diff --git a/asm/Kyoto/Graphics/CLight.s b/asm/Kyoto/Graphics/CLight.s
index c6e7e9ff..5441e35e 100644
--- a/asm/Kyoto/Graphics/CLight.s
+++ b/asm/Kyoto/Graphics/CLight.s
@@ -77,11 +77,11 @@ lbl_80306090:
 /* 803060C0 00303020  D0 01 00 0C */	stfs f0, 0xc(r1)
 /* 803060C4 00303024  48 00 E7 F5 */	bl Magnitude__9CVector3fCFv
 /* 803060C8 00303028  FC 40 08 18 */	frsp f2, f1
-/* 803060CC 0030302C  C0 02 C7 78 */	lfs f0, lbl_805AE498@sda21(r2)
+/* 803060CC 0030302C  C0 02 C7 78 */	lfs f0, gkEpsilon32@sda21(r2)
 /* 803060D0 00303030  D0 21 00 08 */	stfs f1, 8(r1)
 /* 803060D4 00303034  FC 02 00 40 */	fcmpo cr0, f2, f0
 /* 803060D8 00303038  40 80 00 0C */	bge lbl_803060E4
-/* 803060DC 0030303C  38 62 C7 78 */	addi r3, r2, lbl_805AE498@sda21
+/* 803060DC 0030303C  38 62 C7 78 */	addi r3, r2, gkEpsilon32@sda21
 /* 803060E0 00303040  48 00 00 08 */	b lbl_803060E8
 lbl_803060E4:
 /* 803060E4 00303044  38 61 00 08 */	addi r3, r1, 8
@@ -491,15 +491,15 @@ __sinit_CLight_cpp:
 
 .section .sdata2, "a"
 .balign 8
-.global lbl_805AE498
-lbl_805AE498:
+.global gkEpsilon32
+gkEpsilon32:
 	# ROM: 0x3FAD38
 	.float 1.1920929E-7
 
 .global lbl_805AE49C
 lbl_805AE49C:
 	# ROM: 0x3FAD3C
-	.4byte 0x3B808081
+	.float 0.003921569
 
 .global lbl_805AE4A0
 lbl_805AE4A0:
@@ -514,7 +514,7 @@ lbl_805AE4A4:
 .global lbl_805AE4A8
 lbl_805AE4A8:
 	# ROM: 0x3FAD48
-	.4byte 0
+	.float 0.0
 
 .global lbl_805AE4AC
 lbl_805AE4AC:
@@ -524,10 +524,9 @@ lbl_805AE4AC:
 .global lbl_805AE4B0
 lbl_805AE4B0:
 	# ROM: 0x3FAD50
-	.4byte 0x7C1071DB
+	.float 3.0E36
 
 .global lbl_805AE4B4
 lbl_805AE4B4:
 	# ROM: 0x3FAD54
-	.4byte 0x43340000
-
+	.float 180.0
diff --git a/include/Kyoto/Graphics/CLight.hpp b/include/Kyoto/Graphics/CLight.hpp
index 9f22f663..544f8f07 100644
--- a/include/Kyoto/Graphics/CLight.hpp
+++ b/include/Kyoto/Graphics/CLight.hpp
@@ -1,6 +1,82 @@
 #ifndef __CLIGHT_HPP__
 #define __CLIGHT_HPP__
 
