
+    public readonly record struct Test();
+}

Nerfed.Runtime/Engine.cs

@@ -111,10 +111,14 @@ public static void Quit()
 
     private static void Tick()
     {
+        Profiler.BeginFrame();
+
         AdvanceElapsedTime();
 
         if (framerateCapped)
         {
+            Profiler.BeginSample("framerateCapped");
+
             /* We want to wait until the framerate cap,
              * but we don't want to oversleep. Requesting repeated 1ms sleeps and
              * seeing how long we actually slept for lets us estimate the worst case
@@ -137,6 +141,8 @@ private static void Tick()
                 Thread.SpinWait(1);
                 AdvanceElapsedTime();
             }
+
+            Profiler.EndSample();
         }
 
         // Do not let any step take longer than our maximum.
@@ -149,6 +155,7 @@ private static void Tick()
         {
             while (accumulatedUpdateTime >= Timestep)
             {
+                Profiler.BeginSample("Update");
                 Keyboard.Update();
                 Mouse.Update();
                 GamePad.Update();
@@ -156,19 +163,26 @@ private static void Tick()
                 ProcessSDLEvents();
 
                 // Tick game here...
+                Profiler.BeginSample("OnUpdate");
                 OnUpdate?.Invoke();
+                Profiler.EndSample();
 
                 AudioDevice.WakeThread();
                 accumulatedUpdateTime -= Timestep;
+                Profiler.EndSample();
             }
 
             double alpha = accumulatedUpdateTime / Timestep;
 
             // Render here..
+            Profiler.BeginSample("OnRender");
             OnRender?.Invoke();
+            Profiler.EndSample();
 
             accumulatedDrawTime -= framerateCapTimeSpan;
         }
+
+        Profiler.EndFrame();
     }
 
     private static TimeSpan AdvanceElapsedTime()

Nerfed.Runtime/Libraries/MoonTools.ECS

@@ -0,0 +1 @@
+Subproject commit 76b18a6ba9a33f5a93022390be7ed805f9f722e8

Nerfed.Runtime/Nerfed.Runtime.csproj

@@ -32,12 +32,13 @@
     </PropertyGroup>
     
     <ItemGroup>
-        <Compile Include="Libraries\SDL2CS\src\SDL2.cs"/>
-        <Compile Include="Libraries\RefreshCS\RefreshCS.cs"/>
-        <Compile Include="Libraries\FAudio\csharp\FAudio.cs"/>
-        <Compile Include="Libraries\WellspringCS\WellspringCS.cs"/>
-        <Compile Include="Libraries\dav1dfile\csharp\dav1dfile.cs"/>
-        <Compile Include="Libraries\ImGui.NET\src\ImGui.NET\**\*.cs"/>
+        <Compile Include="Libraries\FAudio\csharp\FAudio.cs" />
+        <Compile Include="Libraries\ImGui.NET\src\ImGui.NET\**\*.cs" />
+        <Compile Include="Libraries\MoonTools.ECS\src\**\*.cs" />
+        <Compile Include="Libraries\RefreshCS\RefreshCS.cs" />
+        <Compile Include="Libraries\SDL2CS\src\SDL2.cs" />
+        <Compile Include="Libraries\WellspringCS\WellspringCS.cs" />
+        <Compile Include="Libraries\dav1dfile\csharp\dav1dfile.cs" />
     </ItemGroup>
     
 </Project>

Nerfed.Runtime/Profiler.cs

@@ -1,29 +1,166 @@
-using System.Diagnostics;
-using System.Reflection;
-using System.Runtime.CompilerServices;
+using System.Collections.Concurrent;
+using System.Diagnostics;
 
 namespace Nerfed.Runtime;
 
 public struct ProfilerScope : IDisposable
 {
-    public ProfilerScope(string label) {
+    public ProfilerScope(string label)
+    {
         Profiler.BeginSample(label);
     }
 
