diff --git a/src/Engine.cpp b/src/Engine.cpp
index c213393..ad90069 100644
--- a/src/Engine.cpp
+++ b/src/Engine.cpp
@@ -1419,7 +1419,6 @@ void Engine::setParent(int childId, int parentId) {
     if (projectManager.currentProject.isLoaded) {
         projectManager.currentProject.hasUnsavedChanges = true;
     }
-    logToConsole("Reparented object");
 }
 
 void Engine::addConsoleMessage(const std::string& message, ConsoleMessageType type) {
diff --git a/src/ModelLoader.cpp b/src/ModelLoader.cpp
index f40fd6b..7eec0bf 100644
--- a/src/ModelLoader.cpp
+++ b/src/ModelLoader.cpp
@@ -173,6 +173,13 @@ ModelLoadResult ModelLoader::loadModel(const std::string& filepath) {
         loaded.boundsMin = raw.boundsMin;
         loaded.boundsMax = raw.boundsMax;
         loaded.triangleVertices = std::move(triPositions);
+        loaded.positions = raw.positions;
+        loaded.triangleIndices.reserve(raw.faces.size() * 3);
+        for (const auto& face : raw.faces) {
+            loaded.triangleIndices.push_back(face.x);
+            loaded.triangleIndices.push_back(face.y);
+            loaded.triangleIndices.push_back(face.z);
+        }
 
         loadedMeshes.push_back(std::move(loaded));
 
@@ -209,6 +216,8 @@ ModelLoadResult ModelLoader::loadModel(const std::string& filepath) {
     glm::vec3 boundsMin(FLT_MAX);
     glm::vec3 boundsMax(-FLT_MAX);
     std::vector<glm::vec3> triPositions;
+    std::vector<glm::vec3> positions;
+    std::vector<uint32_t> indices;
 
     // Process all meshes in the scene
     std::vector<float> vertices;
@@ -218,7 +227,7 @@ ModelLoadResult ModelLoader::loadModel(const std::string& filepath) {
     result.hasTangents = false;
     
     // Process the root node recursively
-    processNode(scene->mRootNode, scene, aiMatrix4x4(), vertices, triPositions, boundsMin, boundsMax);
+    processNode(scene->mRootNode, scene, aiMatrix4x4(), vertices, triPositions, positions, indices, boundsMin, boundsMax);
     
     // Check mesh properties
     for (unsigned int i = 0; i < scene->mNumMeshes; i++) {
@@ -248,6 +257,8 @@ ModelLoadResult ModelLoader::loadModel(const std::string& filepath) {
     loaded.boundsMin = boundsMin;
     loaded.boundsMax = boundsMax;
     loaded.triangleVertices = std::move(triPositions);
+    loaded.positions = std::move(positions);
+    loaded.triangleIndices = std::move(indices);
 
     loadedMeshes.push_back(std::move(loaded));
     
@@ -521,6 +532,14 @@ bool ModelLoader::updateRawMesh(int meshIndex, const RawMeshAsset& asset, std::s
     loaded.boundsMin = asset.boundsMin;
     loaded.boundsMax = asset.boundsMax;
     loaded.triangleVertices = std::move(triPositions);
+    loaded.positions = asset.positions;
+    loaded.triangleIndices.clear();
+    loaded.triangleIndices.reserve(asset.faces.size() * 3);
+    for (const auto& face : asset.faces) {
+        loaded.triangleIndices.push_back(face.x);
+        loaded.triangleIndices.push_back(face.y);
+        loaded.triangleIndices.push_back(face.z);
+    }
 
     return true;
 }
@@ -589,27 +608,54 @@ static void collectRawMeshData(aiNode* node, const aiScene* scene, const aiMatri
     }
 }
 
-void ModelLoader::processNode(aiNode* node, const aiScene* scene, const aiMatrix4x4& parentTransform, std::vector<float>& vertices, std::vector<glm::vec3>& triPositions, glm::vec3& boundsMin, glm::vec3& boundsMax) {
+void ModelLoader::processNode(aiNode* node, const aiScene* scene, const aiMatrix4x4& parentTransform,
+                              std::vector<float>& vertices, std::vector<glm::vec3>& triPositions,
+                              std::vector<glm::vec3>& positions, std::vector<uint32_t>& indices,
+                              glm::vec3& boundsMin, glm::vec3& boundsMax) {
     aiMatrix4x4 currentTransform = parentTransform * node->mTransformation;
     // Process all meshes in this node
     for (unsigned int i = 0; i < node->mNumMeshes; i++) {
         aiMesh* mesh = scene->mMeshes[node->mMeshes[i]];
-        processMesh(mesh, currentTransform, vertices, triPositions, boundsMin, boundsMax);
+        processMesh(mesh, currentTransform, vertices, triPositions, positions, indices, boundsMin, boundsMax);
     }
     
