diff --git a/.gitignore b/.gitignore
index d644401..4a82b33 100644
--- a/.gitignore
+++ b/.gitignore
@@ -4,6 +4,7 @@
 *.import
 export.cfg
 export_presets.cfg
+.godot/
 
 # Mono-specific ignores
 .mono/
diff --git a/README.md b/README.md
index 66d981f..7f323fc 100644
--- a/README.md
+++ b/README.md
@@ -7,9 +7,6 @@
 4. Enable plugin in project settings `Project > Project Settings > Plugins`
 5. Reload project (if necessary).
 
-# Dependencies
-[Godot Utils v0.3.1](https://github.com/addmix/godot_utils/releases/tag/v0.3.1)
-
 # Usage
 Tutorial available [here](https://youtu.be/iI8SXQdaqDQ)
 1. Add an `AeroBody` to your scene, and add one or more `AeroSurface` derived classes as children, adjust settings to change the characteristics.
diff --git a/core/aero_body_3d.gd b/core/aero_body_3d.gd
index dcaace1..e68809e 100644
--- a/core/aero_body_3d.gd
+++ b/core/aero_body_3d.gd
@@ -96,6 +96,9 @@ var inclination := 0.0
 
 
 #debug
+const Vector3D = preload("../utils/vector_3d/vector_3d.gd")
+const Point3D = preload("../utils/point_3d/point_3d.gd")
+
 var linear_velocity_vector : Vector3D
 var angular_velocity_vector : Vector3D
 
diff --git a/core/aero_influencer_3d/aero_influencer_3d.gd b/core/aero_influencer_3d/aero_influencer_3d.gd
index cd38bb2..0a578ff 100644
--- a/core/aero_influencer_3d/aero_influencer_3d.gd
+++ b/core/aero_influencer_3d/aero_influencer_3d.gd
@@ -26,6 +26,7 @@ var dynamic_pressure : float = 0.0
 var _current_force : Vector3 = Vector3.ZERO
 var _current_torque : Vector3 = Vector3.ZERO
 
+const Vector3D = preload("../../utils/vector_3d/vector_3d.gd")
 var force_debug_vector : Vector3D
 var torque_debug_vector : Vector3D
 
diff --git a/core/aero_influencer_3d/aero_surface_3d/manual_aero_surface_3d/manual_aero_surface_config.gd b/core/aero_influencer_3d/aero_surface_3d/manual_aero_surface_3d/manual_aero_surface_config.gd
index d643573..51cde42 100644
--- a/core/aero_influencer_3d/aero_surface_3d/manual_aero_surface_3d/manual_aero_surface_config.gd
+++ b/core/aero_influencer_3d/aero_surface_3d/manual_aero_surface_3d/manual_aero_surface_config.gd
@@ -2,14 +2,15 @@
 extends Resource
 class_name ManualAeroSurfaceConfig
 
-@export var min_lift_coefficient : float = -1.5
-@export var max_lift_coefficient : float = 1.5
+@export var min_lift_coefficient : float = -1.0
+@export var max_lift_coefficient : float = 1.0
 @export var lift_aoa_curve : Curve
-@export var min_drag_coefficient : float = 0.001
-@export var max_drag_coefficient : float = 0.5
-
+@export var min_drag_coefficient : float = 0.0
+@export var max_drag_coefficient : float = 1.0
 @export var drag_aoa_curve : Curve
 
+const MathUtils = preload("../../../../utils/math_utils.gd")
+
 func _init(_lift_aoa_curve : Curve = preload("../../../resources/default_lift_aoa_curve.tres").duplicate(), _drag_aoa_curve : Curve = preload("../../../resources/default_drag_aoa_curve.tres").duplicate()) -> void:
 	lift_aoa_curve = _lift_aoa_curve
 	drag_aoa_curve = _drag_aoa_curve
diff --git a/core/singletons/aero_units.gd b/core/singletons/aero_units.gd
index babded6..eea9fab 100644
--- a/core/singletons/aero_units.gd
+++ b/core/singletons/aero_units.gd
@@ -1,6 +1,8 @@
 @tool
 extends Node
 
+const NodeUtils = preload("../../utils/node_utils.gd")
+
 #air is 1.402
 @export var ratio_of_specific_heat : float = 1.402
 
@@ -24,10 +26,12 @@ extends Node
 @export var min_altitude : float = 0.0
 @export var max_altitude : float = 80000.0
 func get_altitude(node : Node) -> float:
-	var floating_origin = NodeUtils.get_first_parent_of_type(node, FloatingOrigin)
-	if floating_origin is FloatingOrigin:
+	# Need to find a better way to check for floating origin
+	
+	var floating_origin = NodeUtils.get_first_parent_of_type_with_string(node, "FloatingOrigin")
+	if floating_origin:
 		return node.global_position.y + (float(floating_origin.current_offset.y) * floating_origin.shift_threshold)
-	return node.global_position.y
+	return node.position.y
 