-    public void Dispose() {
+    public void Dispose()
+    {
         Profiler.EndSample();
     }
 }
 
 public static class Profiler
 {
-    [Conditional("PROFILING")]
-    public static void BeginSample(string label) {
+    public class Frame(uint frameCount)
+    {
+        public uint FrameCount { get; } = frameCount;
+        public long StartTime { get; } = Stopwatch.GetTimestamp();
+        public long EndTime { get; private set; }
 
+        // Use a concurrent list to collect all thread root nodes per frame.
+        public ConcurrentBag<ScopeNode> RootNodes = new ConcurrentBag<ScopeNode>();
+
+        internal void End()
+        {
+            EndTime = Stopwatch.GetTimestamp();
+        }
+
+        public double ElapsedMilliseconds()
+        {
+            long elapsedTicks = EndTime - StartTime;
+            return ((double)(elapsedTicks * 1000)) / Stopwatch.Frequency;
+        }
+    }
+
+    public class ScopeNode(string label)
+    {
+        public string Label { get; } = label;
+        public long StartTime { get; private set; } = Stopwatch.GetTimestamp();  // Start time in ticks
+        public long EndTime { get; private set; }
+        public int ManagedThreadId { get; } = Environment.CurrentManagedThreadId;
+        public List<ScopeNode> Children { get; } = new List<ScopeNode>();
+
+        internal void End()
+        {
+            EndTime = Stopwatch.GetTimestamp();  // End time in ticks
+        }
+
+        public double ElapsedMilliseconds()
+        {
+            return ((double)(EndTime - StartTime)) * 1000 / Stopwatch.Frequency;  // Convert ticks to ms
+        }
+
+        // Add a child node (used for nested scopes)
+        internal ScopeNode AddChild(string label)
+        {
+            ScopeNode child = new ScopeNode(label);
+            Children.Add(child);
+            return child;
+        }
+    }
+
+    private const int maxFrames = 128;
+
+    public static bool IsRecording { get; private set; } = true;
+
+    // Store only the last x amount of frames in memory.
+    public static readonly BoundedQueue<Frame> Frames = new(maxFrames);
+
+    // Use ThreadLocal to store a stack of ScopeNodes per thread and enable tracking of thread-local values.
+    private static readonly ThreadLocal<Stack<ScopeNode>> threadLocalScopes = new ThreadLocal<Stack<ScopeNode>>(() => new Stack<ScopeNode>(), true);
+
+    private static Frame currentFrame = null;
+    private static uint frameCount = 0;
+
+    public static void SetActive(bool isRecording)
+    {
+        IsRecording = isRecording;
     }
 
     [Conditional("PROFILING")]
-    public static void EndSample() {
+    public static void BeginFrame()
+    {
+        if (!IsRecording)
+        {
+            return;
+        }
 
+        currentFrame = new Frame(frameCount);
+    }
+
+    [Conditional("PROFILING")]
+    public static void EndFrame()
+    {
+        if (!IsRecording)
+        {
+            return;
+        }
+
+        foreach (Stack<ScopeNode> scopes in threadLocalScopes.Values)
+        {
+            if (scopes.Count > 0)
+            {
+                // Pop the left over root nodes.
+                ScopeNode currentScope = scopes.Pop();
+                currentScope.End();
+            }
+
+            // Clean up the thread-local stack to ensure it's empty for the next frame.
+            scopes.Clear();
+        }
+
+        currentFrame.End();
+        Frames.Enqueue(currentFrame);
+        frameCount++;
+    }
+
+    [Conditional("PROFILING")]
+    public static void BeginSample(string label)
+    {
+        if (!IsRecording)
+        {
+            return;
+        }
+
+        Stack<ScopeNode> scopes = threadLocalScopes.Value;  // Get the stack for the current thread
+
+        if (scopes.Count == 0)
+        {
+            // First scope for this thread (new root for this thread)
+            ScopeNode rootScopeNode = new ScopeNode($"Thread-{Environment.CurrentManagedThreadId}");
+            scopes.Push(rootScopeNode);
+            currentFrame.RootNodes.Add(rootScopeNode);  // Add root node to the frame list
+        }
+
+        // Create a new child under the current top of the stack
+        ScopeNode newScope = scopes.Peek().AddChild(label);
+
+        scopes.Push(newScope);  // Push new scope to the thread's stack
+    }
+
+    [Conditional("PROFILING")]
+    public static void EndSample()
+    {
+        if (!IsRecording)
+        {
+            return;
+        }
+
+        Stack<ScopeNode> scopes = threadLocalScopes.Value;
+
+        if (scopes.Count > 0)
+        {
+            // Only pop if this is not the root node.
+            //ScopeNode currentScope = scopes.Count > 1 ? scopes.Pop() : scopes.Peek();
+            ScopeNode currentScope = scopes.Pop();
+            currentScope.End();
+        }
     }
 }