     // Process children nodes
     for (unsigned int i = 0; i < node->mNumChildren; i++) {
-        processNode(node->mChildren[i], scene, currentTransform, vertices, triPositions, boundsMin, boundsMax);
+        processNode(node->mChildren[i], scene, currentTransform, vertices, triPositions, positions, indices, boundsMin, boundsMax);
     }
 }
 
-void ModelLoader::processMesh(aiMesh* mesh, const aiMatrix4x4& transform, std::vector<float>& vertices, std::vector<glm::vec3>& triPositions, glm::vec3& boundsMin, glm::vec3& boundsMax) {
+void ModelLoader::processMesh(aiMesh* mesh, const aiMatrix4x4& transform,
+                              std::vector<float>& vertices, std::vector<glm::vec3>& triPositions,
+                              std::vector<glm::vec3>& positions, std::vector<uint32_t>& indices,
+                              glm::vec3& boundsMin, glm::vec3& boundsMax) {
     glm::mat4 gTransform = aiToGlm(transform);
     glm::mat3 normalMat = glm::transpose(glm::inverse(glm::mat3(gTransform)));
 
+    size_t baseIndex = positions.size();
+    positions.reserve(baseIndex + mesh->mNumVertices);
+    for (unsigned int v = 0; v < mesh->mNumVertices; v++) {
+        glm::vec3 pos(mesh->mVertices[v].x, mesh->mVertices[v].y, mesh->mVertices[v].z);
+        glm::vec4 transformed = gTransform * glm::vec4(pos, 1.0f);
+        glm::vec3 finalPos = glm::vec3(transformed) / (transformed.w == 0.0f ? 1.0f : transformed.w);
+        positions.push_back(finalPos);
+
+        boundsMin.x = std::min(boundsMin.x, finalPos.x);
+        boundsMin.y = std::min(boundsMin.y, finalPos.y);
+        boundsMin.z = std::min(boundsMin.z, finalPos.z);
+        boundsMax.x = std::max(boundsMax.x, finalPos.x);
+        boundsMax.y = std::max(boundsMax.y, finalPos.y);
+        boundsMax.z = std::max(boundsMax.z, finalPos.z);
+    }
+
     // Process each face
     for (unsigned int i = 0; i < mesh->mNumFaces; i++) {
         aiFace face = mesh->mFaces[i];
+        if (face.mNumIndices == 3) {
+            indices.push_back(static_cast<uint32_t>(baseIndex + face.mIndices[0]));
+            indices.push_back(static_cast<uint32_t>(baseIndex + face.mIndices[1]));
+            indices.push_back(static_cast<uint32_t>(baseIndex + face.mIndices[2]));
+        }
         
         // Process each vertex of the face
         for (unsigned int j = 0; j < face.mNumIndices; j++) {
@@ -627,13 +673,6 @@ void ModelLoader::processMesh(aiMesh* mesh, const aiMatrix4x4& transform, std::v
 
             triPositions.push_back(finalPos);
 
-            boundsMin.x = std::min(boundsMin.x, finalPos.x);
-            boundsMin.y = std::min(boundsMin.y, finalPos.y);
-            boundsMin.z = std::min(boundsMin.z, finalPos.z);
-            boundsMax.x = std::max(boundsMax.x, finalPos.x);
-            boundsMax.y = std::max(boundsMax.y, finalPos.y);
-            boundsMax.z = std::max(boundsMax.z, finalPos.z);
-            
             // Normal
             if (mesh->mNormals) {
                 glm::vec3 n(mesh->mNormals[index].x,
diff --git a/src/ModelLoader.h b/src/ModelLoader.h
index 3802ae3..aa1a0fd 100644
--- a/src/ModelLoader.h
+++ b/src/ModelLoader.h
@@ -89,8 +89,14 @@ private:
     ModelLoader& operator=(const ModelLoader&) = delete;
     