 @export var min_mach : float = 0.0
 @export var max_mach : float = 10.0
diff --git a/demo/aero_body_3d.gd b/demo/aero_body_3d.gd
new file mode 100644
index 0000000..d3ada5d
--- /dev/null
+++ b/demo/aero_body_3d.gd
@@ -0,0 +1,8 @@
+@tool
+extends AeroBody3D
+
+func _physics_process(delta):
+	super._physics_process(delta)
+	$Elevator.rotation.x = Input.get_axis("ui_down", "ui_up") * 0.4
+	$WingL.rotation.x = Input.get_axis("ui_left", "ui_right") * 0.1
+	$WingR.rotation.x = -Input.get_axis("ui_left", "ui_right") * 0.1
diff --git a/demo/demo_plane.tscn b/demo/demo_plane.tscn
new file mode 100644
index 0000000..98b425e
--- /dev/null
+++ b/demo/demo_plane.tscn
@@ -0,0 +1,153 @@
+[gd_scene load_steps=18 format=3 uid="uid://dx0v1i14fyw8c"]
+
+[ext_resource type="Script" path="res://addons/godot_aerodynamic_physics/core/aero_influencer_3d/aero_surface_3d/manual_aero_surface_3d/manual_aero_surface_3d.gd" id="2_ygpq6"]
+[ext_resource type="Script" path="res://addons/godot_aerodynamic_physics/core/aero_influencer_3d/aero_surface_3d/manual_aero_surface_3d/manual_aero_surface_config.gd" id="3_dhflf"]
+[ext_resource type="Script" path="res://addons/godot_aerodynamic_physics/core/aero_influencer_3d/aero_surface_3d/aero_surface_config.gd" id="4_ht3i8"]
+[ext_resource type="Script" path="res://demo/thruster.gd" id="5_50cgi"]
+[ext_resource type="Script" path="res://demo/aero_body_3d.gd" id="5_208xj"]
+
+[sub_resource type="PhysicsMaterial" id="PhysicsMaterial_swshj"]
+friction = 0.0
+
+[sub_resource type="BoxShape3D" id="BoxShape3D_nchkm"]
+size = Vector3(5.34473, 0.454224, 5.40618)
+
+[sub_resource type="CapsuleShape3D" id="CapsuleShape3D_6onr1"]
+radius = 0.248054
+
+[sub_resource type="Curve" id="Curve_v5kpe"]
+_data = [Vector2(0, 0), 0.0, 0.0, 0, 0, Vector2(0.25, 1), 0.0, 0.0, 0, 0, Vector2(0.5, 0), 0.0, 0.0, 0, 0, Vector2(0.75, 1), 0.0, 0.0, 0, 0, Vector2(1, 0), 0.0, 0.0, 0, 0]
+point_count = 5
+
+[sub_resource type="Curve" id="Curve_cmcrd"]
+min_value = -1.0
+_data = [Vector2(0, 0), 0.0, 0.0, 0, 0, Vector2(0.25, -0.571), 0.0, 0.0, 0, 0, Vector2(0.375, -0.4), 0.0, 0.0, 0, 0, Vector2(0.403, -1), 0.0, 0.0, 0, 0, Vector2(0.597, 1), 0.0, 0.0, 0, 0, Vector2(0.625, 0.4), 0.0, 0.0, 0, 0, Vector2(0.75, 0.571), 0.0, 0.0, 0, 0, Vector2(1, 0), 0.0, 0.0, 0, 0]
+point_count = 8
+
+[sub_resource type="Resource" id="Resource_raxm3"]
+script = ExtResource("3_dhflf")
+min_lift_coefficient = -1.5
+max_lift_coefficient = 1.5
+lift_aoa_curve = SubResource("Curve_cmcrd")
+min_drag_coefficient = 0.001
+max_drag_coefficient = 0.5
+drag_aoa_curve = SubResource("Curve_v5kpe")
+
+[sub_resource type="Curve" id="Curve_8vcck"]
+
+[sub_resource type="Curve" id="Curve_26y5e"]
+min_value = 1.0
+max_value = 1.69
+_data = [Vector2(0.07, 1), 0.0, 0.0, 0, 0, Vector2(0.088, 1.519), 0.0, 0.0, 0, 0, Vector2(0.119, 1), 0.0, 0.0, 0, 0]
+point_count = 3
+
+[sub_resource type="Curve" id="Curve_u1ll1"]
+_data = [Vector2(0, 1), 0.0, -2.09824, 0, 0, Vector2(0.406542, 0.490909), -0.666575, -0.666575, 0, 0, Vector2(1, 0.290909), 0.0, 0.0, 0, 0]
+point_count = 3
+