Nerfed.Runtime/ProfilerVisualizer.cs

@@ -0,0 +1,156 @@
+using ImGuiNET;
+using System.Numerics;
+
+namespace Nerfed.Runtime;
+
+public static class ProfilerVisualizer
+{
+    private const float barHeight = 20f;
+    private const float barPadding = 2f;
+
+    // Render the flame graph across multiple threads
+    public static void RenderFlameGraph(Profiler.Frame frame)
+    {
+        if (frame == null) return;
+        if (frame.RootNodes == null) return;
+
+        // Calculate the total timeline duration (max end time across all nodes)
+        double totalDuration = frame.EndTime - frame.StartTime;
+        double startTime = frame.StartTime;
+
+        // Precompute the maximum depth for each thread's call stack
+        Dictionary<int, int> threadMaxDepths = new Dictionary<int, int>();
+        foreach (IGrouping<int, Profiler.ScopeNode> threadGroup in frame.RootNodes.GroupBy(node => node.ManagedThreadId))
+        {
+            int maxDepth = 0;
+            foreach (Profiler.ScopeNode rootNode in threadGroup)
+            {
+                maxDepth = Math.Max(maxDepth, GetMaxDepth(rootNode, 0));
+            }
+            threadMaxDepths[threadGroup.Key] = maxDepth;
+        }
+
+        // Start a child window to support scrolling
+        ImGui.BeginChild("FlameGraph", new Vector2(0, 64), ImGuiChildFlags.Border | ImGuiChildFlags.ResizeY, ImGuiWindowFlags.HorizontalScrollbar | ImGuiWindowFlags.AlwaysVerticalScrollbar);
+
+        ImDrawListPtr drawList = ImGui.GetWindowDrawList();
+        Vector2 windowPos = ImGui.GetCursorScreenPos();
+
+        // Sort nodes by ThreadID, ensuring main thread (Thread ID 1) is on top
+        IOrderedEnumerable<IGrouping<int, Profiler.ScopeNode>> threadGroups = frame.RootNodes.GroupBy(node => node.ManagedThreadId).OrderBy(g => g.Key);
+
+        // Initial Y position for drawing
+        float baseY = windowPos.Y;
+        bool alternate = false;
+        float contentWidth = ImGui.GetContentRegionAvail().X;
+
+        // Draw each thread's flame graph row by row
+        foreach (IGrouping<int, Profiler.ScopeNode> threadGroup in threadGroups)
+        {
+            int threadId = threadGroup.Key;
+
+            // Compute the base Y position for this thread
+            float threadBaseY = baseY;
+
+            // Calculate the maximum height for this thread's flame graph
+            float threadHeight = (threadMaxDepths[threadId] + 1) * (barHeight + barPadding);
+
+            // Draw the alternating background for each thread row
+            uint backgroundColor = ImGui.ColorConvertFloat4ToU32(alternate ? new Vector4(0.2f, 0.2f, 0.2f, 1f) : new Vector4(0.1f, 0.1f, 0.1f, 1f));
+            drawList.AddRectFilled(new Vector2(windowPos.X, threadBaseY), new Vector2(windowPos.X + contentWidth, threadBaseY + threadHeight), backgroundColor);
+
+            alternate = !alternate;
+
+            // Draw each root node in the group (one per thread)
+            foreach (Profiler.ScopeNode rootNode in threadGroup)
+            {
+                RenderNode(drawList, rootNode, startTime, totalDuration, windowPos.X, threadBaseY, 0, contentWidth, false);
+            }
+
+            // Move to the next thread's row (max depth * height per level)
+            baseY += (threadMaxDepths[threadId] + 1) * (barHeight + barPadding);
+        }
+