     // Process Assimp scene
-    void processNode(aiNode* node, const aiScene* scene, const aiMatrix4x4& parentTransform, std::vector<float>& vertices, std::vector<glm::vec3>& triPositions, glm::vec3& boundsMin, glm::vec3& boundsMax);
-    void processMesh(aiMesh* mesh, const aiMatrix4x4& transform, std::vector<float>& vertices, std::vector<glm::vec3>& triPositions, glm::vec3& boundsMin, glm::vec3& boundsMax);
+    void processNode(aiNode* node, const aiScene* scene, const aiMatrix4x4& parentTransform,
+                     std::vector<float>& vertices, std::vector<glm::vec3>& triPositions,
+                     std::vector<glm::vec3>& positions, std::vector<uint32_t>& indices,
+                     glm::vec3& boundsMin, glm::vec3& boundsMax);
+    void processMesh(aiMesh* mesh, const aiMatrix4x4& transform,
+                     std::vector<float>& vertices, std::vector<glm::vec3>& triPositions,
+                     std::vector<glm::vec3>& positions, std::vector<uint32_t>& indices,
+                     glm::vec3& boundsMin, glm::vec3& boundsMax);
     
     // Storage for loaded meshes (reusing OBJLoader::LoadedMesh structure)
     std::vector<OBJLoader::LoadedMesh> loadedMeshes;
diff --git a/src/PhysicsSystem.cpp b/src/PhysicsSystem.cpp
index 84bdbca..ca156d9 100644
--- a/src/PhysicsSystem.cpp
+++ b/src/PhysicsSystem.cpp
@@ -5,6 +5,7 @@
 #include "ModelLoader.h"
 #include <numeric>
 #include <algorithm>
+#include <new>
 #include "extensions/PxRigidBodyExt.h"
 
 using namespace physx;
@@ -72,6 +73,7 @@ bool PhysicsSystem::init() {
     mCookParams = PxCookingParams(scale);
     mCookParams.meshPreprocessParams |= PxMeshPreprocessingFlag::eDISABLE_ACTIVE_EDGES_PRECOMPUTE;
     mCookParams.meshPreprocessParams |= PxMeshPreprocessingFlag::eWELD_VERTICES;
+    mCookParams.meshWeldTolerance = std::max(0.0001f, 0.001f * scale.length);
 
     PxSceneDesc sceneDesc(mPhysics->getTolerancesScale());
     sceneDesc.gravity = PxVec3(0.0f, -9.81f, 0.0f);
@@ -110,7 +112,21 @@ bool PhysicsSystem::gatherMeshData(const SceneObject& obj, std::vector<PxVec3>&
     } else if (obj.type == ObjectType::Model && obj.meshId >= 0) {
         meshInfo = getModelLoader().getMeshInfo(obj.meshId);
     }
-    if (!meshInfo || meshInfo->triangleVertices.empty()) {
+    if (!meshInfo) {
+        return false;
+    }
+
+    if (!meshInfo->positions.empty() && meshInfo->triangleIndices.size() >= 3) {
+        vertices.reserve(meshInfo->positions.size());
+        indices.reserve(meshInfo->triangleIndices.size());
+        for (const auto& v : meshInfo->positions) {
+            vertices.emplace_back(v.x, v.y, v.z);
+        }
+        indices.insert(indices.end(), meshInfo->triangleIndices.begin(), meshInfo->triangleIndices.end());
+        return !vertices.empty() && (indices.size() % 3 == 0);
+    }
+
+    if (meshInfo->triangleVertices.empty()) {
         return false;
     }
 
@@ -130,38 +146,46 @@ PxTriangleMesh* PhysicsSystem::cookTriangleMesh(const std::vector<PxVec3>& verti
                                                 const std::vector<uint32_t>& indices) const {
     if (vertices.empty() || indices.size() < 3) return nullptr;
 
