diff --git a/main.go b/main.go
index b10ebaa..fa3a299 100755
--- a/main.go
+++ b/main.go
@@ -9,15 +9,29 @@ func main() {
 	defer f.Release()
 	println("foundation:", f)
 
-	pvd := pgo.CreatePvd(f)
-	// defer pvd.Release()
-	println("Pvd:", pvd)
-
-	pvdTr := pgo.DefaultPvdSocketTransportCreate("127.0.0.1", 9876, 500)
-	// defer pvdTr.Release()
+	pvdTr := pgo.DefaultPvdSocketTransportCreate("0.0.0.0", 5426, 100000)
 	println("Pvd transport:", pvdTr)
 
-	// for {
-	// 	time.Sleep(1 / 60 * time.Second)
-	// }
+	pvd := pgo.CreatePvd(f)
+	println("Pvd:", pvd)
+	println("connect:", pvd.Connect(pvdTr, pgo.PvdInstrumentationFlag_eALL))
+
+	ts := pgo.NewTolerancesScale(1, 9.81)
+	p := pgo.CreatePhysics(f, ts, false, pvd)
+	println("Physics:", p)
+
+	sd := pgo.NewSceneDesc(ts)
+	sd.SetGravity(pgo.NewVec3(0, -9.8, 0))
+	sd.SetCpuDispatcher(pgo.DefaultCpuDispatcherCreate(2, 0).ToCpuDispatcher())
+
+	s := p.CreateScene(sd)
+	println("Scene:", s)
+
+	for {
+
+	}
+
+	p.Release()
+	pvd.Release()
+	pvdTr.Release()
 }
diff --git a/pgo/libs/libphysx-c.a b/pgo/libs/libphysx-c.a
index 823f088..b42540a 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 1247910..ca11bf3 100755
--- a/pgo/pgo.go
+++ b/pgo/pgo.go
@@ -12,14 +12,39 @@ 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);
+
+struct CPxPhysics* CPxCreatePhysics(struct CPxFoundation* cfoundation, struct CPxTolerancesScale cscale, bool trackOutstandingAllocations, struct CPxPvd* cpvd);
+struct CPxScene* CPxPhysics_createScene(struct CPxPhysics*, struct CPxSceneDesc*);
+void CPxPhysics_release(struct CPxPhysics*);
+
+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*);
 */
 import "C"
 import "unsafe"
 
+type PvdInstrumentationFlag uint32
+
+const (
+	PvdInstrumentationFlag_eDEBUG   PvdInstrumentationFlag = 1 << 0
+	PvdInstrumentationFlag_ePROFILE PvdInstrumentationFlag = 1 << 1
+	PvdInstrumentationFlag_eMEMORY  PvdInstrumentationFlag = 1 << 2
+	PvdInstrumentationFlag_eALL     PvdInstrumentationFlag = (PvdInstrumentationFlag_eDEBUG | PvdInstrumentationFlag_ePROFILE | PvdInstrumentationFlag_eMEMORY)
+)
+
 type Foundation struct {
 	cFoundation *C.struct_CPxFoundation
 }
@@ -40,6 +65,10 @@ type Pvd struct {
 	cPvd *C.struct_CPxPvd
 }
 
+func (p *Pvd) Connect(pvdTr *PvdTransport, instFlag PvdInstrumentationFlag) bool {
+	return bool(C.CPxPvd_connect(p.cPvd, pvdTr.cPvdTr, uint32(instFlag)))
+}
+
 func (p *Pvd) Release() {
 	C.CPxPvd_release(p.cPvd)
 }
@@ -67,6 +96,91 @@ func DefaultPvdSocketTransportCreate(host string, port, timeoutMillis int) *PvdT
 
