diff --git a/main.go b/main.go
index aed5a75..d4e1b12 100755
--- a/main.go
+++ b/main.go
@@ -33,10 +33,28 @@ func main() {
 	scenePvdClient.SetScenePvdFlag(pgo.PvdSceneFlag_eTRANSMIT_CONTACTS, true)
 	scenePvdClient.SetScenePvdFlag(pgo.PvdSceneFlag_eTRANSMIT_SCENEQUERIES, true)
 
+	//Add plane
 	pMat := p.CreateMaterial(0.5, 0.5, 0.6)
-	groundPlane := pgo.CreatePlane(p, pgo.NewPlane(0, 1, 0, 1), pMat)
+	groundPlane := pgo.CreatePlane(p, pgo.NewPlane(0, 1, 0, 0), pMat)
 	s.AddActor(groundPlane.ToActor())
 
+	//Add dynamic box
+	v := pgo.NewVec3(0, 10, 0)
+	q := pgo.NewQuat(0, 0, 1, 0)
+	tr := pgo.NewTransform(v, q)
+
+	qID := pgo.NewQuat(0, 0, 1, 0)
+	shapeOffset := pgo.NewTransform(v, qID)
+
+	box := pgo.NewBoxGeometry(0.5, 0.5, 0.5)
+	dynBox := pgo.CreateDynamic(p, tr, box.ToGeometry(), pMat, 10, shapeOffset)
+	s.AddActor(dynBox.ToActor())
+
+	v = pgo.NewVec3(0.5, 12, 0)
+	tr2 := pgo.NewTransform(v, qID)
+	dynBox2 := pgo.CreateDynamic(p, tr2, box.ToGeometry(), pMat, 10, shapeOffset)
+	s.AddActor(dynBox2.ToActor())
+
 	for {
 		s.Simulate(1 / 60.0)
 		a, b := s.FetchResults(true)
diff --git a/pgo/libs/libphysx-c.a b/pgo/libs/libphysx-c.a
index e75609b..9a89d38 100755
Binary files a/pgo/libs/libphysx-c.a and b/pgo/libs/libphysx-c.a differ
diff --git a/pgo/pgo.go b/pgo/pgo.go
index d1871c6..ad24011 100755
--- a/pgo/pgo.go
+++ b/pgo/pgo.go
@@ -6,50 +6,6 @@ package pgo
 
 #include <wrap.cxx>
 #include <stdlib.h> //Needed for C.free
-
-//Functions
-struct CPxFoundation* CPxCreateFoundation();
-void CPxFoundation_release(struct CPxFoundation*);
-
-struct CPxPvd* CPxCreatePvd(struct CPxFoundation*);
-bool CPxPvd_connect(struct CPxPvd*, struct CPxPvdTransport*, enum CPxPvdInstrumentationFlag);
-void CPxPvd_release(struct CPxPvd*);
-
-struct CPxPvdTransport* CPxDefaultPvdSocketTransportCreate(const char* address, int port, int timeoutMillis);
-void CPxPvdTransport_release(struct CPxPvdTransport* cppt);
-
-struct CPxTolerancesScale NewCPxTolerancesScale(CPxReal length, CPxReal speed);
-
-//PxPhysics
-struct CPxPhysics* CPxCreatePhysics(struct CPxFoundation* cfoundation, struct CPxTolerancesScale cscale, bool trackOutstandingAllocations, struct CPxPvd* cpvd);
-struct CPxScene* CPxPhysics_createScene(struct CPxPhysics*, struct CPxSceneDesc*);
-struct CPxMaterial* CPxPhysics_createMaterial(struct CPxPhysics*, CPxReal staticFriction, CPxReal dynamicFriction, CPxReal restitution);
-void CPxPhysics_release(struct CPxPhysics*);
-
-//PxScene
-struct CPxPvdSceneClient* CPxScene_getScenePvdClient(struct CPxScene*);
-void CPxScene_addActor(struct CPxScene*, struct CPxActor* actor);
-void CPxScene_simulate(struct CPxScene*, CPxReal elapsedTime);
-bool CPxScene_fetchResults(struct CPxScene*, bool block, CPxU32* errorState);
-
-void CPxPvdSceneClient_setScenePvdFlag(struct CPxPvdSceneClient* c, enum CPxPvdSceneFlag flag, bool value);
-
-struct CPxVec3 NewCPxVec3(float x, float y, float z);
-
-struct CPxDefaultCpuDispatcher* CPxDefaultCpuDispatcherCreate(CPxU32 numThreads, CPxU32 affinityMasks);
-struct CPxCpuDispatcher* CPxDefaultCpuDispatcher_toCPxCpuDispatcher(struct CPxDefaultCpuDispatcher* cdcd);
-
-struct CPxSceneDesc* NewCPxSceneDesc(struct CPxTolerancesScale);
-void CPxSceneDesc_set_gravity(struct CPxSceneDesc*, struct CPxVec3);
-void CPxSceneDesc_set_cpuDispatcher(struct CPxSceneDesc*, struct CPxCpuDispatcher*);
-
-//Plane
-struct CPxPlane* NewCPxPlane(float nx, float ny, float nz, float distance);
-
-//RigidStatic
-struct CPxRigidStatic* CPxCreatePlane(struct CPxPhysics* sdk, struct CPxPlane* plane, struct CPxMaterial* material);
-struct CPxActor* CPxRigidStatic_toCPxActor(struct CPxRigidStatic*);
-
 */
 import "C"
 
