diff --git a/configure.py b/configure.py
index 9477086b..2b99d702 100755
--- a/configure.py
+++ b/configure.py
@@ -215,6 +215,7 @@ else:
 cflags_dolphin = [
     *cflags_base,
     "-multibyte",
+    "-fp_contract off",
 ]
 
 # Metrowerks library flags
diff --git a/include/Kyoto/Animation/TSegIdMapVariableSize.hpp b/include/Kyoto/Animation/TSegIdMapVariableSize.hpp
new file mode 100644
index 00000000..f23a20f2
--- /dev/null
+++ b/include/Kyoto/Animation/TSegIdMapVariableSize.hpp
@@ -0,0 +1,14 @@
+#ifndef _TSEGIDMAPVARIABLESIZE
+#define _TSEGIDMAPVARIABLESIZE
+
+#include <rstl/reserved_vector.hpp>
+#include <rstl/pair.hpp>
+
+template < typename T >
+struct TSegIdMapVariableSize {
+
+private:
+  rstl::reserved_vector< rstl::pair< signed char, signed char >, 100 > x4_links;
+};
+
+#endif // _TSEGIDMAPVARIABLESIZE
diff --git a/include/MetroidPrime/PathFinding/CPFBitSet.hpp b/include/MetroidPrime/PathFinding/CPFBitSet.hpp
new file mode 100644
index 00000000..53320142
--- /dev/null
+++ b/include/MetroidPrime/PathFinding/CPFBitSet.hpp
@@ -0,0 +1,15 @@
+#ifndef _CPFBITSET
+#define _CPFBITSET
+
+class CPFBitSet {
+public:
+  void Clear();
+  void Add(int bit);
+  bool Test(int bit);
+  void Rmv(int bit);
+
+private:
+  int mBits[16];
+};
+
+#endif // _CPFBITSET
diff --git a/include/MetroidPrime/PathFinding/CPathFindArea.hpp b/include/MetroidPrime/PathFinding/CPathFindArea.hpp
new file mode 100644
index 00000000..089b3f01
--- /dev/null
+++ b/include/MetroidPrime/PathFinding/CPathFindArea.hpp
@@ -0,0 +1,8 @@
+#ifndef _CPATHFINDAREA
+#define _CPATHFINDAREA
+
+class CPFArea {
+  
+};
+
+#endif // _CPATHFINDAREA
diff --git a/include/MetroidPrime/PathFinding/CPathFindRegion.hpp b/include/MetroidPrime/PathFinding/CPathFindRegion.hpp
new file mode 100644
index 00000000..0712ef91
--- /dev/null
+++ b/include/MetroidPrime/PathFinding/CPathFindRegion.hpp
@@ -0,0 +1,64 @@
+#ifndef _CPATHFINDREGION
+#define _CPATHFINDREGION
+
+#include <Kyoto/Math/CVector3f.hpp>
+#include <Kyoto/Math/CAABox.hpp>
+
+class CPFRegion;
+class CPFRegionData {
+  CPFRegionData();
+
+  void SetOpenLess(CPFRegion* region);
+  CPFRegion* GetOpenLess();
+
+  void SetOpenMore(CPFRegion* region);
+  CPFRegion* GetOpenMore();
+
+  float GetCost();
+
+  void* GetParent();
+  void Setup(CPFRegion* region, float cost);
+  void Setup(CPFRegion* region, float, float);
+  void GetG();
+
+  void SetBestPoint(const CVector3f& point);
+  const CVector3f& GetBestPoint() const;
+
+  void SetCookie(int cookie);
+  int GetCookie() const;
+
+private:
+  float x0_bestPointDistSq;
+  CVector3f x4_bestPoint;
+  int x10_cookie;
+  float x14_cost;
+  float x18_g;
+  float x1c_h;
+  CPFRegion* x20_parent;
+  CPFRegion* x24_openLess;
+  CPFRegion* x28_openMore;
+  int x2c_parentLink;
+};
+
+class CPFArea;
+class CPFNode;
+class CPFLink;
+class CPFRegion {
+  CPFRegion();
+  void Fixup(CPFArea& area, int& numNodes);
+
+private:
+  uint x0_numNodes;
+  CPFNode* x4_startNode;
+  uint x8_numLinks;
+  CPFLink* xc_startLink;
+  uint x10_flags;
+  float x14_height;
+  CVector3f x18_normal;
+  uint x24_regionIdx;
+  CVector3f x28_centroid;
+  CAABox x34_bounds;
+  CPFRegionData* x4c_data;
+};
+
+#endif // _CPATHFINDREGION
diff --git a/include/MetroidPrime/PathFinding/CPathFindSearch.hpp b/include/MetroidPrime/PathFinding/CPathFindSearch.hpp
new file mode 100644
index 00000000..336129c2
--- /dev/null
+++ b/include/MetroidPrime/PathFinding/CPathFindSearch.hpp
@@ -0,0 +1,11 @@
+#ifndef _CPATHFINDSEARCH
+#define _CPATHFINDSEARCH
+
+class CPFOpenList {
+
+};
+
+class CPathFindSearch {
+
+};
+#endif // _CPATHFINDSEARCH
diff --git a/src/GuiSys/CGuiObject.cpp b/src/GuiSys/CGuiObject.cpp
index bff217b0..17667a39 100644
--- a/src/GuiSys/CGuiObject.cpp
+++ b/src/GuiSys/CGuiObject.cpp
@@ -36,8 +36,8 @@ void CGuiObject::Draw(const CGuiWidgetDrawParms& parms) const {
 