-    PxTriangleMeshDesc desc;
-    desc.points.count = static_cast<uint32_t>(vertices.size());
-    desc.points.stride = sizeof(PxVec3);
-    desc.points.data = vertices.data();
-    desc.triangles.count = static_cast<uint32_t>(indices.size() / 3);
-    desc.triangles.stride = 3 * sizeof(uint32_t);
-    desc.triangles.data = indices.data();
+    try {
+        PxTriangleMeshDesc desc;
+        desc.points.count = static_cast<uint32_t>(vertices.size());
+        desc.points.stride = sizeof(PxVec3);
+        desc.points.data = vertices.data();
+        desc.triangles.count = static_cast<uint32_t>(indices.size() / 3);
+        desc.triangles.stride = 3 * sizeof(uint32_t);
+        desc.triangles.data = indices.data();
 
-    PxDefaultMemoryOutputStream buf;
-    if (!PxCookTriangleMesh(mCookParams, desc, buf)) {
+        PxDefaultMemoryOutputStream buf;
+        if (!PxCookTriangleMesh(mCookParams, desc, buf)) {
+            return nullptr;
+        }
+        PxDefaultMemoryInputData input(buf.getData(), buf.getSize());
+        return mPhysics->createTriangleMesh(input);
+    } catch (const std::bad_alloc&) {
         return nullptr;
     }
-    PxDefaultMemoryInputData input(buf.getData(), buf.getSize());
-    return mPhysics->createTriangleMesh(input);
 }
 
 PxConvexMesh* PhysicsSystem::cookConvexMesh(const std::vector<PxVec3>& vertices) const {
     if (vertices.size() < 4) return nullptr;
 
-    PxConvexMeshDesc desc;
-    desc.points.count = static_cast<uint32_t>(vertices.size());
-    desc.points.stride = sizeof(PxVec3);
-    desc.points.data = vertices.data();
-    desc.flags = PxConvexFlag::eCOMPUTE_CONVEX | PxConvexFlag::eCHECK_ZERO_AREA_TRIANGLES;
-    desc.vertexLimit = 255;
+    try {
+        PxConvexMeshDesc desc;
+        desc.points.count = static_cast<uint32_t>(vertices.size());
+        desc.points.stride = sizeof(PxVec3);
+        desc.points.data = vertices.data();
+        desc.flags = PxConvexFlag::eCOMPUTE_CONVEX | PxConvexFlag::eCHECK_ZERO_AREA_TRIANGLES;
+        desc.vertexLimit = 255;
 
-    PxDefaultMemoryOutputStream buf;
-    if (!PxCookConvexMesh(mCookParams, desc, buf)) {
+        PxDefaultMemoryOutputStream buf;
+        if (!PxCookConvexMesh(mCookParams, desc, buf)) {
+            return nullptr;
+        }
+        PxDefaultMemoryInputData input(buf.getData(), buf.getSize());
+        return mPhysics->createConvexMesh(input);
+    } catch (const std::bad_alloc&) {
         return nullptr;
     }
-    PxDefaultMemoryInputData input(buf.getData(), buf.getSize());
-    return mPhysics->createConvexMesh(input);
 }
 
 bool PhysicsSystem::attachPrimitiveShape(PxRigidActor* actor, const SceneObject& obj, bool isDynamic) const {
@@ -255,36 +279,98 @@ bool PhysicsSystem::attachColliderShape(PxRigidActor* actor, const SceneObject&
         }
         minDim = std::min(radius * 2.0f, halfHeight * 2.0f);
     } else {
-        std::vector<PxVec3> verts;
-        std::vector<uint32_t> indices;
-        if (!gatherMeshData(obj, verts, indices)) {
+        const OBJLoader::LoadedMesh* meshInfo = nullptr;
+        if (obj.type == ObjectType::OBJMesh && obj.meshId >= 0) {
+            meshInfo = g_objLoader.getMeshInfo(obj.meshId);
+        } else if (obj.type == ObjectType::Model && obj.meshId >= 0) {
+            meshInfo = getModelLoader().getMeshInfo(obj.meshId);
+        }
+        if (!meshInfo) {
+            return false;
+        }
+        const bool hasIndexed = !meshInfo->positions.empty() && meshInfo->triangleIndices.size() >= 3;
+        const bool hasTriVerts = !meshInfo->triangleVertices.empty();
+        if (!hasIndexed && !hasTriVerts) {
             return false;
         }
 