@@ -256,24 +212,98 @@ func NewPlane(nx, ny, nz, distance float32) *Plane {
 	}
 }
 
+type Quat struct {
+	cQ C.struct_CPxQuat
+}
+
+// CPxAPI CPxInline CSTRUCT CPxQuat NewCPxQuat(float angleRads, float x, float y, float z);
+func NewQuat(angleRads, x, y, z float32) *Quat {
+	return &Quat{
+		cQ: C.NewCPxQuat(C.float(angleRads), C.float(x), C.float(y), C.float(z)),
+	}
+}
+
+type Transform struct {
+	cT C.struct_CPxTransform
+}
+
+// struct CPxTransform NewCPxTransform(struct CPxVec3*, struct CPxQuat*);
+func NewTransform(v *Vec3, q *Quat) *Transform {
+	return &Transform{
+		cT: C.NewCPxTransform(&v.cV, &q.cQ),
+	}
+}
+
+type Geometry struct {
+	cG C.struct_CPxGeometry
+}
+
+type SphereGeometry struct {
+	cSg C.struct_CPxSphereGeometry
+}
+
+// struct CPxGeometry CPxSphereGeometry_toCPxGeometry(struct CPxSphereGeometry*);
+func (sg *SphereGeometry) ToGeometry() *Geometry {
+	return &Geometry{
+		cG: C.CPxSphereGeometry_toCPxGeometry(&sg.cSg),
+	}
+}
+
+// struct CPxSphereGeometry NewCPxSphereGeometry(CPxReal radius);
+func NewSphereGeometry(radius float32) *SphereGeometry {
+	return &SphereGeometry{
+		cSg: C.NewCPxSphereGeometry(C.float(radius)),
+	}
+}
+
+type BoxGeometry struct {
+	cBg C.struct_CPxBoxGeometry
+}
+
+func (bg *BoxGeometry) ToGeometry() *Geometry {
+	return &Geometry{
+		cG: C.CPxBoxGeometry_toCPxGeometry(&bg.cBg),
+	}
+}
+
+func NewBoxGeometry(hx, hy, hz float32) *BoxGeometry {
+	return &BoxGeometry{
+		cBg: C.NewCPxBoxGeometry(C.float(hx), C.float(hy), C.float(hz)),
+	}
+}
+
 type Actor struct {
-	cA *C.struct_CPxActor
+	cA C.struct_CPxActor
 }
 
 type RigidStatic struct {
 	cRs *C.struct_CPxRigidStatic
 }
 
-//struct CPxActor* CPxRigidStatic_toCPxActor(struct CPxRigidStatic*);
 func (rs *RigidStatic) ToActor() *Actor {
 	return &Actor{
 		cA: C.CPxRigidStatic_toCPxActor(rs.cRs),
 	}
 }
 