+        // Ensure that ImGui knows the size of the content.
+        ImGui.Dummy(new Vector2(contentWidth, baseY));
+
+        ImGui.EndChild();
+    }
+
+    private static void RenderNode(ImDrawListPtr drawList, Profiler.ScopeNode node, double startTime, double totalDuration, float startX, float baseY, int depth, float contentWidth, bool alternate)
+    {
+        if (node == null) return;
+
+        double nodeStartTime = node.StartTime - startTime;
+        double nodeEndTime = node.EndTime - startTime;
+        double nodeDuration = nodeEndTime - nodeStartTime;
+
+        // Calculate the position and width of the bar based on time
+        float xPos = (float)(startX + (nodeStartTime / totalDuration) * contentWidth);
+        float width = (float)((nodeDuration / totalDuration) * contentWidth);
+
+        // Calculate the Y position based on depth
+        float yPos = baseY + (depth * (barHeight + barPadding)) + (barPadding * 0.5f);
+
+        // Define the rectangle bounds for the node
+        Vector2 min = new Vector2(xPos, yPos);
+        Vector2 max = new Vector2(xPos + width, yPos + barHeight);
+
+        // Define color.
+        Vector4 barColor = alternate ? new Vector4(0.4f, 0.6f, 0.9f, 1f) : new Vector4(0.4f, 0.5f, 0.8f, 1f);
+        Vector4 textColor = new Vector4(1f, 1f, 1f, 1f);
+
+        if (depth != 0)
+        {
+            // Draw the bar for the node (colored based on thread depth)
+            drawList.AddRectFilled(min, max, ImGui.ColorConvertFloat4ToU32(barColor));
+
+            // Draw the label if it fits inside the bar
+            string label = $"{node.Label} ({node.ElapsedMilliseconds():0.000} ms)";
+            if (width > ImGui.CalcTextSize(label).X)
+            {
+                drawList.AddText(new Vector2(xPos + barPadding, yPos + barPadding), ImGui.ColorConvertFloat4ToU32(textColor), label);
+            }
+
+            // Add tooltip on hover
+            if (ImGui.IsMouseHoveringRect(min, max))
+            {
+                // Show tooltip when hovering over the node
+                ImGui.BeginTooltip();
+                ImGui.Text($"{node.Label}");
+                ImGui.Text($"{node.ElapsedMilliseconds():0.000} ms");
+                ImGui.Text($"{node.ManagedThreadId}");
+                ImGui.EndTooltip();
+            }
+        }
+        else
+        {
+            // Aka root node.
+            string label = $"{node.Label}";
+            drawList.AddText(new Vector2(startX + barPadding, yPos + barPadding), ImGui.ColorConvertFloat4ToU32(textColor), label);
+        }
+
+        // Draw each child node under this node
+        foreach (Profiler.ScopeNode child in node.Children)
+        {
+            alternate = !alternate;
+            RenderNode(drawList, child, startTime, totalDuration, startX, baseY, depth + 1, contentWidth, alternate);
+        }
+    }
+
+    // Recursive function to calculate the maximum depth of the node tree
+    private static int GetMaxDepth(Profiler.ScopeNode node, int currentDepth)
+    {
+        if (node.Children == null || node.Children.Count == 0)
+        {
+            return currentDepth;
+        }
+
+        int maxDepth = currentDepth;
+        foreach (Profiler.ScopeNode child in node.Children)
+        {
+            maxDepth = Math.Max(maxDepth, GetMaxDepth(child, currentDepth + 1));
+        }
+        return maxDepth;
+    }
+}

Nerfed.Runtime/Serialization/ComponentHelper.cs

@@ -0,0 +1,68 @@
+using System.Numerics;
+using ImGuiNET;
+using MoonTools.ECS;
+using Nerfed.Runtime.Components;
+
+namespace Nerfed.Runtime.Serialization;
+
+public static class ComponentHelper
+{
+    // Auto generate this.
+    public static readonly Dictionary<Type, Func<World, Entity, ValueType>> GetComponentByType = new()
+    {
+        { typeof(LocalTransform), (world, entity) => world.Get<LocalTransform>(entity) },
+        { typeof(Root), (world, entity) => world.Get<Root>(entity) },
+    };
+    
+    // Auto generate this.
+    public static readonly Dictionary<Type, Action<World, Entity, ValueType>> SetComponentByType = new()
+    {
+        { typeof(LocalTransform), (world, entity, component) => world.Set(entity, (LocalTransform)component) },
+        { typeof(Root), (world, entity, component) => world.Set(entity, (Root)component) },
+    };
+    
+    // Auto generate this, but it should only contain user assignable components (so something like 'root' should be excluded).
+    // Maybe use an attribute for this.
+    public static readonly Dictionary<Type, Action<World, Entity>> AddComponentByType = new()
+    {
+        { typeof(LocalTransform), (world, entity) => world.Set(entity, LocalTransform.Identity) },
+    };
+
+    // Auto generate this, but also keep the option for 'custom inspectors'.
+    // Maybe via attribute?
+    public static readonly Dictionary<Type, Action<World, Entity>> ComponentInspectorByType = new()
+    {
+        {
+            typeof(LocalTransform), (world, entity) =>
+            {
+                (Vector3 position, Quaternion rotation, Vector3 scale) = world.Get<LocalTransform>(entity);
+                Vector3 eulerAngles = MathEx.ToEulerAngles(rotation);
+                eulerAngles = new Vector3(float.RadiansToDegrees(eulerAngles.X), float.RadiansToDegrees(eulerAngles.Y), float.RadiansToDegrees(eulerAngles.Z));
+                bool isDirty = false;
+                
+                ImGui.BeginGroup();
+                ImGui.Text($"{nameof(LocalTransform)}");
+                isDirty |= ImGui.DragFloat3("Position", ref position, 0.2f, float.MinValue, float.MaxValue /*, "%f0 m" */); // TODO: right format.
+                isDirty |= ImGui.DragFloat3("Rotation", ref eulerAngles);
+                isDirty |= ImGui.DragFloat3("Scale", ref scale);
+                ImGui.EndGroup();
+
+                if (!isDirty)
+                {
+                    return;
+                }
+
+                eulerAngles = new Vector3(float.DegreesToRadians(eulerAngles.X), float.DegreesToRadians(eulerAngles.Y), float.DegreesToRadians(eulerAngles.Z));
+                world.Set(entity, new LocalTransform(position, MathEx.ToQuaternion(eulerAngles), scale));
+            }
+        },
+        {
+            typeof(Root), (world, entity) =>
+            {
+                ImGui.BeginGroup();
+                ImGui.Text($"{nameof(Root)}");
+                ImGui.EndGroup();
+            }
+        },
+    };
+}