 void CGuiObject::MoveInWorld(const CVector3f& offset) {
   CVector3f pos;
-  if (x64_parent != nullptr) {
-    pos = x64_parent->RotateW2O(offset);
+  if (GetParent() != nullptr) {
+    pos = GetParent()->RotateW2O(offset);
   }
   x4_localXF.AddTranslation(offset);
   RecalculateTransforms();
diff --git a/src/MetroidPrime/CPhysicsActor.cpp b/src/MetroidPrime/CPhysicsActor.cpp
index ceeb7ee0..483c988a 100644
--- a/src/MetroidPrime/CPhysicsActor.cpp
+++ b/src/MetroidPrime/CPhysicsActor.cpp
@@ -1,5 +1,6 @@
 #include "MetroidPrime/CPhysicsActor.hpp"
 
+#include "Kyoto/Math/CTransform4f.hpp"
 #include "Kyoto/Math/CloseEnough.hpp"
 
 #include "rstl/math.hpp"
@@ -93,8 +94,8 @@ CPhysicsState CPhysicsActor::GetPhysicsState() const {
 
 void CPhysicsActor::SetPhysicsState(const CPhysicsState& state) {
   SetTranslation(state.GetTranslation());
-  const CQuaternion& quat = state.GetOrientationWR();
-  const CVector3f& translation = GetTranslation();
+  CQuaternion quat = state.GetOrientation();
+  CVector3f translation = GetTranslation();
   SetTransform(quat.BuildTransform4f(translation));
   SetConstantForceWR(state.GetConstantForceWR());
   SetAngularMomentumWR(state.GetAngularMomentumWR());
@@ -137,7 +138,7 @@ CMotionState CPhysicsActor::PredictAngularMotion(float dt) const {
 
 CMotionState CPhysicsActor::PredictLinearMotion(float dt) const {
   CVector3f velocity = CalculateNewVelocityWR_UsingImpulses();
-  CVector3f sum = x15c_force + x150_momentum;
+  CVector3f sum = GetConstantTotalForceWR();
 
   return CMotionState(dt * velocity, CNUQuaternion(0.0f, CVector3f::Zero()),
                       dt * sum + x168_impulse, CAxisAngle::Identity());
@@ -179,10 +180,10 @@ void CPhysicsActor::AddMotionState(const CMotionState& state) {
   CNUQuaternion q(CNUQuaternion::BuildFromMatrix3f(GetTransform().BuildMatrix3f()));
   q += state.GetOrientation();
   const CQuaternion& quat = CQuaternion::FromNUQuaternion(q);
-  
+
   CVector3f transPos = GetTransform().GetTranslation();
   SetTransform(quat.BuildTransform4f(transPos));
-  
+
   transPos += state.GetTranslation();
   SetTranslation(transPos);
 
@@ -190,7 +191,6 @@ void CPhysicsActor::AddMotionState(const CMotionState& state) {
   x108_angularMomentum += state.GetAngularMomentum();
 
   ComputeDerivedQuantities();
-
 }
 
 bool CPhysicsActor::WillMove(const CStateManager& mgr) {