-// struct CPxRigidStatic* CPxCreatePlane(struct CPxPhysics* sdk, struct CPxPlane* plane, struct CPxMaterial* material);
 func CreatePlane(p *Physics, plane *Plane, mat *Material) *RigidStatic {
 	return &RigidStatic{
 		cRs: C.CPxCreatePlane(p.cPhysics, plane.cP, mat.cM),
 	}
 }
+
+type RigidDynamic struct {
+	cRd *C.struct_CPxRigidDynamic
+}
+
+func (rs *RigidDynamic) ToActor() *Actor {
+	return &Actor{
+		cA: C.CPxRigidDynamic_toCPxActor(rs.cRd),
+	}
+}
+
+func CreateDynamic(p *Physics, t *Transform, g *Geometry, m *Material, density float32, shapeOffset *Transform) *RigidDynamic {
+	return &RigidDynamic{
+		cRd: C.CPxCreateDynamic(p.cPhysics, &t.cT, g.cG, m.cM, C.float(density), &shapeOffset.cT),
+	}
+}
diff --git a/pgo/physx-c/CExtSimpleFactory.h b/pgo/physx-c/CExtSimpleFactory.h
new file mode 100755
index 0000000..7fc668b
--- /dev/null
+++ b/pgo/physx-c/CExtSimpleFactory.h
@@ -0,0 +1,19 @@
+#ifndef CExtSimpleFactory_H
+#define CExtSimpleFactory_H
+
+#include "CPxPhysics.h"
+#include "CPxGeometry.h"
+#include "CPxTransform.h"
+#include "CPxRigidDynamic.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+	CPxAPI CSTRUCT CPxRigidDynamic* CPxCreateDynamic(CSTRUCT CPxPhysics* sdk, CSTRUCT CPxTransform* transform, CSTRUCT CPxGeometry geometry, CSTRUCT CPxMaterial* material, CPxReal density, CSTRUCT CPxTransform* shapeOffset);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // !CExtSimpleFactory_H
diff --git a/pgo/physx-c/CPxBoxGeometry.h b/pgo/physx-c/CPxBoxGeometry.h
new file mode 100755
index 0000000..54a7691
--- /dev/null
+++ b/pgo/physx-c/CPxBoxGeometry.h
@@ -0,0 +1,19 @@
+#ifndef CPxBoxGeometry_H
+#define CPxBoxGeometry_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+	struct CPxBoxGeometry
+	{
+		float hx, hy, hz;
+	};
+
+	CPxAPI CPxInline CSTRUCT CPxBoxGeometry NewCPxBoxGeometry(float hx, float hy, float hz);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // !CPxBoxGeometry_H
\ No newline at end of file
diff --git a/pgo/physx-c/CPxGeometry.h b/pgo/physx-c/CPxGeometry.h
new file mode 100755
index 0000000..56726a4
--- /dev/null
+++ b/pgo/physx-c/CPxGeometry.h
@@ -0,0 +1,41 @@
+#ifndef CPxGeometry_H
+#define CPxGeometry_H
+
+#include "CPxBoxGeometry.h"
+#include "CPxSphereGeometry.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+	enum CPxGeometryType
+	{
+		CPxGeometryType_eSPHERE,
+		CPxGeometryType_ePLANE,
+		CPxGeometryType_eCAPSULE,
+		CPxGeometryType_eBOX,
+		CPxGeometryType_eCONVEXMESH,
+		CPxGeometryType_eTRIANGLEMESH,
+		CPxGeometryType_eHEIGHTFIELD,
+		CPxGeometryType_eGEOMETRY_COUNT,	//!< internal use only!
+		CPxGeometryType_eINVALID = -1		//!< internal use only!
+	};
+
+	struct CPxGeometry
+	{
+		void* obj;
+		CENUM CPxGeometryType type;
+	};
+
+	CPxAPI CPxInline CSTRUCT CPxSphereGeometry CPxGeometry_toCPxSphere(CSTRUCT CPxGeometry);
+	CPxAPI CPxInline CSTRUCT CPxGeometry CPxSphereGeometry_toCPxGeometry(CSTRUCT CPxSphereGeometry*);
+
+	CPxAPI CPxInline CSTRUCT CPxBoxGeometry CPxGeometry_toCPxBox(CSTRUCT CPxGeometry);
+	CPxAPI CPxInline CSTRUCT CPxGeometry CPxBoxGeometry_toCPxGeometry(CSTRUCT CPxBoxGeometry*);
+
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // !CPxGeometry_H
\ No newline at end of file
diff --git a/pgo/physx-c/CPxPlane.h b/pgo/physx-c/CPxPlane.h
index 19382e2..6be53e7 100755
--- a/pgo/physx-c/CPxPlane.h
+++ b/pgo/physx-c/CPxPlane.h
@@ -5,6 +5,7 @@
 extern "C" {
 #endif
 
+	//TODO: Maybe convert this into a value type like CPxSphereGeometry?
 	struct CPxPlane
 	{
 		void* obj;
diff --git a/pgo/physx-c/CPxQuat.h b/pgo/physx-c/CPxQuat.h
new file mode 100755
index 0000000..3a973ee
--- /dev/null
+++ b/pgo/physx-c/CPxQuat.h
@@ -0,0 +1,19 @@
+#ifndef CPxQuat_H
+#define CPxQuat_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+	struct CPxQuat
+	{
+		float x, y, z, w;
+	};
+
+	CPxAPI CPxInline CSTRUCT CPxQuat NewCPxQuat(float angleRads, float x, float y, float z);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // !CPxQuat_H
diff --git a/pgo/physx-c/CPxRigidDynamic.h b/pgo/physx-c/CPxRigidDynamic.h
new file mode 100755
index 0000000..e37be01
--- /dev/null
+++ b/pgo/physx-c/CPxRigidDynamic.h
@@ -0,0 +1,21 @@
+#ifndef CPxRigidDynamic_H
+#define CPxRigidDynamic_H
+
+#include "CPxActor.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+	struct CPxRigidDynamic
+	{
+		void* obj;
+	};
+
+	CPxAPI CSTRUCT CPxActor CPxRigidDynamic_toCPxActor(CSTRUCT CPxRigidDynamic*);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // !CPxRigidDynamic_H
\ No newline at end of file
diff --git a/pgo/physx-c/CPxRigidStatic.h b/pgo/physx-c/CPxRigidStatic.h
index 6fd37d9..248ec9a 100755
--- a/pgo/physx-c/CPxRigidStatic.h
+++ b/pgo/physx-c/CPxRigidStatic.h
@@ -16,7 +16,7 @@ extern "C" {
 	};
 
 	CPxAPI CSTRUCT CPxRigidStatic* CPxCreatePlane(CSTRUCT CPxPhysics* sdk, CSTRUCT CPxPlane* plane, CSTRUCT CPxMaterial* material);
-	CPxAPI CSTRUCT CPxActor* CPxRigidStatic_toCPxActor(CSTRUCT CPxRigidStatic*);
+	CPxAPI CSTRUCT CPxActor CPxRigidStatic_toCPxActor(CSTRUCT CPxRigidStatic*);
 
 #ifdef __cplusplus
 }
diff --git a/pgo/physx-c/CPxScene.h b/pgo/physx-c/CPxScene.h
index 7ed75ce..6c39400 100755
--- a/pgo/physx-c/CPxScene.h
+++ b/pgo/physx-c/CPxScene.h
@@ -14,7 +14,7 @@ extern "C" {
 	};
 
 	CPxAPI CSTRUCT CPxPvdSceneClient* CPxScene_getScenePvdClient(CSTRUCT CPxScene*);
-	CPxAPI void CPxScene_addActor(CSTRUCT CPxScene*, CSTRUCT CPxActor* actor);
+	CPxAPI void CPxScene_addActor(CSTRUCT CPxScene*, CSTRUCT CPxActor actor);
 	CPxAPI void CPxScene_simulate(CSTRUCT CPxScene*, CPxReal elapsedTime);
 	CPxAPI bool CPxScene_fetchResults(CSTRUCT CPxScene*, bool block, CPxU32* errorState);
 
diff --git a/pgo/physx-c/CPxSphereGeometry.h b/pgo/physx-c/CPxSphereGeometry.h
new file mode 100755
index 0000000..6803937
--- /dev/null
+++ b/pgo/physx-c/CPxSphereGeometry.h
@@ -0,0 +1,19 @@
+#ifndef CPxSphereGeometry_H
+#define CPxSphereGeometry_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+	struct CPxSphereGeometry
+	{
+		CPxReal radius;
+	};
+
+	CPxAPI CPxInline CSTRUCT CPxSphereGeometry NewCPxSphereGeometry(CPxReal radius);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // !CPxSphereGeometry_H
\ No newline at end of file
diff --git a/pgo/physx-c/CPxTransform.h b/pgo/physx-c/CPxTransform.h
new file mode 100755
index 0000000..a9f01e6
--- /dev/null
+++ b/pgo/physx-c/CPxTransform.h
@@ -0,0 +1,23 @@
+#ifndef CPxTransform_H
+#define CPxTransform_H
+
+#include "CPxVec3.h"
+#include "CPxQuat.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+	struct CPxTransform
+	{
+		CSTRUCT CPxVec3 p;
+		CSTRUCT CPxQuat q;
+	};
+
+	CPxAPI CPxInline CSTRUCT CPxTransform NewCPxTransform(CSTRUCT CPxVec3*, CSTRUCT CPxQuat*);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // !CPxTransform_H
\ No newline at end of file
diff --git a/pgo/physx-c/CPxVec3.h b/pgo/physx-c/CPxVec3.h
index d4ee78d..1ae9197 100755
--- a/pgo/physx-c/CPxVec3.h
+++ b/pgo/physx-c/CPxVec3.h
@@ -9,7 +9,7 @@ extern "C" {
 		float x, y, z;
 	};
 
-	CPxAPI CSTRUCT CPxVec3 NewCPxVec3(float x, float y, float z);
+	CPxAPI CPxInline CSTRUCT CPxVec3 NewCPxVec3(float x, float y, float z);
 
 #ifdef __cplusplus
 }
diff --git a/pgo/wrap.cxx b/pgo/wrap.cxx
index ebf42a9..6904302 100755
--- a/pgo/wrap.cxx
+++ b/pgo/wrap.cxx
@@ -1,6 +1,7 @@
 #include <stdint.h>
 #include <stdbool.h>
 #define CPxAPI
+#define CPxInline
 #define CSTRUCT struct
 #define CENUM enum
 #define CPxU32 uint32_t
@@ -15,8 +16,13 @@
 #include <CPxScene.h>
 #include <CPxSceneDesc.h>
 #include <CPxTolerancesScale.h>
-#include <CPxVec3.h>
 #include <CPxPlane.h>
 #include <CPxActor.h>
 #include <CPxRigidStatic.h>
+#include <CPxRigidDynamic.h>
+#include <CPxTransform.h>
 #include <CPxPvdSceneClient.h>
+#include <CExtSimpleFactory.h>
+#include <CPxGeometry.h>
+#include <CPxBoxGeometry.h>
+#include <CPxSphereGeometry.h>
\ No newline at end of file