-class CLight {};
+#include "Kyoto/Graphics/CColor.hpp"
+#include "Kyoto/Math/CVector3f.hpp"
+
+enum ELightType {
+  kLT_Spot = 0,
+  kLT_Point = 1,
+  kLT_Directional = 2,
+  kLT_LocalAmbient = 3,
+  kLT_Custom = 4,
+};
+
+enum EFallofType { kFT_Constant, kFT_Linear, kFT_Quadratic };
+
+class CLight {
+  static const CVector3f kDefaultPosition;
+  static const CVector3f kDefaultDirection;
+
+  float CalculateLightRadius() const;
+public:
+  CLight(ELightType type, const CVector3f& position, const CVector3f& direction,
+         const CColor& color, float cutoff);
+  CLight(const CVector3f& pos, const CVector3f& direction, const CColor& color, float distC,
+         float distL, float distQ, float angleC, float angleL, float angleQ);
+
+  void SetPosition(const CVector3f& pos);
+  const CVector3f& GetPosition() const { return x0_pos; }
+  void SetDirection(const CVector3f& dir);
+  const CVector3f& GetDirection() const { return xc_dir; }
+  void SetColor(const CColor& col);
+  void SetAttenuation(float constant, float linear, float quadratic);
+  float GetSpotCutoff() const { return x20_spotCutoff; }
+  float GetAttenuationConstant() const { return x24_distC; }
+  float GetAttenuationLinear() const { return x28_distL; }
+  float GetAttenuationQuadratic() const { return x2c_distQ; }
+
+  void SetAngleAttenuation(float constant, float linear, float quadratic);
+  float GetAngleAttenuationConstant() const { return x30_angleC; }
+  float GetAngleAttenuationLinear() const { return x34_angleL; }
+  float GetAngleAttenuationQuadratic() const { return x38_angleQ; }
+
+  ELightType GetType() const { return x1c_type; }
+  u32 GetId() const { return x40_lightId; }
+  float GetIntensity() const;
+  float GetRadius() const;
+  const CColor& GetColor() const { return x18_color; }
+
+  CVector3f GetNormalIndependentLightingAtPoint(const CVector3f& point) const;
+
+  static CLight BuildDirectional(const CVector3f& dir, const CColor& color);
+  static CLight BuildSpot(const CVector3f& pos, const CVector3f& dir, const CColor& color,
+                          float cutoff);
+  static CLight BuildPoint(const CVector3f& pos, const CColor& color);
+  static CLight BuildCustom(const CVector3f& pos, const CVector3f& dir, const CColor& color,
+                            float distC, float distL, float distQ, float angleC, float angleL,
+                            float angleQ);
+  static CLight BuildLocalAmbient(const CVector3f& pos, const CColor& color);
+
+private:
+  CVector3f x0_pos;
+  CVector3f xc_dir;
+  CColor x18_color;
+  ELightType x1c_type;
+  f32 x20_spotCutoff;
+  f32 x24_distC;
+  f32 x28_distL;
+  f32 x2c_distQ;
+  f32 x30_angleC;
+  f32 x34_angleL;
+  f32 x38_angleQ;
+  uint x3c_priority;
+  uint x40_lightId;
+  mutable f32 x44_cachedRadius;
+  mutable f32 x48_cachedIntensity;
+  mutable bool x4c_24_intensityDirty : 1;
+  mutable bool x4c_25_radiusDirty : 1;
+};
+CHECK_SIZEOF(CLight, 0x50)
 
 #endif // __CLIGHT_HPP__
diff --git a/include/MetroidPrime/CActor.hpp b/include/MetroidPrime/CActor.hpp
index 081aaeed..00454e72 100644
--- a/include/MetroidPrime/CActor.hpp
+++ b/include/MetroidPrime/CActor.hpp
@@ -265,10 +265,10 @@ public:
   void SetRotation(const CQuaternion& rot) {
     SetTransform(rot.BuildTransform4f(GetTranslation()));
   }
-  const CQuaternion& GetRotation() const {
+  CQuaternion GetRotation() const {
     return CQuaternion::FromMatrix(GetTransform());
   }
-  const CVector3f& GetTranslation() const { return x34_transform.GetTranslation(); }
+  CVector3f GetTranslation() const { return x34_transform.GetTranslation(); }
   void SetTranslation(const CVector3f& vec);
   CTransform4f GetLocatorTransform(const rstl::string& segName) const;
   CTransform4f GetScaledLocatorTransform(const rstl::string& segName) const;
diff --git a/include/MetroidPrime/CActorLights.hpp b/include/MetroidPrime/CActorLights.hpp
index 515ae7e1..606bfed0 100644
--- a/include/MetroidPrime/CActorLights.hpp
+++ b/include/MetroidPrime/CActorLights.hpp
@@ -6,40 +6,11 @@
 #include "MetroidPrime/TGameTypes.hpp"
 
 #include "Kyoto/Graphics/CColor.hpp"
+#include "Kyoto/Graphics/CLight.hpp"
 #include "Kyoto/Math/CVector3f.hpp"
 