Nerfed.Runtime/Systems/LocalToWorldSystem.cs

@@ -0,0 +1,95 @@
+using MoonTools.ECS;
+using Nerfed.Runtime.Components;
+using Nerfed.Runtime.Util;
+using System.Numerics;
+
+// TODO:
+// Explore if having a WorldTransform and LocalTransfom component each holding position, rotation, scale values and the matricies is useful.
+// Often you need to either get or set these values.
+// If so, we probably need a utility funciton to do so. Since changing these values means that we need to update all the related data + children as well.
+
+// TODO:
+// When modifying transform all the children need to be updated as well.
+
+namespace Nerfed.Runtime.Systems
+{
+    public class LocalToWorldSystem : MoonTools.ECS.System
+    {
+        private readonly bool useParallelFor = true; // When having a low amount of transforms or when in debug mode this might be slower.
+        private readonly Filter rootEntitiesFilter;
+        private readonly Filter entitiesWithoutLocalToWorldFilter;
+        private readonly Action<int> updateWorldTransform;
+
+        public LocalToWorldSystem(World world) : base(world)
+        {
+            rootEntitiesFilter = FilterBuilder.Include<LocalTransform>().Exclude<Child>().Build();
+            if (useParallelFor)
+            {
+                entitiesWithoutLocalToWorldFilter = FilterBuilder.Include<LocalTransform>().Exclude<LocalToWorld>().Build();
+                updateWorldTransform = UpdateWorldTransformByIndex;
+            }
+        }
+
+        public override void Update(TimeSpan delta)
+        {
+            if (rootEntitiesFilter.Empty)
+            {
+                return;
+            }
+
+            if (useParallelFor)
+            {
+                Profiler.BeginSample("ParallelFor.LocalToWorldCheck");
+                // This check is needed because some entities might not have a LocalToWorld component yet.
+                // Adding this during the loop will break.
+                foreach (Entity entity in entitiesWithoutLocalToWorldFilter.Entities) {
+                    Set(entity, new LocalToWorld(Matrix4x4.Identity));
+                }
+                Profiler.EndSample();
+
+                Profiler.BeginSample("ParallelFor.LocalToWorldUpdate");
+                // This should only be used when the filter doesn't change by executing these functions!
+                // So no entity deletion or setting/removing of components used by the filters in this loop.
+                Parallel.For(0, rootEntitiesFilter.Count, updateWorldTransform);
+                Profiler.EndSample();
+            }
+            else
+            {
+                foreach (Entity entity in rootEntitiesFilter.Entities)
+                {
+                    Profiler.BeginSample("UpdateWorldTransform");
+                    UpdateWorldTransform(entity, Matrix4x4.Identity);
+                    Profiler.EndSample();
+                }
+            }
+        }
+
+        private void UpdateWorldTransformByIndex(int entityFilterIndex)
+        {
+            Profiler.BeginSample("UpdateWorldTransformByIndex");
+            Entity entity = rootEntitiesFilter.NthEntity(entityFilterIndex);
+            UpdateWorldTransform(entity, Matrix4x4.Identity);
+            Profiler.EndSample();
+        }
+
+        private void UpdateWorldTransform(in Entity entity, Matrix4x4 localToWorldMatrix)
+        {
+            // TODO: Only update dirty transforms.
+            // If a parent is dirty all the children need to update their localToWorld matrix.
+            // How do we check if something is dirty? How do we know if a LocalTransform has been changed?
+            if (Has<LocalTransform>(entity))
+            {
+                LocalTransform localTransform = Get<LocalTransform>(entity);
+                localToWorldMatrix = Matrix4x4.Multiply(localToWorldMatrix, localTransform.TRS());
+                LocalToWorld localToWorld = new(localToWorldMatrix);
+                Set(entity, localToWorld);
+            }
+
+            ReverseSpanEnumerator<Entity> childEntities = World.InRelations<ChildParentRelation>(entity);
+            foreach (Entity childEntity in childEntities)
+            {
+                UpdateWorldTransform(childEntity, localToWorldMatrix);
+            }
+        }
+    }
+}

Nerfed.Runtime/Util/BoundedQueue.cs

@@ -0,0 +1,73 @@
+using System.Collections;
+
+namespace Nerfed.Runtime;
+
+public class BoundedQueue<T> : IEnumerable<T>, ICollection, IReadOnlyCollection<T>
+{
+    private readonly Queue<T> queue = null;
+    private readonly int maxSize = 10;
+    private T lastAddedElement;
+
+    public BoundedQueue(int maxSize)
+    {
+        this.maxSize = maxSize;
+        queue = new Queue<T>(maxSize);
+    }
+
+    public void Enqueue(T item)
+    {
+        queue.Enqueue(item);
+        if (queue.Count > maxSize)
+        {
+            queue.Dequeue(); // Remove the oldest element
+        }
+
+        lastAddedElement = item;
+    }
+
+    public T Dequeue()
+    {
+        return queue.Dequeue();
+    }
+
+    public T Peek()
+    {
+        return queue.Peek();
+    }
+
+    public T LastAddedElement()
+    {
+        return lastAddedElement;
+    }
+
+    public void Clear()
+    {
+        queue.Clear();
+    }
+
+    public bool Contains(T item)
+    {
+        return queue.Contains(item);
+    }
+
+    public IEnumerator<T> GetEnumerator()
+    {
+        return queue.GetEnumerator();
+    }
+
+    IEnumerator IEnumerable.GetEnumerator()
+    {
+        return queue.GetEnumerator();
+    }
+
+    public void CopyTo(Array array, int index)
+    {
+        ((ICollection)queue).CopyTo(array, index);
+    }
+
+    public int Count => queue.Count;
+    public int Capacity => maxSize;
+    public bool IsSynchronized => ((ICollection)queue).IsSynchronized;
+    public object SyncRoot => ((ICollection)queue).SyncRoot;
+    int IReadOnlyCollection<T>.Count => queue.Count;
+}

Nerfed.Runtime/Util/MathEx.cs

@@ -1,3 +1,5 @@
+using System.Numerics;
+
 namespace Nerfed.Runtime;
 
 public static class MathEx
@@ -17,4 +19,51 @@ public static float Denormalize(float value, float newMin, float newMax) {
     public static float Remap(float value, float oldMin, float oldMax, float newMin, float newMax) {
         return (value - oldMin) / (oldMax - oldMin) * (newMax - newMin) + newMin;
     }
+    
+    // https://stackoverflow.com/questions/70462758/c-sharp-how-to-convert-quaternions-to-euler-angles-xyz
+    public static Quaternion ToQuaternion(Vector3 v)
+    {
+        float cy = (float)Math.Cos(v.Z * 0.5);
+        float sy = (float)Math.Sin(v.Z * 0.5);
+        float cp = (float)Math.Cos(v.Y * 0.5);
+        float sp = (float)Math.Sin(v.Y * 0.5);
+        float cr = (float)Math.Cos(v.X * 0.5);
+        float sr = (float)Math.Sin(v.X * 0.5);
+
+        return new Quaternion
+        {
+            W = (cr * cp * cy + sr * sp * sy),
+            X = (sr * cp * cy - cr * sp * sy),
+            Y = (cr * sp * cy + sr * cp * sy),
+            Z = (cr * cp * sy - sr * sp * cy),
+        };
+    }
+
+    public static Vector3 ToEulerAngles(Quaternion q)
+    {
+        Vector3 angles = new();
+
+        // roll / x
+        double sinrCosp = 2 * (q.W * q.X + q.Y * q.Z);
+        double cosrCosp = 1 - 2 * (q.X * q.X + q.Y * q.Y);
+        angles.X = (float)Math.Atan2(sinrCosp, cosrCosp);
+
+        // pitch / y
+        double sinp = 2 * (q.W * q.Y - q.Z * q.X);
+        if (Math.Abs(sinp) >= 1)
+        {
+            angles.Y = (float)Math.CopySign(Math.PI / 2, sinp);
+        }
+        else
+        {
+            angles.Y = (float)Math.Asin(sinp);
+        }
+
+        // yaw / z
+        double sinyCosp = 2 * (q.W * q.Z + q.X * q.Y);
+        double cosyCosp = 1 - 2 * (q.Y * q.Y + q.Z * q.Z);
+        angles.Z = (float)Math.Atan2(sinyCosp, cosyCosp);
+
+        return angles;
+    }
 }

Nerfed.Runtime/Util/RandomId.cs

@@ -0,0 +1,13 @@
+using System.Security.Cryptography;
+
+namespace Nerfed.Runtime.Util;
+
+public static class RandomId
+{
+    public static uint GenerateSecureRandomUInt()
+    {
+        byte[] buffer = new byte[4];
+        RandomNumberGenerator.Fill(buffer);
+        return BitConverter.ToUInt32(buffer, 0);
+    }
+}

Nerfed.Runtime/Util/Transform.cs

@@ -0,0 +1,99 @@
+using MoonTools.ECS;
+using Nerfed.Runtime.Components;
+using System.Collections.Generic;
+using System.Numerics;
+
+namespace Nerfed.Runtime.Util
+{
+    // https://github.com/needle-mirror/com.unity.entities/blob/master/Unity.Transforms/TransformHelpers.cs
+    public static class Transform
+    {
+        public static Vector3 Forward(in this Matrix4x4 matrix) => new Vector3(matrix.M31, matrix.M32, matrix.M33);
+        public static Vector3 Back(in this Matrix4x4 matrix) => -matrix.Forward();
+        public static Vector3 Up(in this Matrix4x4 matrix) => new Vector3(matrix.M21, matrix.M22, matrix.M23);
+        public static Vector3 Down(in this Matrix4x4 matrix) => -matrix.Up();
+        public static Vector3 Right(in this Matrix4x4 matrix) => new Vector3(matrix.M11, matrix.M12, matrix.M13);
+        public static Vector3 Left(in this Matrix4x4 matrix) => -matrix.Right();
+        //public static Vector3 Translation(in this Matrix4x4 matrix) => new Vector3();
+        //public static Quaternion Rotation(in this Matrix4x4 matrix) => new Quaternion();
+
+        public static Matrix4x4 TRS(in this LocalTransform localTransform)
+        {
+            return Matrix4x4.CreateScale(localTransform.scale) *
+                Matrix4x4.CreateFromQuaternion(localTransform.rotation) *
+                Matrix4x4.CreateTranslation(localTransform.position);
+        }
+
+        // Sets the parent child relation and adds a child component.
+        // Relation goes from child to parent.
+        public static void SetParent(in World world, in Entity child, in Entity parent)
+        {
+            RemoveParent(world, child);
+
+            world.Relate(child, parent, new ChildParentRelation());
+            world.Set(child, new Child());
+            world.Remove<Root>(child);
+            return;
+        }
+
+        // Removes any parent child relation ship, thus making it a 'root' object.
+        public static void RemoveParent(in World world, in Entity child)
+        {
+            if (!world.HasOutRelation<ChildParentRelation>(child))
+            {
+                return;
+            }
+
+            Entity parent = world.OutRelationSingleton<ChildParentRelation>(child);
+
+            // TODO: Check if Unrelate all also unrelates incomming relations..?
+            world.Unrelate<ChildParentRelation>(child, parent);
+            world.Remove<Child>(child);
+            world.Set(child, new Root());
+        }
+
+        public static Entity CreateBaseEntity(this World world, string tag = "")
+        {
+            Entity entity = world.CreateEntity(tag);
+            world.Set(entity, new Root());
+            return entity;
+        }
+
+        // Force update the transform data of an entity (and children).
+        // Useful for when you need precise up to date transform data.
+        public static void ForceUpdateLocalToWorld(in World world, in Entity entity)
+        {
+            Matrix4x4 parentLocalToWorldMatrix = Matrix4x4.Identity;
+
+            if (world.HasOutRelation<ChildParentRelation>(entity)) {
+                Entity parent = world.OutRelationSingleton<ChildParentRelation>(entity);
+
+                if (world.Has<LocalToWorld>(parent))
+                {
+                    parentLocalToWorldMatrix = world.Get<LocalToWorld>(parent).localToWorldMatrix;
+                }
+            }
+
+            ForceUpdateLocalToWorld(world, entity, parentLocalToWorldMatrix);
+        }
+
+        private static void ForceUpdateLocalToWorld(in World world, in Entity entity, Matrix4x4 localToWorldMatrix)
+        {
+            if (world.Has<LocalTransform>(entity))
+            {
+                LocalTransform localTransform = world.Get<LocalTransform>(entity);
+                localToWorldMatrix = Matrix4x4.Multiply(localToWorldMatrix, localTransform.TRS());
+                LocalToWorld localToWorld = new(localToWorldMatrix);
+                world.Set(entity, localToWorld);
+
+                Log.Info($"Entity {entity} | local position {localTransform.position} | world position {localToWorldMatrix.Translation}");
+            }
+
+            ReverseSpanEnumerator<Entity> childEntities = world.InRelations<ChildParentRelation>(entity);
+            foreach (Entity childEntity in childEntities)
+            {
+                ForceUpdateLocalToWorld(world, childEntity, localToWorldMatrix);
+            }
+        }
+    }
+}