-        bool useConvex = obj.collider.convex || obj.collider.type == ColliderType::ConvexMesh || isDynamic;
-        glm::vec3 boundsMin(FLT_MAX);
-        glm::vec3 boundsMax(-FLT_MAX);
-        for (auto& v : verts) {
-            boundsMin.x = std::min(boundsMin.x, v.x * obj.scale.x);
-            boundsMin.y = std::min(boundsMin.y, v.y * obj.scale.y);
-            boundsMin.z = std::min(boundsMin.z, v.z * obj.scale.z);
-            boundsMax.x = std::max(boundsMax.x, v.x * obj.scale.x);
-            boundsMax.y = std::max(boundsMax.y, v.y * obj.scale.y);
-            boundsMax.z = std::max(boundsMax.z, v.z * obj.scale.z);
-        }
-        minDim = std::max(0.01f, std::min({boundsMax.x - boundsMin.x, boundsMax.y - boundsMin.y, boundsMax.z - boundsMin.z}));
-        if (useConvex) {
-            PxConvexMesh* convex = cookConvexMesh(verts);
-            if (!convex) return false;
-            PxConvexMeshGeometry geom(convex, PxMeshScale(ToPxVec3(obj.scale), PxQuat(PxIdentity)));
-            shape = mPhysics->createShape(geom, *mDefaultMaterial, true);
-            convex->release();
+        auto makeBoundsShape = [&](const glm::vec3& boundsMin, const glm::vec3& boundsMax) {
+            glm::vec3 halfExtents = glm::max((boundsMax - boundsMin) * 0.5f, glm::vec3(0.01f));
+            glm::vec3 center = (boundsMax + boundsMin) * 0.5f;
+            PxShape* box = mPhysics->createShape(PxBoxGeometry(ToPxVec3(halfExtents)), *mDefaultMaterial, true);
+            if (box) {
+                box->setLocalPose(PxTransform(ToPxVec3(center), PxQuat(PxIdentity)));
+            }
+            return box;
+        };
+
+        constexpr size_t kMaxCookVertices = 1000000;
+        size_t cookVertices = hasIndexed ? meshInfo->positions.size() : meshInfo->triangleVertices.size();
+        if (cookVertices > kMaxCookVertices) {
+            glm::vec3 boundsMin(FLT_MAX);
+            glm::vec3 boundsMax(-FLT_MAX);
+            const auto& sourceVerts = hasIndexed ? meshInfo->positions : meshInfo->triangleVertices;
+            for (const auto& v : sourceVerts) {
+                glm::vec3 scaled = v * obj.scale;
+                boundsMin = glm::min(boundsMin, scaled);
+                boundsMax = glm::max(boundsMax, scaled);
+            }
+            minDim = std::max(0.01f, std::min({boundsMax.x - boundsMin.x, boundsMax.y - boundsMin.y, boundsMax.z - boundsMin.z}));
+            shape = makeBoundsShape(boundsMin, boundsMax);
         } else {
-            PxTriangleMesh* tri = cookTriangleMesh(verts, indices);
-            if (!tri) return false;
-            PxTriangleMeshGeometry geom(tri, PxMeshScale(ToPxVec3(obj.scale), PxQuat(PxIdentity)));
-            shape = mPhysics->createShape(geom, *mDefaultMaterial, true);
-            tri->release();
+            std::vector<PxVec3> verts;
+            std::vector<uint32_t> indices;
+            bool hasMeshData = false;
+            try {
+                hasMeshData = gatherMeshData(obj, verts, indices);
+            } catch (const std::bad_alloc&) {
+                hasMeshData = false;
+            }
+
+            if (!hasMeshData) {
+                glm::vec3 boundsMin(FLT_MAX);
+                glm::vec3 boundsMax(-FLT_MAX);
+                const auto& sourceVerts = hasIndexed ? meshInfo->positions : meshInfo->triangleVertices;
+                for (const auto& v : sourceVerts) {
+                    glm::vec3 scaled = v * obj.scale;
+                    boundsMin = glm::min(boundsMin, scaled);
+                    boundsMax = glm::max(boundsMax, scaled);
+                }
+                minDim = std::max(0.01f, std::min({boundsMax.x - boundsMin.x, boundsMax.y - boundsMin.y, boundsMax.z - boundsMin.z}));
+                shape = makeBoundsShape(boundsMin, boundsMax);
+            } else {
+                bool useConvex = obj.collider.convex || obj.collider.type == ColliderType::ConvexMesh || isDynamic;
+                glm::vec3 boundsMin(FLT_MAX);
+                glm::vec3 boundsMax(-FLT_MAX);
+                for (auto& v : verts) {
+                    boundsMin.x = std::min(boundsMin.x, v.x * obj.scale.x);
+                    boundsMin.y = std::min(boundsMin.y, v.y * obj.scale.y);
+                    boundsMin.z = std::min(boundsMin.z, v.z * obj.scale.z);
+                    boundsMax.x = std::max(boundsMax.x, v.x * obj.scale.x);
+                    boundsMax.y = std::max(boundsMax.y, v.y * obj.scale.y);
+                    boundsMax.z = std::max(boundsMax.z, v.z * obj.scale.z);
+                }
+                minDim = std::max(0.01f, std::min({boundsMax.x - boundsMin.x, boundsMax.y - boundsMin.y, boundsMax.z - boundsMin.z}));
+                if (useConvex) {
+                    PxConvexMesh* convex = cookConvexMesh(verts);
+                    if (convex) {
+                        PxConvexMeshGeometry geom(convex, PxMeshScale(ToPxVec3(obj.scale), PxQuat(PxIdentity)));
+                        shape = mPhysics->createShape(geom, *mDefaultMaterial, true);
+                        convex->release();
+                    }
+                } else {
+                    PxTriangleMesh* tri = cookTriangleMesh(verts, indices);
+                    if (tri) {
+                        PxTriangleMeshGeometry geom(tri, PxMeshScale(ToPxVec3(obj.scale), PxQuat(PxIdentity)));
+                        shape = mPhysics->createShape(geom, *mDefaultMaterial, true);
+                        tri->release();
+                    }
+                }
+
+                if (!shape) {
+                    shape = makeBoundsShape(boundsMin, boundsMax);
+                }
+            }
         }
     }
 