 #include "rstl/reserved_vector.hpp"
 
-enum ELightType {
-  kLT_Spot = 0,
-  kLT_Point = 1,
-  kLT_Directional = 2,
-  kLT_LocalAmbient = 3,
-  kLT_Custom = 4,
-};
-
-class CLight {
-private:
-  CVector3f x0_pos;
-  CVector3f xc_dir;
-  CColor x18_color;
-  ELightType x1c_type;
-  f32 x20_spotCutoff;
-  f32 x24_distC;
-  f32 x28_distL;
-  f32 x2c_distQ;
-  f32 x30_angleC;
-  f32 x34_angleL;
-  f32 x38_angleQ;
-  uint x3c_priority;
-  uint x40_lightId;
-  mutable f32 x44_cachedRadius;
-  mutable f32 x48_cachedIntensity;
-  mutable bool x4c_24_intensityDirty : 1;
-  mutable bool x4c_25_radiusDirty : 1;
-};
-CHECK_SIZEOF(CLight, 0x50)
-
 class CGameArea;
 class CStateManager;
 class CAABox;
diff --git a/include/MetroidPrime/CPhysicsActor.hpp b/include/MetroidPrime/CPhysicsActor.hpp
index 1d48981c..741ab684 100644
--- a/include/MetroidPrime/CPhysicsActor.hpp
+++ b/include/MetroidPrime/CPhysicsActor.hpp
@@ -101,11 +101,17 @@ public:
   const CVector3f& GetConstantForceWR() const { return xfc_constantForce; }
   void SetConstantForceWR(const CVector3f& force) { xfc_constantForce = force; }
   const CAxisAngle& GetAngularMomentumWR() const { return x108_angularMomentum; }
+  void SetAngularMomentumWR(const CAxisAngle& angularMomentum) { x108_angularMomentum = angularMomentum; }
   const CVector3f& GetMomentumWR() const { return x150_momentum; }
+  void SetMomentumWR(const CVector3f& momentum) { x150_momentum = momentum; }
   const CVector3f& GetForceWR() const { return x15c_force; }
+  void SetForceWR(const CVector3f& force) { x15c_force = force; }
   const CVector3f& GetImpulseWR() const { return x168_impulse; }
+  void SetImpulseWR(const CVector3f& impulse) { x168_impulse = impulse; }
   const CAxisAngle& GetTorqueWR() const { return x174_torque; }
+  void SetTorqueWR(const CAxisAngle& torque) { x174_torque = torque; }
   const CAxisAngle& GetAngularImpulseWR() const { return x180_angularImpulse; }
+  void SetAngularImpulseWR(const CAxisAngle& angularImpulse) { x180_angularImpulse = angularImpulse; }
 
   CPhysicsState GetPhysicsState() const;
   void SetPhysicsState(const CPhysicsState& state);
@@ -121,6 +127,9 @@ public:
   void SetMovable(bool v) { xf8_24_movable = v; }
 
   void MoveToWR(const CVector3f&, float);
+  void MoveToInOneFrameWR(const CVector3f&, float);
+  CVector3f GetMoveToORImpulseWR(const CVector3f& impulse, float d) const;
+  CAxisAngle GetRotateToORAngularMomentumWR(const CQuaternion& q, float d) const;
   void RotateToWR(const CQuaternion&, float);
 