 	p := &PvdTransport{}
 	p.cPvdTr = C.CPxDefaultPvdSocketTransportCreate(hostCStr, C.int(port), C.int(timeoutMillis))
+	return p
+}
+
+type TolerancesScale struct {
+	cTolScale C.struct_CPxTolerancesScale
+}
+
+func NewTolerancesScale(length, speed float32) *TolerancesScale {
+
+	ts := &TolerancesScale{}
+	ts.cTolScale = C.NewCPxTolerancesScale(C.float(length), C.float(speed))
+	return ts
+}
+
+type Scene struct {
+	cS *C.struct_CPxScene
+}
+
+type Physics struct {
+	cPhysics *C.struct_CPxPhysics
+}
+
+// struct CPxScene* CPxPhysics_createScene(struct CPxPhysics*, struct CPxSceneDesc*);
+func (p *Physics) CreateScene(sd *SceneDesc) *Scene {
+	return &Scene{
+		cS: C.CPxPhysics_createScene(p.cPhysics, sd.cSD),
+	}
+}
+
+func CreatePhysics(f *Foundation, ts *TolerancesScale, trackOutstandingAllocations bool, pvd *Pvd) *Physics {
+
+	p := &Physics{}
+	p.cPhysics = C.CPxCreatePhysics(f.cFoundation, ts.cTolScale, C._Bool(trackOutstandingAllocations), pvd.cPvd)
 