@@ -385,6 +471,51 @@ void PhysicsSystem::onPlayStart(const std::vector<SceneObject>& objects) {
     clearActors();
     createGroundPlane();
 
+    struct MeshCookInfo {
+        std::string name;
+        size_t vertices = 0;
+        size_t triangles = 0;
+        size_t duplicateVertices = 0;
+    };
+    std::vector<MeshCookInfo> cookInfos;
+    cookInfos.reserve(objects.size());
+
+    for (const auto& obj : objects) {
+        if (!obj.enabled || !obj.hasCollider || !obj.collider.enabled) continue;
+        if (obj.collider.type == ColliderType::Box || obj.collider.type == ColliderType::Capsule) continue;
+        const OBJLoader::LoadedMesh* meshInfo = nullptr;
+        if (obj.type == ObjectType::OBJMesh && obj.meshId >= 0) {
+            meshInfo = g_objLoader.getMeshInfo(obj.meshId);
+        } else if (obj.type == ObjectType::Model && obj.meshId >= 0) {
+            meshInfo = getModelLoader().getMeshInfo(obj.meshId);
+        }
+        if (!meshInfo) continue;
+        const bool hasIndexed = !meshInfo->positions.empty() && meshInfo->triangleIndices.size() >= 3;
+        const bool hasTriVerts = !meshInfo->triangleVertices.empty();
+        if (!hasIndexed && !hasTriVerts) continue;
+        MeshCookInfo info;
+        info.name = obj.name;
+        info.vertices = hasIndexed ? meshInfo->positions.size() : meshInfo->triangleVertices.size();
+        info.triangles = hasIndexed ? (meshInfo->triangleIndices.size() / 3) : (meshInfo->triangleVertices.size() / 3);
+        info.duplicateVertices = meshInfo->triangleVertices.size();
+        cookInfos.push_back(info);
+    }
+
+    if (!cookInfos.empty()) {
+        std::sort(cookInfos.begin(), cookInfos.end(),
+                  [](const MeshCookInfo& a, const MeshCookInfo& b) { return a.vertices > b.vertices; });
+        size_t reportCount = std::min<size_t>(cookInfos.size(), 5);
+        std::cerr << "[Physics] Mesh collider stats (top " << reportCount << " by vertex count):\n";
+        for (size_t i = 0; i < reportCount; ++i) {
+            const auto& info = cookInfos[i];
+            std::cerr << "  " << info.name
+                      << " verts=" << info.vertices
+                      << " tris=" << info.triangles
+                      << " dupVerts=" << info.duplicateVertices
+                      << "\n";
+        }
+    }
+
     for (const auto& obj : objects) {
         if (!obj.enabled) continue;
         ActorRecord rec = createActorFor(obj);
diff --git a/src/Rendering.cpp b/src/Rendering.cpp
index 429b07f..b7cc4d4 100644
--- a/src/Rendering.cpp
+++ b/src/Rendering.cpp
@@ -363,6 +363,13 @@ int OBJLoader::loadOBJ(const std::string& filepath, std::string& errorMsg) {
     glm::vec3 boundsMin(FLT_MAX);
     glm::vec3 boundsMax(-FLT_MAX);
     std::vector<glm::vec3> triPositions;
+    std::vector<glm::vec3> positions;
+    std::vector<uint32_t> triangleIndices;
+
+    positions.reserve(attrib.vertices.size() / 3);
+    for (size_t i = 0; i + 2 < attrib.vertices.size(); i += 3) {
+        positions.emplace_back(attrib.vertices[i], attrib.vertices[i + 1], attrib.vertices[i + 2]);
+    }
 