   void MoveToOR(const CVector3f&, float);
diff --git a/src/Kyoto/Graphics/CLight.cpp b/src/Kyoto/Graphics/CLight.cpp
new file mode 100644
index 00000000..274f117e
--- /dev/null
+++ b/src/Kyoto/Graphics/CLight.cpp
@@ -0,0 +1,149 @@
+#include "Kyoto/Graphics/CLight.hpp"
+
+#include "Kyoto/Math/CMath.hpp"
+#include "rstl/math.hpp"
+
+const CVector3f CLight::kDefaultPosition(0.f, 0.f, 0.f);
+const CVector3f CLight::kDefaultDirection(0.f, -1.f, 0.f);
+
+static const float gkEpsilon32 = FLT_EPSILON;
+
+CLight::CLight(ELightType type, const CVector3f& position, const CVector3f& direction,
+               const CColor& color, float cutoff)
+: x0_pos(position)
+, xc_dir(direction)
+, x18_color(color)
+, x1c_type(type)
+, x20_spotCutoff(cutoff)
+, x24_distC(0.f)
+, x28_distL(1.f)
+, x2c_distQ(0.f)
+, x30_angleC(0.f)
+, x34_angleL(1.f)
+, x38_angleQ(0.f)
+, x3c_priority(0)
+, x40_lightId(0)
+, x44_cachedRadius(0.f)
+, x48_cachedIntensity(0.f)
+, x4c_24_intensityDirty(true)
+, x4c_25_radiusDirty(true) {}
+
+CLight::CLight(const CVector3f& position, const CVector3f& direction, const CColor& color,
+               float distC, float distL, float distQ, float angleC, float angleL, float angleQ)
+: x0_pos(position)
+, xc_dir(direction)
+, x18_color(color)
+, x1c_type(kLT_Custom)
+, x20_spotCutoff(0.f)
+, x24_distC(distC)
+, x28_distL(distL)
+, x2c_distQ(distQ)
+, x30_angleC(angleC)
+, x34_angleL(angleL)
+, x38_angleQ(angleQ)
+, x3c_priority(0)
+, x40_lightId(0)
+, x44_cachedRadius(0.f)
+, x48_cachedIntensity(0.f)
+, x4c_24_intensityDirty(true)
+, x4c_25_radiusDirty(true) {}
+
+CLight CLight::BuildLocalAmbient(const CVector3f& pos, const CColor& col) {
+  return CLight(kLT_LocalAmbient, pos, kDefaultDirection, col, 180.f);
+}
+
+CLight CLight::BuildDirectional(const CVector3f& direction, const CColor& col) {
+  return CLight(kLT_Directional, kDefaultPosition, direction, col, 180.f);
+}
+
+CLight CLight::BuildPoint(const CVector3f& pos, const CColor& color) {
+  return CLight(kLT_Point, pos, kDefaultDirection, color, 180.f);
+}
+
+CLight CLight::BuildSpot(const CVector3f& pos, const CVector3f& dir, const CColor& color,
+                         float cutoff) {
+  return CLight(kLT_Spot, pos, dir, color, cutoff);
+}
+
+CLight CLight::BuildCustom(const CVector3f& pos, const CVector3f& dir, const CColor& color,
+                           float distC, float distL, float distQ, float angleC, float angleL,
+                           float angleQ) {
+  return CLight(pos, dir, color, distC, distL, distQ, angleC, angleL, angleQ);
+}
+
+void CLight::SetAttenuation(float constant, float linear, float quadratic) {
+  x24_distC = constant;
+  x28_distL = linear;
+  x2c_distQ = quadratic;
+  x4c_25_radiusDirty = true;
+  x4c_24_intensityDirty = true;
+}
+
+void CLight::SetAngleAttenuation(float constant, float linear, float quadratic) {
+  x30_angleC = constant;
+  x34_angleL = linear;
+  x38_angleQ = quadratic;
+  x4c_25_radiusDirty = true;
+  x4c_24_intensityDirty = true;
+}
+
+void CLight::SetColor(const CColor& col) {
+  x18_color = col;
+  x4c_25_radiusDirty = true;
+  x4c_24_intensityDirty = true;
+}
+
+void CLight::SetPosition(const CVector3f& position) { x0_pos = position; }
+
+void CLight::SetDirection(const CVector3f& direction) { xc_dir = direction; }
+
+float CLight::GetRadius() const {
+  if (x4c_25_radiusDirty) {
+    x44_cachedRadius = CalculateLightRadius();
+    x4c_25_radiusDirty = false;
+  }
+  return x44_cachedRadius;
+}
+
+float CLight::CalculateLightRadius() const {
+  if (x28_distL < gkEpsilon32 &&  x2c_distQ < gkEpsilon32) {
+    return FLT_MAX;
+  }
+
+  float intensity = GetIntensity();
+  float ret = 0.f;
+  if (x2c_distQ > gkEpsilon32) {
+    const float mulVal = rstl::min_val(0.05882353f, 0.2f); // Yes, retro really did do this
+    if (intensity > gkEpsilon32) {
+      ret = CMath::SqrtF(intensity / (mulVal * x2c_distQ));
+    }
+  } else {
+    const float mulVal = rstl::min_val(0.05882353f, 0.2f); // See above comment
+    if (x28_distL > gkEpsilon32) {
+      ret = intensity / (mulVal * x28_distL);
+    }
+  }
+
+  return ret;
+}
+
+float CLight::GetIntensity() const {
+  if (x4c_24_intensityDirty) {
+    x4c_24_intensityDirty = false;
+    float coef = 1.f;
+    if (x1c_type == kLT_Custom) {
+      coef = x30_angleC;
+    }
+    x48_cachedIntensity = coef * rstl::max_val(x18_color.GetRed(), rstl::max_val(x18_color.GetGreen(), x18_color.GetBlue()));
+  }
+  return x48_cachedIntensity;
+}
+
+CVector3f CLight::GetNormalIndependentLightingAtPoint(const CVector3f& point) const {
+  CVector3f floatCol(x18_color.GetRed(), x18_color.GetGreen(), x18_color.GetBlue());
+  if (x1c_type == kLT_LocalAmbient)
+    return floatCol;
+
+  float dist = rstl::max_val((x0_pos - point).Magnitude(), gkEpsilon32);
+  return floatCol * (1.f / (dist * (x2c_distQ * dist) + (x28_distL * dist + x24_distC)));
+}
diff --git a/src/MetroidPrime/CPhysicsActor.cpp b/src/MetroidPrime/CPhysicsActor.cpp
index 1cd79c60..c9056004 100644
--- a/src/MetroidPrime/CPhysicsActor.cpp
+++ b/src/MetroidPrime/CPhysicsActor.cpp
@@ -91,15 +91,16 @@ CPhysicsState CPhysicsActor::GetPhysicsState() const {
 
 void CPhysicsActor::SetPhysicsState(const CPhysicsState& state) {
   SetTranslation(state.GetTranslation());
-  const CQuaternion& quat = state.GetOrientationWR();
-  SetTransform(quat.BuildTransform4f(GetTranslation()));
-  xfc_constantForce = state.GetConstantForceWR();
-  x108_angularMomentum = state.GetAngularMomentumWR();
-  x150_momentum = state.GetMomentumWR();
-  x15c_force = state.GetForceWR();
-  x168_impulse = state.GetImpulseWR();
-  x174_torque = state.GetTorque();
-  x180_angularImpulse = state.GetAngularImpulseWR();
+  CQuaternion quat = state.GetOrientationWR();
+  CVector3f translation = GetTranslation();
+  SetTransform(quat.BuildTransform4f(translation));
+  SetConstantForceWR(state.GetConstantForceWR());
+  SetAngularMomentumWR(state.GetAngularMomentumWR());
+  SetMomentumWR(state.GetMomentumWR());
+  SetForceWR(state.GetForceWR());
+  SetImpulseWR(state.GetImpulseWR());
+  SetTorqueWR(state.GetTorque());
+  SetAngularImpulseWR(state.GetAngularImpulseWR());
   ComputeDerivedQuantities();
 }
 
@@ -190,3 +191,15 @@ void CPhysicsActor::MoveToWR(const CVector3f& trans, float d) {
   xfc_constantForce = (trans - GetTransform().GetTranslation()) * GetMass() * (1.f / d);
   ComputeDerivedQuantities();
 }
+
+void CPhysicsActor::MoveToInOneFrameWR(const CVector3f& trans, float d) {
+  x18c_moveImpulse += (trans - GetTranslation()) * GetMass() * (1.f / d);
+}
+
+
+CVector3f CPhysicsActor::GetMoveToORImpulseWR(const CVector3f& trans, float d) const {
+  CVector3f impulse = x34_transform.Rotate(trans);
+  return  (GetMass() * impulse) * (1.f / d);
+}
+
+CAxisAngle CPhysicsActor::GetRotateToORAngularMomentumWR(const CQuaternion& q, float d) const {}