 	return p
 }
+
+func (p *Physics) Release() {
+	C.CPxPhysics_release(p.cPhysics)
+}
+
+type Vec3 struct {
+	cV C.struct_CPxVec3
+}
+
+func NewVec3(x, y, z float32) *Vec3 {
+	return &Vec3{
+		cV: C.NewCPxVec3(C.float(x), C.float(y), C.float(z)),
+	}
+}
+
+type CpuDispatcher struct {
+	cCpuDisp *C.struct_CPxCpuDispatcher
+}
+
+type DefaultCpuDispatcher struct {
+	cDefCpuDisp *C.struct_CPxDefaultCpuDispatcher
+}
+
+// struct CPxCpuDispatcher* CPxDefaultCpuDispatcher_toCPxCpuDispatcher(struct CPxDefaultCpuDispatcher* cdcd);
+func (d *DefaultCpuDispatcher) ToCpuDispatcher() *CpuDispatcher {
+	return &CpuDispatcher{cCpuDisp: (*C.struct_CPxCpuDispatcher)(d.cDefCpuDisp)}
+}
+
+func DefaultCpuDispatcherCreate(numThreads, affinityMasks uint32) *DefaultCpuDispatcher {
+	return &DefaultCpuDispatcher{
+		cDefCpuDisp: C.CPxDefaultCpuDispatcherCreate(C.uint(numThreads), C.uint(affinityMasks)),
+	}
+}
+
+type SceneDesc struct {
+	cSD *C.struct_CPxSceneDesc
+}
+
+func (sd *SceneDesc) SetGravity(v *Vec3) {
+	C.CPxSceneDesc_set_gravity(sd.cSD, v.cV)
+}
+
+func (sd *SceneDesc) SetCpuDispatcher(cd *CpuDispatcher) {
+	C.CPxSceneDesc_set_cpuDispatcher(sd.cSD, cd.cCpuDisp)
+}
+
+//struct CPxSceneDesc* NewCPxSceneDesc(struct CPxTolerancesScale);
+func NewSceneDesc(ts *TolerancesScale) *SceneDesc {
+	return &SceneDesc{
+		cSD: C.NewCPxSceneDesc(ts.cTolScale),
+	}
+}
diff --git a/pgo/physx-c/CPxCpuDispatcher.h b/pgo/physx-c/CPxCpuDispatcher.h
new file mode 100755
index 0000000..bde6a4a
--- /dev/null
+++ b/pgo/physx-c/CPxCpuDispatcher.h
@@ -0,0 +1,25 @@
+#ifndef CPxCpuDispatcher_H
+#define CPxCpuDispatcher_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+	struct CPxCpuDispatcher
+	{
+		void* obj;
+	};
+
+	/// <summary>
+	/// This only frees C representation of the base class (the CPxCpuDispatcher struct). obj is NOT freed.
+	/// To release the PhysX resources release must be called on the actual C implementation (e.g. CPxDefaultCpuDispatcher_release)
+	/// </summary>
+	/// <param name="CPxCpuDispatcher"></param>
+	/// <returns></returns>
+	CPxAPI void CPxCpuDispatcher_release(CSTRUCT CPxCpuDispatcher*);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // !PxCpuDispatcher_H
\ No newline at end of file
diff --git a/pgo/physx-c/CPxDefaultCpuDispatcher.h b/pgo/physx-c/CPxDefaultCpuDispatcher.h
new file mode 100755
index 0000000..4a161e1
--- /dev/null
+++ b/pgo/physx-c/CPxDefaultCpuDispatcher.h
@@ -0,0 +1,22 @@
+#ifndef CPxDefaultCpuDispatcher_H
+#define CPxDefaultCpuDispatcher_H
+
+#include "CPxCpuDispatcher.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+	struct CPxDefaultCpuDispatcher {
+		void* obj;
+	};
+
+	CPxAPI CSTRUCT CPxDefaultCpuDispatcher* CPxDefaultCpuDispatcherCreate(CPxU32 numThreads, CPxU32 affinityMasks);
+	CPxAPI CSTRUCT CPxCpuDispatcher* CPxDefaultCpuDispatcher_toCPxCpuDispatcher(CSTRUCT CPxDefaultCpuDispatcher* cdcd);
+	CPxAPI void CPxDefaultCpuDispatcher_release(CSTRUCT CPxDefaultCpuDispatcher* cdcd);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // !CPxDefaultCpuDispatcher_H
\ No newline at end of file
diff --git a/pgo/physx-c/CPxDefaultSimulationFilterShader.h b/pgo/physx-c/CPxDefaultSimulationFilterShader.h
new file mode 100755
index 0000000..fce7c60
--- /dev/null
+++ b/pgo/physx-c/CPxDefaultSimulationFilterShader.h
@@ -0,0 +1,20 @@
+#ifndef CPxDefaultSimulationFilterShader_H
+#define CPxDefaultSimulationFilterShader_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+	struct CPxDefaultSimulationFilterShader
+	{
+		void* obj;
+	};
+
+	//CPxAPI CSTRUCT CPxDefaultSimulationFilterShader* NewCPxDefaultSimulationFilterShader();
+	//CPxAPI void FreeCPxDefaultSimulationFilterShader(CSTRUCT CPxDefaultSimulationFilterShader*);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // !CPxDefaultSimulationFilterShader_H
diff --git a/pgo/physx-c/CPxFoundation.h b/pgo/physx-c/CPxFoundation.h
index 4edbd82..7e40b98 100755
--- a/pgo/physx-c/CPxFoundation.h
+++ b/pgo/physx-c/CPxFoundation.h
@@ -1,5 +1,5 @@
-#ifndef __CPxFoundation_H__
-#define __CPxFoundation_H__
+#ifndef CPxFoundation_H
+#define CPxFoundation_H
 
 #ifdef __cplusplus
 extern "C" {
diff --git a/pgo/physx-c/CPxPhysics.h b/pgo/physx-c/CPxPhysics.h
new file mode 100755
index 0000000..8eeb427
--- /dev/null
+++ b/pgo/physx-c/CPxPhysics.h
@@ -0,0 +1,26 @@
+#ifndef CPxPhysics_H
+#define CPxPhysics_H
+
+#include "CPxPvd.h"
+#include "CPxFoundation.h"
+#include "CPxScene.h"
+#include "CPxSceneDesc.h"
+#include "CPxTolerancesScale.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+	struct CPxPhysics {
+		void* obj;
+	};
+
+	CPxAPI CSTRUCT CPxPhysics* CPxCreatePhysics(CSTRUCT CPxFoundation* cfoundation, CSTRUCT CPxTolerancesScale cscale, bool trackOutstandingAllocations, CSTRUCT CPxPvd* cpvd);
+	CPxAPI CSTRUCT CPxScene* CPxPhysics_createScene(CSTRUCT CPxPhysics*, CSTRUCT CPxSceneDesc*);
+	CPxAPI void CPxPhysics_release(CSTRUCT CPxPhysics*);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
\ No newline at end of file
diff --git a/pgo/physx-c/CPxPvd.h b/pgo/physx-c/CPxPvd.h
index 8053702..2fb3cb7 100755
--- a/pgo/physx-c/CPxPvd.h
+++ b/pgo/physx-c/CPxPvd.h
@@ -1,17 +1,69 @@
-#ifndef __CPxPvd_H__
-#define __CPxPvd_H__
+#ifndef CPxPvd_H
+#define CPxPvd_H
 
 #include "CPxFoundation.h"
+#include "CPxPvdTransport.h"
 
 #ifdef __cplusplus
 extern "C" {
 #endif
+
+	enum CPxPvdInstrumentationFlag
+	{
+		/**
+			\brief Send debugging information to PVD.
+
+			This information is the actual object data of the rigid statics, shapes,
+			articulations, etc.  Sending this information has a noticeable impact on
+			performance and thus this flag should not be set if you want an accurate
+			performance profile.
+		 */
+		CPxPvdInstrumentationFlag_eDEBUG = 1 << 0,
+
+		/**
+			\brief Send profile information to PVD.
+
+			This information populates PVD's profile view.  It has (at this time) negligible
+			cost compared to Debug information and makes PVD *much* more useful so it is quite
+			highly recommended.
+
+			This flag works together with a PxCreatePhysics parameter.
+			Using it allows the SDK to send profile events to PVD.
+		*/
+		CPxPvdInstrumentationFlag_ePROFILE = 1 << 1,
+
+		/**
+			\brief Send memory information to PVD.
+
+			The PVD sdk side hooks into the Foundation memory controller and listens to
+			allocation/deallocation events.  This has a noticable hit on the first frame,
+			however, this data is somewhat compressed and the PhysX SDK doesn't allocate much
+			once it hits a steady state.  This information also has a fairly negligible
+			impact and thus is also highly recommended.
+
+			This flag works together with a PxCreatePhysics parameter,
+			trackOutstandingAllocations.  Using both of them together allows users to have
+			an accurate view of the overall memory usage of the simulation at the cost of
+			a hashtable lookup per allocation/deallocation.  Again, PhysX makes a best effort
+			attempt not to allocate or deallocate during simulation so this hashtable lookup
+			tends to have no effect past the first frame.
+
+			Sending memory information without tracking outstanding allocations means that
+			PVD will accurate information about the state of the memory system before the
+			actual connection happened.
+		*/
+		CPxPvdInstrumentationFlag_eMEMORY = 1 << 2,
+
+		eALL = (CPxPvdInstrumentationFlag_eDEBUG | CPxPvdInstrumentationFlag_ePROFILE | CPxPvdInstrumentationFlag_eMEMORY)
+	};
+
 	struct CPxPvd
 	{
 		void* obj;
 	};
 
 	CPxAPI CSTRUCT CPxPvd* CPxCreatePvd(CSTRUCT CPxFoundation*);
+	CPxAPI bool CPxPvd_connect(CSTRUCT CPxPvd*, CSTRUCT CPxPvdTransport*, CENUM CPxPvdInstrumentationFlag);
 	CPxAPI void CPxPvd_release(CSTRUCT CPxPvd* cpp);
 #ifdef __cplusplus
 }
diff --git a/pgo/physx-c/CPxPvdTransport.h b/pgo/physx-c/CPxPvdTransport.h
index fdaf709..4c077a2 100755
--- a/pgo/physx-c/CPxPvdTransport.h
+++ b/pgo/physx-c/CPxPvdTransport.h
@@ -1,5 +1,5 @@
-#ifndef __CPxPvdTransport_H__
-#define __CPxPvdTransport_H__
+#ifndef CPxPvdTransport_H
+#define CPxPvdTransport_H
 
 #ifdef __cplusplus
 extern "C" {
diff --git a/pgo/physx-c/CPxScene.h b/pgo/physx-c/CPxScene.h
new file mode 100755
index 0000000..deea264
--- /dev/null
+++ b/pgo/physx-c/CPxScene.h
@@ -0,0 +1,20 @@
+#ifndef CPxScene_H
+#define CPxScene_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+	struct CPxScene
+	{
+		void* obj;
+	};
+
+	CPxAPI void CPxScene_release(CSTRUCT CPxScene*);
+
+#ifdef __cplusplus
+}
+#endif
+
+
+#endif // !CPxScene_H
diff --git a/pgo/physx-c/CPxSceneDesc.h b/pgo/physx-c/CPxSceneDesc.h
new file mode 100755
index 0000000..84ba6d3
--- /dev/null
+++ b/pgo/physx-c/CPxSceneDesc.h
@@ -0,0 +1,30 @@
+#ifndef CPxSceneDesc_H
+#define CPxSceneDesc_H
+
+#include "CPxTolerancesScale.h"
+#include "CPxVec3.h"
+#include "CPxCpuDispatcher.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+	struct CPxSceneDesc {
+		void* obj;
+	};
+
+	/// <summary>
+	/// Creates a SceneDesc with filterShader=physx::PxDefaultSimulationFilterShader
+	/// </summary>
+	/// <param name="CPxTolerancesScale"></param>
+	/// <returns></returns>
+	CPxAPI CSTRUCT CPxSceneDesc* NewCPxSceneDesc(CSTRUCT CPxTolerancesScale);
+	CPxAPI void CPxSceneDesc_set_gravity(CSTRUCT CPxSceneDesc*, CSTRUCT CPxVec3);
+	CPxAPI void CPxSceneDesc_set_cpuDispatcher(CSTRUCT CPxSceneDesc*, CSTRUCT CPxCpuDispatcher*);
+	CPxAPI void FreeCPxSceneDesc(CSTRUCT CPxSceneDesc*);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
\ No newline at end of file
diff --git a/pgo/physx-c/CPxTolerancesScale.h b/pgo/physx-c/CPxTolerancesScale.h
new file mode 100755
index 0000000..f898062
--- /dev/null
+++ b/pgo/physx-c/CPxTolerancesScale.h
@@ -0,0 +1,19 @@
+#ifndef CPxTolerancesScale_H
+#define CPxTolerancesScale_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+	struct CPxTolerancesScale
+	{
+		CPxReal length, speed;
+	};
+
+	CPxAPI CSTRUCT CPxTolerancesScale NewCPxTolerancesScale(CPxReal length, CPxReal speed);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
\ No newline at end of file
diff --git a/pgo/physx-c/CPxVec3.h b/pgo/physx-c/CPxVec3.h
new file mode 100755
index 0000000..d4ee78d
--- /dev/null
+++ b/pgo/physx-c/CPxVec3.h
@@ -0,0 +1,18 @@
+#ifndef CPxVec3_H
+#define CPxVec3_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+	struct CPxVec3 {
+		float x, y, z;
+	};
+
+	CPxAPI CSTRUCT CPxVec3 NewCPxVec3(float x, float y, float z);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // !define CPxVec3_H
\ No newline at end of file
diff --git a/pgo/wrap.cxx b/pgo/wrap.cxx
index b120050..36265ec 100755
--- a/pgo/wrap.cxx
+++ b/pgo/wrap.cxx
@@ -1,4 +1,18 @@
+#include <stdint.h>
+#include <stdbool.h>
 #define CPxAPI
 #define CSTRUCT struct
+#define CENUM enum
+#define CPxU32 uint32_t
+#define CPxReal float
+
 #include <CPxFoundation.h>
 #include <CPxPvd.h>
+#include <CPxCpuDispatcher.h>
+#include <CPxDefaultCpuDispatcher.h>
+#include <CPxPhysics.h>
+#include <CPxPvdTransport.h>
+#include <CPxScene.h>
+#include <CPxSceneDesc.h>
+#include <CPxTolerancesScale.h>
+#include <CPxVec3.h>