+[sub_resource type="Resource" id="Resource_b87jk"]
+script = ExtResource("4_ht3i8")
+chord = 1.0
+span = 2.0
+skin_friction = 0.001
+auto_aspect_ratio = true
+aspect_ratio = 2.0
+zero_lift_aoa = 0.0
+flap_fraction = 0.0
+is_control_surface = false
+sweep_drag_multiplier_curve = SubResource("Curve_u1ll1")
+drag_at_mach_multiplier_curve = SubResource("Curve_26y5e")
+buffet_aoa_curve = SubResource("Curve_8vcck")
+
+[sub_resource type="Resource" id="Resource_7jeqs"]
+script = ExtResource("4_ht3i8")
+chord = 1.0
+span = 1.4
+skin_friction = 0.001
+auto_aspect_ratio = true
+aspect_ratio = 1.4
+zero_lift_aoa = 0.0
+flap_fraction = 0.0
+is_control_surface = false
+sweep_drag_multiplier_curve = SubResource("Curve_u1ll1")
+drag_at_mach_multiplier_curve = SubResource("Curve_26y5e")
+buffet_aoa_curve = SubResource("Curve_8vcck")
+
+[sub_resource type="Resource" id="Resource_658jb"]
+script = ExtResource("4_ht3i8")
+chord = 1.0
+span = 3.55
+skin_friction = 0.001
+auto_aspect_ratio = true
+aspect_ratio = 3.55
+zero_lift_aoa = 0.0
+flap_fraction = 0.0
+is_control_surface = false
+sweep_drag_multiplier_curve = SubResource("Curve_u1ll1")
+drag_at_mach_multiplier_curve = SubResource("Curve_26y5e")
+buffet_aoa_curve = SubResource("Curve_8vcck")
+
+[node name="AeroBody3D" type="VehicleBody3D"]
+mass = 1000.0
+physics_material_override = SubResource("PhysicsMaterial_swshj")
+center_of_mass_mode = 1
+linear_damp_mode = 1
+angular_damp_mode = 1
+script = ExtResource("5_208xj")
+show_debug = true
+update_debug = true
+
+[node name="CollisionShape3D" type="CollisionShape3D" parent="."]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0.0840454, 1.49654)
+shape = SubResource("BoxShape3D_nchkm")
+
+[node name="CollisionShape3D2" type="CollisionShape3D" parent="."]
+transform = Transform3D(-4.37114e-08, -1, 0, 1, -4.37114e-08, 0, 0, 0, 1, 0, -0.282653, -0.4323)
+shape = SubResource("CapsuleShape3D_6onr1")
+
+[node name="Elevator" type="Node3D" parent="."]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, -3.57628e-07, 3.05994)
+script = ExtResource("2_ygpq6")
+manual_config = SubResource("Resource_raxm3")
+wing_config = SubResource("Resource_b87jk")
+show_debug = true
+
+[node name="Rudder" type="Node3D" parent="."]
+transform = Transform3D(-4.37114e-08, -1, 0, 0.835693, -3.65293e-08, -0.549198, 0.549198, -2.40062e-08, 0.835693, -2.96035e-17, 0.742918, 3.32475)
+script = ExtResource("2_ygpq6")
+manual_config = SubResource("Resource_raxm3")
+wing_config = SubResource("Resource_7jeqs")
+show_debug = true
+
+[node name="WingL" type="Node3D" parent="."]
+transform = Transform3D(1, 0, -5.96046e-08, 0, 1, 0, 5.96046e-08, 0, 1, -1.90776, 0, -0.473555)
+script = ExtResource("2_ygpq6")
+manual_config = SubResource("Resource_raxm3")
+wing_config = SubResource("Resource_658jb")
+show_debug = true
+
+[node name="WingR" type="Node3D" parent="."]
+transform = Transform3D(1, 0, 5.96046e-08, 0, 1, 0, -5.96046e-08, 0, 1, 1.908, 0, -0.473945)
+script = ExtResource("2_ygpq6")
+manual_config = SubResource("Resource_raxm3")
+wing_config = SubResource("Resource_658jb")