     for (const auto& shape : shapes) {
         size_t indexOffset = 0;
@@ -376,6 +383,8 @@ int OBJLoader::loadOBJ(const std::string& filepath, std::string& errorMsg) {
                 bool hasNormal = false;
             };
             std::vector<TempVertex> faceVerts;
+            std::vector<int> facePosIndices;
+            facePosIndices.reserve(static_cast<size_t>(fv));
 
             for (int v = 0; v < fv; v++) {
                 tinyobj::index_t idx = shape.mesh.indices[indexOffset + v];
@@ -407,6 +416,7 @@ int OBJLoader::loadOBJ(const std::string& filepath, std::string& errorMsg) {
                 }
 
                 faceVerts.push_back(tv);
+                facePosIndices.push_back(idx.vertex_index);
             }
 
             if (!hasNormalsInFile && fv >= 3) {
@@ -424,6 +434,15 @@ int OBJLoader::loadOBJ(const std::string& filepath, std::string& errorMsg) {
             for (int v = 1; v < fv - 1; v++) {
                 const TempVertex* tri[3] = { &faceVerts[0], &faceVerts[v], &faceVerts[v+1] };
 
+                int idx0 = facePosIndices[0];
+                int idx1 = facePosIndices[v];
+                int idx2 = facePosIndices[v + 1];
+                if (idx0 >= 0 && idx1 >= 0 && idx2 >= 0) {
+                    triangleIndices.push_back(static_cast<uint32_t>(idx0));
+                    triangleIndices.push_back(static_cast<uint32_t>(idx1));
+                    triangleIndices.push_back(static_cast<uint32_t>(idx2));
+                }
+
                 for (int i = 0; i < 3; i++) {
                     triPositions.push_back(tri[i]->pos);
                     vertices.push_back(tri[i]->pos.x);
@@ -457,6 +476,8 @@ int OBJLoader::loadOBJ(const std::string& filepath, std::string& errorMsg) {
     loaded.boundsMin = boundsMin;
     loaded.boundsMax = boundsMax;
     loaded.triangleVertices = std::move(triPositions);
+    loaded.positions = std::move(positions);
+    loaded.triangleIndices = std::move(triangleIndices);
 
     loadedMeshes.push_back(std::move(loaded));
     return static_cast<int>(loadedMeshes.size() - 1);
diff --git a/src/Rendering.h b/src/Rendering.h
index fe47ae4..e9d711b 100644
--- a/src/Rendering.h
+++ b/src/Rendering.h
@@ -6,6 +6,7 @@
 #include "../include/Textures/Texture.h"
 #include "../include/Skybox/Skybox.h"
 #include <unordered_map>
+#include <cstdint>
 
 // Cube vertex data (position + normal + texcoord)
 extern float vertices[];
@@ -41,6 +42,8 @@ public:
         glm::vec3 boundsMin = glm::vec3(FLT_MAX);
         glm::vec3 boundsMax = glm::vec3(-FLT_MAX);
         std::vector<glm::vec3> triangleVertices; // positions duplicated per-triangle for picking
+        std::vector<glm::vec3> positions; // unique vertex positions for physics
+        std::vector<uint32_t> triangleIndices; // triangle indices into positions
     };
     
 private: