Update RigidBodySystem and GUI with external force handling and gravity features

CMakeLists.txt

@@ -24,7 +24,7 @@ FetchContent_MakeAvailable(eigen)
 FetchContent_Declare(
     pxmlib
     GIT_REPOSITORY https://github.com/SaltyJoss/PxM-Lib.git
-    GIT_TAG v1.0.1
+    GIT_TAG v1.0.2
 )
 FetchContent_MakeAvailable(pxmlib)
 

DSFE_App/DSFE_Core/CMakeLists.txt

@@ -2,8 +2,24 @@
 cmake_minimum_required(VERSION 3.17)
 project(DSFE_Core LANGUAGES C CXX)
 
+include(FetchContent)
+
+set(tinyxml2_BUILD_TESTING OFF CACHE BOOL "" FORCE)
+set(TINYXML2_BUILD_TESTING OFF CACHE BOOL "" FORCE)
+FetchContent_Declare(
+    tinyxml2
+    GIT_REPOSITORY https://github.com/leethomason/tinyxml2.git
+    GIT_TAGE 11.0.0
+    SOURCE_SUBDIR  nonexistent-dir-to-skip-their-cmake
+)
+FetchContent_MakeAvailable(tinyxml2)
+
 add_library(DSFE_Core SHARED)
 
+# Compile tinyxml2.cpp straight into DSFE_Core — no subproject, no .pc, no tests
+target_sources(DSFE_Core PRIVATE ${tinyxml2_SOURCE_DIR}/tinyxml2.cpp)
+target_include_directories(DSFE_Core PRIVATE ${tinyxml2_SOURCE_DIR})
+
 find_package(Threads REQUIRED)
 find_package(HDF5 REQUIRED)
 
@@ -32,17 +48,22 @@ set(DEP_CORE_SRC
     src/Numerics/IntegrationService.cpp
 )
 
-set(SINGLE_BODY_SYS_SRC
+set(LOADING_SRC
+    src/Systems/RigidBodyLoader.cpp
+    src/Systems/RigidBodyLoaderJSON.cpp
+    src/Systems/RigidBodyLoaderURDF.cpp
+)
+
+set(SYSTEMS_SRC
+    src/Systems/RigidBodySystem.cpp
+    src/Systems/TrajectoryManager.cpp
+    src/Systems/RigidBodySnapshot.cpp
     src/SingleBodySystem/Body.cpp
 )
 
-set(MULTI_BODY_SYS_SRC
-    src/Robots/RobotDynamics.cpp
-    src/Robots/RobotKinematics.cpp
-    src/Robots/RobotLoader.cpp
-    src/Robots/RobotSystem.cpp
-    src/Robots/TrajectoryManager.cpp
-    src/Robots/RobotSimSnapshot.cpp
+set(PHYSICS_SRC
+    src/Physics/RigidBodyDynamics.cpp
+    src/Physics/RigidBodyKinematics.cpp
 )
 
 set(PLATFORM_SRC
@@ -54,39 +75,41 @@ set(PLATFORM_SRC
 )
 
 set(DSL_SRC
-    src/Interpreter/Command.cpp
-    src/Interpreter/CommandContext.cpp
-    src/Interpreter/CommandFactory.cpp
-    src/Interpreter/Parser.cpp
-    src/Interpreter/RegisterCommand.cpp
-    src/Interpreter/StoredProgram.cpp
-    src/Interpreter/Utils.cpp
-    src/Interpreter/RunWrapper.cpp
-
-    src/Interpreter/Commands/LoadCmd.cpp
-    src/Interpreter/Commands/ParallelGroupCmd.cpp
-    src/Interpreter/Commands/RotateByCmd.cpp
-    src/Interpreter/Commands/RotateJointByCmd.cpp
-    src/Interpreter/Commands/RotateJointToCmd.cpp
-    src/Interpreter/Commands/RotateToCmd.cpp
-    src/Interpreter/Commands/SelectCmd.cpp
-    src/Interpreter/Commands/SetCmd.cpp
-    src/Interpreter/Commands/SetOmegaCmd.cpp
-    src/Interpreter/Commands/SpinCmd.cpp
-    src/Interpreter/Commands/StartCmd.cpp
-    src/Interpreter/Commands/StopCmd.cpp
-    src/Interpreter/Commands/TrajClearCmd.cpp
-    src/Interpreter/Commands/TrajSetCmd.cpp
-    src/Interpreter/Commands/WaitCmd.cpp
+    src/DSL/Command.cpp
+    src/DSL/CommandContext.cpp
+    src/DSL/CommandFactory.cpp
+    src/DSL/Parser.cpp
+    src/DSL/RegisterCommand.cpp
+    src/DSL/StoredProgram.cpp
+    src/DSL/Utils.cpp
+    src/DSL/RunWrapper.cpp
+
+    src/DSL/Commands/LoadCmd.cpp
+    src/DSL/Commands/ParallelGroupCmd.cpp
+    src/DSL/Commands/RotateByCmd.cpp
+    src/DSL/Commands/RotateJointByCmd.cpp
+    src/DSL/Commands/RotateJointToCmd.cpp
+    src/DSL/Commands/RotateToCmd.cpp
+    src/DSL/Commands/SelectCmd.cpp
+    src/DSL/Commands/SetCmd.cpp
+    src/DSL/Commands/SetOmegaCmd.cpp
+    src/DSL/Commands/SetVelocityCmd.cpp
+    src/DSL/Commands/SpinCmd.cpp
+    src/DSL/Commands/StartCmd.cpp
+    src/DSL/Commands/StopCmd.cpp
+    src/DSL/Commands/TrajClearCmd.cpp
+    src/DSL/Commands/TrajSetCmd.cpp
+    src/DSL/Commands/WaitCmd.cpp
 )
 
 set(SIM_CORE_SRC src/Scene/SimulationCore.cpp)
 
 # Add sources for DSFE_Core, including ImGui files
 target_sources(DSFE_Core PRIVATE
     ${DEP_CORE_SRC}
-    ${SINGLE_BODY_SYS_SRC}
-    ${MULTI_BODY_SYS_SRC}
+    ${SYSTEMS_SRC}
+    ${LOADING_SRC}
+    ${PHYSICS_SRC}
     ${PLATFORM_SRC}
     ${DSL_SRC}
     ${SIM_CORE_SRC}

DSFE_App/DSFE_Core/include/Analysis/MetricLogger.h

@@ -1,9 +1,13 @@
+/*
+ * File: Analysis/MetricLogger.h
+ * Created by: Joss Salton, 26-07-2026
+ */
 #pragma once
 #include "EngineCore.h"
 #include <vector>
 #include <string>
 
-namespace robots {
+namespace systems {
 	// Struct for logging joint data each step (for later analysis)
     struct JointLogBuffer {
 		// Sim Metadata

DSFE_App/DSFE_Core/include/Analysis/Telemetry.h

@@ -1,4 +1,7 @@
-// DSFE_Core Telemetry.h
+/*
+ * File: Analysis/Telemetry.h
+ * Created by: Joss Salton, 26-07-2026
+ */
 #pragma once
 
 #include "EngineCore.h"
@@ -11,7 +14,7 @@
 #include "Platform/Logger.h"
 #include "EngineLib/LogMacros.h"
 
-namespace robots { class RobotSystem; }
+namespace systems { class RigidBodySystem; }
 namespace control { class TrajectoryManager; }
 
 namespace diagnostics {
@@ -134,13 +137,13 @@ namespace diagnostics {
 		}
 
 		// Update method to be called each simulation step
-		void update(double simTime, const robots::RobotSystem& robotSys, const control::TrajectoryManager* trajOpt = nullptr, eTelemetryLevel level = eTelemetryLevel::NONE) {
+		void update(double simTime, const systems::RigidBodySystem& sys, const control::TrajectoryManager* trajOpt = nullptr, eTelemetryLevel level = eTelemetryLevel::NONE) {
 			if (level == eTelemetryLevel::NONE) { return; }
 
 			// Record samples at the specified frequency
 			while (simTime >= _next_t) {
 				// Record telemetry data
-				record(_next_t, robotSys, trajOpt, level);
+				record(_next_t, sys, trajOpt, level);
 				_next_t += _T;
 			}
 		}
@@ -150,7 +153,7 @@ namespace diagnostics {
 
 	private:
 		// Record telemetry data at time t
-		void record(double t, const robots::RobotSystem& robotSys, const control::TrajectoryManager* trajOpt, eTelemetryLevel level);
+		void record(double t, const systems::RigidBodySystem& sys, const control::TrajectoryManager* trajOpt, eTelemetryLevel level);
 
 		// Sampling parameters
 		double _fs = 60.0;

DSFE_App/DSFE_Core/include/Interpreter/Command.h → DSFE_App/DSFE_Core/include/DSL/Command.h

@@ -1,10 +1,11 @@
-// DSFE_Core Command.h
+/*
+ * File: DSL/Command.h
+ * Created by: Joss Salton, 26-07-2026
+ */
 #pragma once
 #include "EngineCore.h"
-#include "ICommand.h"
-#include "MainContext.h"
-
-using namespace interpreter;
+#include "DSL/ICommand.h"
+#include "DSL/MainContext.h"
 
 namespace commands {
 	// Class representing a generic command
@@ -13,19 +14,19 @@ namespace commands {
 		// Set the command context
 		void setContext(CommandContext& cntx) override { _cntx = &cntx; }
 
-		program_data::CmdResult update(CommandContext& cntx, double dt) override;
+		dsl::CmdResult update(CommandContext& cntx, double dt) override;
 
 		void execute() override;
 
 		void markFailed(const std::string& message) override;
 		void markCompleted() override;
 		bool hasStarted() const override;
 
-		interpreter::IStoredProgram* getProgram() const override { return _program; }
-		void setProgram(interpreter::IStoredProgram* program) override { _program = program; }
+		dsl::IStoredProgram* getProgram() const override { return _program; }
+		void setProgram(dsl::IStoredProgram* program) override { _program = program; }
 
 	protected:
-		IStoredProgram* _program = nullptr;
+		dsl::IStoredProgram* _program = nullptr;
 		CommandContext* _cntx = nullptr;
 	};
 } // namespace commands

DSFE_App/DSFE_Core/include/Interpreter/CommandContext.h → DSFE_App/DSFE_Core/include/DSL/CommandContext.h

@@ -1,9 +1,12 @@
-// DSFE_Core CommandContext.h
+/*
+ * File: DSL/CommandContext.h
+ * Created by: Joss Salton, 26-07-2026
+ */
 #pragma once
 
 #include "EngineCore.h"
-#include "SimFwd.h"
-#include "Interpreter/Utils.h"
+#include "DSL/SimFwd.h"
+#include "DSL/Utils.h"
 
 #include "Platform/Logger.h"
 
@@ -35,8 +38,7 @@ namespace commands {
 		// --- INITIALISATION METHODS ---
 		utils::OpResult startSim();
 		utils::OpResult setFixedDt(double dt);
-		utils::OpResult loadSingleBody(const std::string& bodyName);
-		utils::OpResult loadMultibody(const std::string& bodyName);
+		utils::OpResult loadRigidBody(const std::string& bodyName);
 
 		// --- GLOBAL STATE METHODS ---
 
@@ -50,15 +52,15 @@ namespace commands {
 		// Gets the current omega clamp value
 		double getOmegaClamp() const;
 
-		// Stops all angular velocity for the robot
-		utils::OpResult stopAllOmega(); // stops all angular velocity
+		// Stops all angular velocity for the body
+		utils::OpResult stopAllVel(); // stops all angular velocity
 
 		utils::OpResult setJointOmega(const std::string& childLink, double omegaDegPerSec); // deg/s
 		utils::OpResult stopJointOmega(const std::string& childLink);
 
 		// --- HELPER METHODS ---
 		core::ISimulationCore* Core() const;
-		robots::RobotSystem& Robot() const;
+		systems::RigidBodySystem& RigidBody() const;
 
 
 		// --- ROTATION COMMAND METHODS ---

DSFE_App/DSFE_Core/include/Interpreter/CommandFactory.h → DSFE_App/DSFE_Core/include/DSL/CommandFactory.h

@@ -1,8 +1,11 @@
-// DSFE_Core CommandFactory.h
+/*
+ * File: DSL/CommandFactory.h
+ * Created by: Joss Salton, 26-07-2026
+ */
 #pragma once
 
 #include "EngineCore.h"
-#include "ICommand.h"
+#include "DSL/ICommand.h"
 #include <unordered_map>
 #include <functional>
 

DSFE_App/DSFE_Core/include/Interpreter/Commands/LoadCmd.h → DSFE_App/DSFE_Core/include/DSL/Commands/LoadCmd.h

@@ -1,22 +1,24 @@
-// DSFE_Core LoadCmd.h
+/*
+ * File: DSL/Commands/LoadCmd.h
+ * Created by: Joss Salton, 26-07-2026
+ */
 #pragma once
 
 #include "EngineCore.h"
 #include <core/Types.h>
 
-#include "Interpreter/Command.h"
-#include "Interpreter/CommandContext.h"
+#include "DSL/Command.h"
+#include "DSL/CommandContext.h"
 
 namespace commands {
 	// Enum for load target type
 	enum class LoadTargetType {
-		SingleBody,
-		MultiBody
+		RigidBody
 	};
 
 	// Struct for load target
 	struct DSFE_API LoadTarget {
-		LoadTargetType type = LoadTargetType::SingleBody;
+		LoadTargetType type = LoadTargetType::RigidBody;
 		std::string path;
 	};
 
@@ -29,18 +31,18 @@ namespace commands {
 		// Get the command name
 		std::string_view getName() const { return "load"; }
 
-		program_data::CmdResult getResult() const { return _result; }
-		void setResult(const program_data::CmdResult& result) { _result = result; }
+		CmdResult getResult() const { return _result; }
+		void setResult(const CmdResult& result) { _result = result; }
 
 		// Get current result
-		program_data::CmdResult currentResult() const override { return getResult(); }
+		CmdResult currentResult() const override { return getResult(); }
 
 		// Execute the command
 		void execute() override;
 
 	private:
 		LoadTarget _target{};
-		program_data::CmdResult _result = { CmdState::NotStarted, {}, "" };
+		CmdResult _result = { CmdState::NotStarted, {}, "" };
 		std::string _path;
 
 	protected:

DSFE_App/DSFE_Core/include/Interpreter/Commands/ParallelGroupCmd.h → DSFE_App/DSFE_Core/include/DSL/Commands/ParallelGroupCmd.h

@@ -1,11 +1,14 @@
-// DSFE_Core ParallelGroupCmd.h
+/*
+ * File: DSL/Commands/ParallelGroupCmd.h
+ * Created by: Joss Salton, 26-07-2026
+ */
 #pragma once
 
 #include "EngineCore.h"
 #include <memory>
 #include <vector>
 
-#include "Interpreter/Command.h"
+#include "DSL/Command.h"
 
 namespace commands {
 	class DSFE_API ParallelGroupCmd final : public Command {