+show_debug = true
+
+[node name="Camera3D" type="Camera3D" parent="."]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 1.55771, 9.0562)
+
+[node name="CSGBox3D" type="CSGBox3D" parent="."]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, -0.20421)
+size = Vector3(7.34863, 0.113525, 1.14014)
+
+[node name="CSGBox3D2" type="CSGBox3D" parent="."]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, 0, 3.35488)
+size = Vector3(2.0332, 0.113525, 1.14014)
+
+[node name="CSGBox3D3" type="CSGBox3D" parent="."]
+transform = Transform3D(1, 0, 0, 0, 0.822998, -0.568045, 0, 0.568045, 0.822998, 0, 0.623825, 3.53358)
+size = Vector3(0.141602, 1.41797, 1.14014)
+
+[node name="Marker3D" type="Marker3D" parent="."]
+script = ExtResource("5_50cgi")
+force = 600.0
diff --git a/demo/demo_scene.tscn b/demo/demo_scene.tscn
new file mode 100644
index 0000000..154e3d7
--- /dev/null
+++ b/demo/demo_scene.tscn
@@ -0,0 +1,37 @@
+[gd_scene load_steps=6 format=3 uid="uid://cpbp7en0cerjl"]
+
+[ext_resource type="PackedScene" uid="uid://dx0v1i14fyw8c" path="res://demo/demo_plane.tscn" id="1_bbdyo"]
+
+[sub_resource type="ProceduralSkyMaterial" id="ProceduralSkyMaterial_lajrc"]
+sky_horizon_color = Color(0.64625, 0.65575, 0.67075, 1)
+ground_horizon_color = Color(0.64625, 0.65575, 0.67075, 1)
+
+[sub_resource type="Sky" id="Sky_dsdc3"]
+sky_material = SubResource("ProceduralSkyMaterial_lajrc")
+
+[sub_resource type="Environment" id="Environment_bkiet"]
+background_mode = 2
+sky = SubResource("Sky_dsdc3")
+tonemap_mode = 2
+glow_enabled = true
+
+[sub_resource type="StandardMaterial3D" id="StandardMaterial3D_1sawy"]
+albedo_color = Color(0, 0.490196, 0.0823529, 1)
+
+[node name="Main" type="Node3D"]
+
+[node name="DirectionalLight3D" type="DirectionalLight3D" parent="."]
+transform = Transform3D(-0.866023, -0.433016, 0.250001, 0, 0.499998, 0.866027, -0.500003, 0.749999, -0.43301, 0, 0, 0)
+shadow_enabled = true
+
+[node name="WorldEnvironment" type="WorldEnvironment" parent="."]
+environment = SubResource("Environment_bkiet")
+
+[node name="AeroBody3D" parent="." instance=ExtResource("1_bbdyo")]
+linear_velocity = Vector3(0, 0, -100)
+
+[node name="CSGBox3D" type="CSGBox3D" parent="."]
+transform = Transform3D(1, 0, 0, 0, 1, 0, 0, 0, 1, 0, -4.12099, -190.455)
+use_collision = true
+size = Vector3(10000, 1, 10000)
+material = SubResource("StandardMaterial3D_1sawy")
diff --git a/demo/thruster.gd b/demo/thruster.gd
new file mode 100644
index 0000000..b476f6a
--- /dev/null
+++ b/demo/thruster.gd
@@ -0,0 +1,8 @@
+extends Marker3D
+
+@export var enabled : bool = true
+@export var force : float = 100.0
+
+func _physics_process(delta : float) -> void:
+	if enabled:
+		get_parent().apply_force(-global_transform.basis.z * force, global_transform.basis * position)
diff --git a/icon.png b/icon.png
new file mode 100644
index 0000000..442b2ea
Binary files /dev/null and b/icon.png differ
diff --git a/plugin.gd b/plugin.gd
index e3895fa..4164001 100644
--- a/plugin.gd
+++ b/plugin.gd
@@ -1,6 +1,8 @@
 @tool
 extends EditorPlugin
 
+const PluginUtils = preload("./utils/plugin_utils.gd")
+
 var path := PluginUtils.get_plugin_path("Godot Aerodynamic Physics")
 
 #icons
@@ -28,7 +30,7 @@ const manual_aero_surface_config = preload("./core/aero_influencer_3d/aero_surfa
 #const procedural_aero_surface_config = preload("./core/aero_influencer_3d/aero_surface_3d/procedural_aero_surface_3d/procedural_aero_surface_config.gd")
 
 func _enter_tree():
-	SettingsUtils.ifndef("physics/3d/aerodynamics/substeps", 1)
+	ifndef("physics/3d/aerodynamics/substeps", 1)
 	add_autoload_singleton("AeroUnits", path + "/core/singletons/aero_units.gd")
 	add_node_3d_gizmo_plugin(gizmo_plugin_instance)
 	
@@ -57,3 +59,11 @@ func _exit_tree():
 
 	remove_autoload_singleton("AeroUnits")
 	remove_node_3d_gizmo_plugin(gizmo_plugin_instance)
+
+static func ifndef(setting : String, default_value : Variant) -> Variant:
+	if not ProjectSettings.has_setting(setting):
+		ProjectSettings.set_setting(setting, default_value)
+		if not default_value == null:
+			ProjectSettings.set_initial_value(setting, default_value)
+	
+	return ProjectSettings.get_setting(setting)
diff --git a/utils/math_utils.gd b/utils/math_utils.gd
new file mode 100644
index 0000000..e808066
--- /dev/null
+++ b/utils/math_utils.gd
@@ -0,0 +1,147 @@
+# From https://github.com/addmix/godot_utils
+
+const E := 2.718281828459045
+
+
+
+#type-less functions
+
+
+
+static func toggle(condition : bool, _true : Variant, _false : Variant) -> Variant:
+	return float(condition) * _true + float(!condition) * _false
+
+
+
+#float math functions
+
+
+
+static func bias(x : float, bias : float) -> float:
+	var f : float = 1 - bias
+	var k : float = f * f * f
+	return (x * k) / (x * k - x + 1)
+
+#branchlessly toggles a float between two values given a condition
+static func float_toggle(condition : bool, _true : float, _false : float) -> float:
+	return float(condition) * _true + float(!condition) * _false
+
+static func log_with_base(value : float, base : float) -> float:
+	return log(value) / log(base)
+
+static func mix(a : float, b : float, amount : float) -> float:
+	return (a - amount) * a + amount * b
+
+#deprecated, use GDScript global move_toward() function
+static func move_to(position : float, target : float, speed : float = 1.0) -> float:
+	var direction : float = sign(target - position)
+	var new_position = position + direction * speed
+	var new_direction : float = sign(target - new_position)
+
+	return float_toggle(direction == new_direction, new_position, target)
+
+#smooth minimum
+static func polynomial_smin(a : float, b : float, k : float =0.1) -> float:
+	var h = clamp(0.5 + 0.5 * (a - b) / k, 0.0, 1.0)
+	return mix(a, b, h) - k * h * (1.0 - h)
+
+static func sigmoid(x : float, e : float = E) -> float:
+	return pow(e, x) / pow(e, x) + 1.0
+
+
+
+
+#matrix math stuff, very inefficient stuff
+
+
+
+#unused
+static func check_squareness(a : Array) -> void:
+	if a.size() != a[0].size():
+		push_error("Matrix not square")
+
+static func identity_matrix(n : int) -> Array:
+	var matrix := []
+
+	for y in range(n):
+		var row := []
+		for x in range(n):
+			row.append(int(y == x))
+		matrix.append(row)
+
+	return matrix
+
+#https://integratedmlai.com/matrixinverse/
+static func inverse(a : Array) -> Array:
+	var n := a.size()
+	var am := a.duplicate(true)
+	var I = identity_matrix(n)
+	var im = I.duplicate(true)
+
+	for fd in range(n):
+		var fdScaler : float = 1.0 / am[fd][fd]
+
+		for j in range(n):
+			am[fd][j] *= fdScaler
+			im[fd][j] *= fdScaler
+
+		for i in range(n):
+			if i == fd:
+				continue
+
+			var crScaler : float = am[i][fd]
+			for j in range(n):
+				am[i][j] = am[i][j] - crScaler * am[fd][j]
+				im[i][j] = im[i][j] - crScaler * im[fd][j]
+
+	return im
+
+static func multiply(a : Array, b : Array) -> Array:
+	var matrix := zero_matrix(a.size(), b[0].size())
+
+	for i in range(a.size()):
+		for j in range(b[0].size()):
+			for k in range(a[0].size()):
+				matrix[i][j] = matrix[i][j] + a[i][k] * b[k][j]
+	return matrix
+
+#plane intersection fucntion
+#http://tbirdal.blogspot.com/2016/10/a-better-approach-to-plane-intersection.html
+static func ray_plane_intersection(p1 : Vector3, n1 : Vector3, p2 : Vector3, n2 : Vector3, p0 : Vector3) -> Array[Vector3]:
+
+	var M := [
+		[2, 0, 0, n1.x, n2.x],
+		[0, 2, 0, n1.y, n2.y],
+		[0, 0, 2, n1.z, n2.z],
+		[n1.x, n1.y, n1.z, 0, 0],
+		[n2.x, n2.y, n2.z, 0, 0]]
+
+	var bx := p1 * n1
+	var by := p2 * n2
+
+	var b4 := bx.x + bx.y + bx.z
+	var b5 := by.x + by.y + by.z
+
+	var b = [
+		[2*p0.x],
+		[2*p0.y],
+		[2*p0.z],
+		[b4],
+		[b5]]
+
+# warning-ignore:unused_variable
+	var x := multiply(inverse(M), b)
+	var p = Vector3(x[0][0], x[0][1], x[0][2])
+	var n = n1.cross(n2)
+	return [p, n]
+
+#matrix multiplication funcs
+#https://godotengine.org/qa/41768/matrix-matrix-vector-multiplication
+static func zero_matrix(nX : int, nY : int) -> Array:
+	var matrix := []
+	for x in range(nX):
+		matrix.append([])
+# warning-ignore:unused_variable
+		for y in range(nY):
+			matrix[x].append(0)
+	return matrix
diff --git a/utils/node_utils.gd b/utils/node_utils.gd
new file mode 100644
index 0000000..568062a
--- /dev/null
+++ b/utils/node_utils.gd
@@ -0,0 +1,119 @@
+#returns signal connection error, if any. Mainly for plugin nodes
+static func connect_signal_safe(node : Node, _signal : StringName, callable : Callable, flags : int = 0) -> int:
+	if not node.has_signal(_signal):
+		return node.connect(_signal, callable, flags)
+	#mimick godot's default error for doubly connected signals
+	push_warning("Signal already connected")
+	return ERR_INVALID_PARAMETER
+
+
+static func get_descendants(node : Node, include_internal : bool = false) -> Array[Node]:
+	var children : Array[Node] = node.get_children(include_internal)
+
+	#array for storing all descendants
+	var arr := []
+
+	for i in range(children.size()):
+		arr.append(children[i])
+		#add child's array contents to self's array
+		arr += get_descendants(children[i])
+
+	return arr
+
+static func get_first_child_of_type(node : Node, type) -> Node:
+	for child in node.get_children():
+		if is_instance_of(child, type):
+			return child
+	return null
+
+static func get_first_descandant_of_type(node : Node, type, include_internal : bool = false) -> Node:
+	if is_instance_of(node, type):
+		return node
+	
+	for child in node.get_children(include_internal):
+		#returns node or null
+		var descendant : Node = get_first_descandant_of_type(child, type, include_internal)
+		#if not null, we have found a match
+		if descendant:
+			return descendant
+	
+	return null
+
+static func get_descendants_of_type(node : Node, type, include_internal : bool = false) -> Array[Node]:
+	var descandants_of_type : Array[Node] = []
+	for child in node.get_children(include_internal):
+		if is_instance_of(child, type):
+			descandants_of_type.append(child)
+		descandants_of_type = descandants_of_type + get_descendants_of_type(child, type)
+	return descandants_of_type
+
+static func has_node_of_type(node : Node, type) -> bool:
+	for child in node.get_children():
+		if is_instance_of(child, type):
+			return true
+	return false
+
+
+
+static func get_first_parent_of_type(node : Node, type) -> Node:
+	var parent := node.get_parent()
+	if parent == null:
+		return null
+	elif is_instance_of(parent, type):
+		return parent
+	else:
+		return get_first_parent_of_type(parent, type)
+
+static func get_first_parent_of_type_with_string(node : Node, type : String) -> Node:
+	var parent := node.get_parent()
+	if parent == null:
+		return null
+	elif is_instance_of_string(parent, type):
+		return parent
+	else:
+		return get_first_parent_of_type_with_string(parent, type)
+
+
+static func get_first_parent_with_name(node : Node, _name : String) -> Node:
+	var parent := node.get_parent()
+	if parent == null:
+		return null
+	elif parent.name == _name:
+		return parent
+	else:
+		return get_first_parent_with_name(parent, _name)
+
+static func is_instance_of_string(obj : Object, given_class_name : String) -> bool:
+	if ClassDB.class_exists(given_class_name):
+		# We have a build in class
+		return obj.is_class(given_class_name)
+	else:
+		# We don't have a build in class
+		# It must be a script class
+		var class_script : Script
+		# Assume it is a script path and try to load it
+		if ResourceLoader.exists(given_class_name):
+			class_script = load(given_class_name) as Script
+			
+		if class_script == null:
+			# Assume it is a class name and try to find it
+			for x in ProjectSettings.get_global_class_list():
+				
+				if str(x["class"]) == given_class_name:
+					class_script = load(str(x["path"]))
+					break
+				
+		if class_script == null:
+			# Unknown class
+			return false
+		
+		# Get the script of the object and try to match it
+		var check_script : Script = obj.get_script()
+		while check_script != null:
+			if check_script == class_script:
+				return true
+			
+			check_script = check_script.get_base_script()
+		
+		# Match not found
+		return false
diff --git a/utils/plugin_utils.gd b/utils/plugin_utils.gd
new file mode 100644
index 0000000..5841d0a
--- /dev/null
+++ b/utils/plugin_utils.gd
@@ -0,0 +1,37 @@
+# From https://github.com/addmix/godot_utils
+
+static func get_plugin_list() -> Array:
+	var plugins := []
+	for directory in DirAccess.get_directories_at("res://addons"):
+		var path := "res://addons/%s/plugin.cfg" % directory
+		if FileAccess.file_exists(path):
+			var config := ConfigFile.new()
+			var err := config.load(path)
+
+			plugins.append({
+				"name": config.get_value("plugin", "name", ""),
+				"description": config.get_value("plugin", "description", ""),
+				"author": config.get_value("plugin", "author", ""),
+				"version": config.get_value("plugin", "version", ""),
+				"script": config.get_value("plugin", "script", ""),
+				"path": path.get_base_dir()
+			})
+
+	return plugins
+
+static func get_plugin_dictionary() -> Dictionary:
+	var plugin_dictionary := {}
+	
+	var list := get_plugin_list()
+	for plugin in list:
+		plugin_dictionary[plugin["name"]] = plugin
+	
+	return plugin_dictionary
+
+#very slow, use sparingly.
+static func get_plugin_path(plugin_name : String) -> String:
+	var dictionary := get_plugin_dictionary()
+	if not dictionary.has(plugin_name):
+		push_error("Plugin name not found in plugin dictionary.")
+	return dictionary[plugin_name ]["path"]
+
diff --git a/utils/point_3d/point_3d.gd b/utils/point_3d/point_3d.gd
new file mode 100644
index 0000000..912f740
--- /dev/null
+++ b/utils/point_3d/point_3d.gd
@@ -0,0 +1,100 @@
+# From https://github.com/addmix/godot_utils
+
+@tool
+extends MeshInstance3D
+
+@export var color := Color(1, 1, 1):
+	set(x):
+		color = x
+		material.set_shader_parameter("_color", color)
+@export var width := 0.1:
+	set(x):
+		width = x
+		material.set_shader_parameter("_width", width)
+@export var checker := true:
+	set(x):
+		checker = x
+		material.set_shader_parameter("checker_pattern", checker)
+
+var material := ShaderMaterial.new()
+
+var _mesh : Array[Vector3] = [Vector3(0, -1, 0), Vector3(-1, 0, 0), Vector3(0, 1, 0), Vector3(1, 0, 0)]
+var _verticies : Array[Vector3] = [Vector3(0, -1, 0), #index 0 bottom point
+#go clockwise from -z position
+Vector3(0, 0, -1), Vector3(1, 0, 0), Vector3(0, 0, 1), Vector3(-1, 0, 0), #index 1-4 side poitns
+#top
+Vector3(0, 1, 0)] #index 5 top point
+
+#   5
+#
+#   1
+# 4   2
+#   3
+#
+#   0
+
+#bottom triangle order
+#021
+#032
+#043
+#014
+
+#top triangle order
+#512
+#523
+#534
+#541
+
+
+
+func _init(_color : Color = Color(), _width : float = 0.1, _checker : bool = true) -> void:
+	material.shader = preload("./point_3d.gdshader")
+	material.render_priority = 100
+	
+	color = _color
+	width = _width
+	checker = _checker
+
+	var st := SurfaceTool.new()
+
+	st.begin(Mesh.PRIMITIVE_TRIANGLES)
+	st.set_material(material)
+	#bottom 4 triangles
+	#northeast
+	st.add_vertex(_verticies[0])
+	st.add_vertex(_verticies[2])
+	st.add_vertex(_verticies[1])
+	#southeast
+	st.add_vertex(_verticies[0])
+	st.add_vertex(_verticies[3])
+	st.add_vertex(_verticies[2])
+	#southwest
+	st.add_vertex(_verticies[0])
+	st.add_vertex(_verticies[4])
+	st.add_vertex(_verticies[3])
+
+	st.add_vertex(_verticies[0])
+	st.add_vertex(_verticies[1])
+	st.add_vertex(_verticies[4])
+
+	#top 4 triangles
+	st.add_vertex(_verticies[5])
+	st.add_vertex(_verticies[1])
+	st.add_vertex(_verticies[2])
+
+	st.add_vertex(_verticies[5])
+	st.add_vertex(_verticies[2])
+	st.add_vertex(_verticies[3])
+
+	st.add_vertex(_verticies[5])
+	st.add_vertex(_verticies[3])
+	st.add_vertex(_verticies[4])
+
+	st.add_vertex(_verticies[5])
+	st.add_vertex(_verticies[4])
+	st.add_vertex(_verticies[1])
+
+	st.generate_normals()
+	mesh = st.commit()
+	
+	custom_aabb = AABB(Vector3.ZERO, Vector3(100, 100, 100))
diff --git a/utils/point_3d/point_3d.gdshader b/utils/point_3d/point_3d.gdshader
new file mode 100644
index 0000000..b1e26d1
--- /dev/null
+++ b/utils/point_3d/point_3d.gdshader
@@ -0,0 +1,20 @@
+shader_type spatial;
+render_mode unshaded, depth_test_disabled;
+
+uniform float _width = 1.0;
+uniform vec3 _color : source_color = vec3(0, 0, 0);
+uniform bool checker_pattern = false;
+
+void vertex() {
+	VERTEX = VERTEX * _width;
+	COLOR = vec4(VERTEX, 0);
+}
+
+void fragment() {
+	vec3 output_color = _color;
+	if (checker_pattern) {
+		ALBEDO = _color * sign(COLOR.r) * sign(COLOR.g) * sign(COLOR.b);
+	} else {
+		ALBEDO = _color;
+	}
+}
\ No newline at end of file
diff --git a/utils/vector_3d/vector_3d.gd b/utils/vector_3d/vector_3d.gd
new file mode 100644
index 0000000..b1074de
--- /dev/null
+++ b/utils/vector_3d/vector_3d.gd
@@ -0,0 +1,117 @@
+# From https://github.com/addmix/godot_utils
+
+@tool
+extends MeshInstance3D
+
+@export var value := Vector3.ZERO:
+	set(x):
+		value = x
+		material.set_shader_parameter("_length", value.length())
+
+		#prevent error when value is 0
+		var length_squared := value.length_squared()
+		if is_equal_approx(length_squared, 0.0):
+			#reset rotation
+			basis = Basis()
+			return
+		
+		var up = Vector3(0, 1, 0)
+		var dot := value.dot(up)
+		var dot_squared := dot * dot
+		
+		if is_equal_approx(dot_squared, length_squared):
+			up = Vector3(1, 0, 0)
+		
+		transform = transform.looking_at(value, up)
+@export var color := Color(1, 1, 1):
+	set(x):
+		color = x
+		material.set_shader_parameter("_color", color)
+@export var width := 0.1:
+	set(x):
+		width = x
+		material.set_shader_parameter("_width", width)
+@export var checker := false:
+	set(x):
+		checker = x
+		material.set_shader_parameter("checker_pattern", checker)
+
+var material := ShaderMaterial.new()
+
+var _mesh : Array[Vector3] = [Vector3(0, -1, 0), Vector3(-1, 0, 0), Vector3(0, 1, 0), Vector3(1, 0, 0)]
+var _verticies : Array[Vector3] = [Vector3(0, -1, 0), #index 0 bottom point
+#go clockwise from -z position
+Vector3(0, 0, -1), Vector3(1, 0, 0), Vector3(0, 0, 1), Vector3(-1, 0, 0), #index 1-4 side poitns
+#top
+Vector3(0, 1, 0)] #index 5 top point
+
+#   5
+#
+#   1
+# 4   2
+#   3
+#
+#   0
+
+#bottom triangle order
+#021
+#032
+#043
+#014
+
+#top triangle order
+#512
+#523
+#534
+#541
+
+func _init(_color : Color = Color(), _width : float = 0.1, _checker : bool = false) -> void:
+	material.shader = preload("./vector_3d.gdshader")
+	material.render_priority = 100
+	
+	color = _color
+	width = _width
+	checker = _checker
+
+	var st := SurfaceTool.new()
+
+	st.begin(Mesh.PRIMITIVE_TRIANGLES)
+	st.set_material(material)
+	#bottom 4 triangles
+	st.add_vertex(_verticies[0])
+	st.add_vertex(_verticies[2])
+	st.add_vertex(_verticies[1])
+
+	st.add_vertex(_verticies[0])
+	st.add_vertex(_verticies[3])
+	st.add_vertex(_verticies[2])
+
+	st.add_vertex(_verticies[0])
+	st.add_vertex(_verticies[4])
+	st.add_vertex(_verticies[3])
+
+	st.add_vertex(_verticies[0])
+	st.add_vertex(_verticies[1])
+	st.add_vertex(_verticies[4])
+
+	#top 4 triangles
+	st.add_vertex(_verticies[5])
+	st.add_vertex(_verticies[1])
+	st.add_vertex(_verticies[2])
+
+	st.add_vertex(_verticies[5])
+	st.add_vertex(_verticies[2])
+	st.add_vertex(_verticies[3])
+
+	st.add_vertex(_verticies[5])
+	st.add_vertex(_verticies[3])
+	st.add_vertex(_verticies[4])
+
+	st.add_vertex(_verticies[5])
+	st.add_vertex(_verticies[4])
+	st.add_vertex(_verticies[1])
+
+	st.generate_normals()
+	mesh = st.commit()
+	
+	custom_aabb = AABB(Vector3.ZERO, Vector3(100, 100, 100))
diff --git a/utils/vector_3d/vector_3d.gdshader b/utils/vector_3d/vector_3d.gdshader
new file mode 100644
index 0000000..33db361
--- /dev/null
+++ b/utils/vector_3d/vector_3d.gdshader
@@ -0,0 +1,22 @@
+shader_type spatial;
+render_mode unshaded, depth_test_disabled;
+
+uniform float _length = 0.0;
+uniform float _width = 1.0;
+uniform vec3 _color = vec3(0, 0, 0);
+uniform bool checker_pattern = false;
+
+void vertex() {
+	VERTEX = VERTEX * _width;
+	COLOR = vec4(VERTEX, 0);
+	VERTEX -= float(VERTEX.z < 0.0) * vec3(0, 0, _length);
+}
+
+void fragment() {
+	vec3 output_color = _color;
+	if (checker_pattern) {
+		ALBEDO = _color * sign(COLOR.r) * sign(COLOR.g) * sign(COLOR.b);
+	} else {
+		ALBEDO = _color;
+	}
+}
\ No newline at end of file