diff --git a/src/entity.h b/src/entity.h
index 697254f9..af9f3396 100644
--- a/src/entity.h
+++ b/src/entity.h
@@ -155,10 +155,10 @@ INLINE struct motor_joint motor_joint_from_def(struct motor_joint_def def)
 
 struct mouse_joint {
     struct entity_handle target;
-
-    struct v2 point_local_target;
-    struct v2 point_local_mouse;
-
+    struct v2 point_local_start;
+    struct v2 point_local_end;
+    struct math_spring_result linear_softness;
+    struct math_spring_result angular_softness;
     f32 max_force;
 
     f32 inv_m;
@@ -168,9 +168,6 @@ struct mouse_joint {
     f32 angular_impulse;
 
     struct xform linear_mass_xf;
-
-    struct math_spring_result linear_softness;
-    struct math_spring_result angular_softness;
 };
 
 
diff --git a/src/game.c b/src/game.c
index 4ede1961..aa9b0faf 100644
--- a/src/game.c
+++ b/src/game.c
@@ -19,6 +19,9 @@ GLOBAL struct {
     b32 paused;
     struct sprite_scope *sprite_frame_scope;
 
+    /* For debugging */
+    struct v2 user_cursor;
+
     /* TODO: Remove this (testing) */
     b32 extra_spawn;
 
@@ -27,6 +30,12 @@ GLOBAL struct {
     struct arena game_cmds_arena;
     struct entity *root;
 
+    /* Constants */
+    struct math_spring_result contact_softness;
+    struct math_spring_result mouse_joint_linear_softness;
+    struct math_spring_result mouse_joint_angular_softness;
+    f32 mouse_joint_max_force;
+
     /* Ticks */
     struct sys_mutex prev_tick_mutex;
     struct atomic_u64 prev_tick_id;
@@ -49,6 +58,23 @@ struct game_startup_receipt game_startup(struct mixer_startup_receipt *mixer_sr,
     (UNUSED)sheet_sr;
     (UNUSED)sound_sr;
 
+    /* Initialize constants */
+    {
+        const f32 substep_dt = (1.f / ((f32)GAME_FPS * (f32)GAME_PHYSICS_SUBSTEPS));
+
+        const f32 contact_frequency = (1.f / substep_dt) / 8.f;
+        const f32 contact_damping_ratio = 10;
+        G.contact_softness = math_spring(contact_frequency, contact_damping_ratio, substep_dt);
+
+        const f32 mouse_joint_linear_frequency = 5.0;
+        const f32 mouse_joint_linear_damping_ratio = 0.7;
+        const f32 mouse_joint_angular_frequency = 0.5f;
+        const f32 mouse_joint_angular_damping_ratio = 0.1f;
+        G.mouse_joint_max_force = 1000;
+        G.mouse_joint_linear_softness = math_spring(mouse_joint_linear_frequency, mouse_joint_linear_damping_ratio, substep_dt);
+        G.mouse_joint_angular_softness = math_spring(mouse_joint_angular_frequency, mouse_joint_angular_damping_ratio, substep_dt);
+    }
+
     /* Initialize game cmd storage */
     G.game_cmds_mutex = sys_mutex_alloc();
     G.game_cmds_arena = arena_alloc(GIGABYTE(64));
@@ -178,9 +204,11 @@ INTERNAL void spawn_test_entities(f32 offset)
 
         //e->control_force = 500;
         e->control_force = 500;
-        e->control_force_max_speed = 4;
+        //e->control_force_max_speed = 4;
         e->control_torque = 500;
 
+        e->control_force_max_speed = 4;
+
         entity_enable_prop(e, ENTITY_PROP_PHYSICAL);
 
         e->mass_unscaled = 10;
@@ -191,7 +219,7 @@ INTERNAL void spawn_test_entities(f32 offset)
         player_ent = e;
 
 
-#if 1
+#if 0
         {
             struct entity *joint_ent = entity_alloc(root);
             entity_enable_prop(joint_ent, ENTITY_PROP_PHYSICAL);
@@ -529,10 +557,7 @@ INTERNAL void create_contacts(void)
                         contact = &constraint->points[constraint->num_points++];
                         MEMZERO_STRUCT(contact);
                         contact->id = id;
-                        f32 substep_dt = (1.f / ((f32)GAME_FPS * (f32)GAME_PHYSICS_SUBSTEPS));
-                        f32 damping_ratio = 10.0f;
-                        f32 frequency = (1.f / substep_dt) / 8.f;
-                        constraint->softness = math_spring(frequency, damping_ratio, substep_dt);
+                        constraint->softness = G.contact_softness;
                         constraint->pushout_velocity = 3.0f;
                     }
 
@@ -773,9 +798,6 @@ INTERNAL void solve_contacts(f32 dt, b32 apply_bias)
                 f32 vt = v2_dot(vrel, tangent);
                 f32 j = vt * k;
 
-                //f32 friction = 0.6f;
-                //f32 friction = 1.0f;
-                //f32 friction = F32_INFINITY;
                 f32 max_friction = constraint->friction * point->normal_impulse;
                 f32 old_impulse = point->tangent_impulse;
                 f32 new_impulse = clamp_f32(old_impulse + j, -max_friction, max_friction);
@@ -892,8 +914,8 @@ INTERNAL void warm_start_motor_joints(void)
 
         e0->linear_velocity = v2_sub(e0->linear_velocity, v2_mul(joint->linear_impulse, inv_m0));
         e1->linear_velocity = v2_add(e1->linear_velocity, v2_mul(joint->linear_impulse, inv_m1));
-        e0->angular_velocity -= (v2_wedge(joint->linear_impulse, vcp0) + joint->angular_impulse) * inv_i0;
-        e1->angular_velocity += (v2_wedge(joint->linear_impulse, vcp1) + joint->angular_impulse) * inv_i1;
+        e0->angular_velocity -= (v2_wedge(vcp0, joint->linear_impulse) + joint->angular_impulse) * inv_i0;
+        e1->angular_velocity += (v2_wedge(vcp1, joint->linear_impulse) + joint->angular_impulse) * inv_i1;
     }
 }
 
@@ -961,8 +983,8 @@ INTERNAL void solve_motor_joints(f32 dt)
 
             v0 = v2_sub(v0, v2_mul(impulse, inv_m0));
             v1 = v2_add(v1, v2_mul(impulse, inv_m1));
-            w0 -= v2_wedge(impulse, vcp0) * inv_i0;
-            w1 += v2_wedge(impulse, vcp1) * inv_i1;
+            w0 -= v2_wedge(vcp0, impulse) * inv_i0;
+            w1 += v2_wedge(vcp1, impulse) * inv_i1;
         }
 
         e0->linear_velocity = v0;
@@ -982,8 +1004,95 @@ INTERNAL void solve_motor_joints(f32 dt)
  * TESTING MOUSE JOINT
  * ========================== */
 
-INTERNAL void create_mouse_joints(void)
+INTERNAL void create_mouse_joints(struct game_cmd_array game_cmds)
 {
+    struct entity_store *store = G.tick.entity_store;
+    struct entity *root = G.root;
+
+    b32 start_dragging = false;
+    b32 stop_dragging = false;
+    for (u64 i = 0; i < game_cmds.count; ++i) {
+        struct game_cmd cmd = game_cmds.cmds[i];
+        b32 start = cmd.state == GAME_CMD_STATE_START;
+        b32 stop = cmd.state == GAME_CMD_STATE_STOP;
+        switch (cmd.kind) {
+            case GAME_CMD_KIND_DRAG_OBJECT:
+            {
+                if (start) {
+                    start_dragging = true;
+                } else if (stop) {
+                    stop_dragging = true;
+                }
+            } break;
+            default: break;
+        }
+    }
+
+    struct v2 cursor = G.user_cursor;
+
+    /* TODO: Remove this */
+    static struct entity_handle target_ent_handle = ZI;
+    static struct entity_handle joint_ent_handle = ZI;
+
+    if (start_dragging) {
+        struct xform mouse_xf = xform_from_pos(cursor);
+        struct collider_shape mouse_shape = ZI;
+        mouse_shape.points[0] = V2(0, 0);
+        mouse_shape.count = 1;
+
+        for (u64 entity_index = 0; entity_index < store->reserved; ++entity_index) {
+            struct entity *ent = &store->entities[entity_index];
+            if (!entity_is_valid_and_active(ent)) continue;
+            if (!entity_has_prop(ent, ENTITY_PROP_PHYSICAL)) continue;
+
+            struct collider_shape ent_collider = ent->local_collider;
+            if (ent_collider.count > 0) {
+                struct xform ent_xf = entity_get_xform(ent);
+
+                /* TODO: Can just use boolean GJK */
+                struct collider_collision_points_result res = collider_collision_points(&ent_collider, &mouse_shape, ent_xf, mouse_xf);
+                if (res.num_points > 0) {
+                    target_ent_handle = ent->handle;
+                    break;
+                }
+            }
+        }
+    } else if (stop_dragging) {
+        target_ent_handle = entity_nil_handle();
+    }
+
+    struct entity *target_ent = entity_from_handle(store, target_ent_handle);
+    struct entity *joint_ent = entity_from_handle(store, joint_ent_handle);
+
+    if (entity_is_valid_and_active(target_ent)) {
+        if (!entity_is_valid_and_active(joint_ent)) {
+            joint_ent = entity_alloc(root);
+            joint_ent->mass_unscaled = F32_INFINITY;
+            joint_ent->inertia_unscaled = F32_INFINITY;
+            entity_enable_prop(joint_ent, ENTITY_PROP_PHYSICAL);
+            entity_enable_prop(joint_ent, ENTITY_PROP_MOUSE_JOINT);
+            entity_enable_prop(joint_ent, ENTITY_PROP_ACTIVE);
+            joint_ent_handle = joint_ent->handle;
+        }
+        struct mouse_joint *joint = &joint_ent->mouse_joint_data;
+
+        struct xform xf = entity_get_xform(target_ent);
+        f32 mass = target_ent->mass_unscaled * math_fabs(xform_get_determinant(xf));
+
+        if (!entity_handle_eq(joint->target, target_ent_handle)) {
+            joint->point_local_start = xform_invert_mul_v2(xf, cursor);
+            joint->target = target_ent_handle;
+        }
+        joint->point_local_end = xform_invert_mul_v2(xf, cursor);
+
+        joint->linear_softness = G.mouse_joint_linear_softness;
+        joint->angular_softness = G.mouse_joint_angular_softness;
+        joint->max_force = G.mouse_joint_max_force * mass;
+    } else {
+        if (entity_is_valid_and_active(joint_ent)) {
+            joint_ent->mouse_joint_data.target = entity_nil_handle();
+        }
+    }
 }
 
 INTERNAL void prepare_mouse_joints(void)
@@ -1011,7 +1120,7 @@ INTERNAL void prepare_mouse_joints(void)
             joint->inv_m = inv_m;
             joint->inv_i = inv_i;
 
-            struct v2 vcp = v2_sub(xform_mul_v2(xf, joint->point_local_target), xf.og);
+            struct v2 vcp = v2_sub(xform_mul_v2(xf, joint->point_local_start), xf.og);
 
             struct xform linear_mass_xf;
             linear_mass_xf.bx.x = inv_m + inv_i * vcp.y * vcp.y;
@@ -1043,9 +1152,9 @@ INTERNAL void warm_start_mouse_joints(void)
             f32 inv_m = joint->inv_m;
             f32 inv_i = joint->inv_i;
             struct xform xf = entity_get_xform(ent);
-            struct v2 vcp = v2_sub(xform_mul_v2(xf, joint->point_local_target), xf.og);
+            struct v2 vcp = v2_sub(xform_mul_v2(xf, joint->point_local_start), xf.og);
             ent->linear_velocity = v2_add(ent->linear_velocity, v2_mul(joint->linear_impulse, inv_m));
-            ent->angular_velocity += (v2_wedge(joint->linear_impulse, vcp) + joint->angular_impulse) * inv_i;
+            ent->angular_velocity += (v2_wedge(vcp, joint->linear_impulse) + joint->angular_impulse) * inv_i;
         }
     }
 }
@@ -1083,11 +1192,11 @@ INTERNAL void solve_mouse_joints(f32 dt)
 
                 struct xform xf = entity_get_xform(ent);
 
-                struct v2 point_target = xform_mul_v2(xf, joint->point_local_target);
-                struct v2 point_mouse = xform_mul_v2(xf, joint->point_local_mouse);
+                struct v2 point_start = xform_mul_v2(xf, joint->point_local_start);
+                struct v2 point_end = xform_mul_v2(xf, joint->point_local_end);
 
-                struct v2 vcp = v2_sub(point_target, xf.og);
-                struct v2 separation = v2_sub(point_mouse, point_target);
+                struct v2 vcp = v2_sub(point_start, xf.og);
+                struct v2 separation = v2_sub(point_start, point_end);
 
                 struct math_spring_result softness = joint->linear_softness;
                 struct v2 bias = v2_mul(separation, softness.bias_rate);
@@ -1096,15 +1205,17 @@ INTERNAL void solve_mouse_joints(f32 dt)
 
                 struct v2 vel = v2_add(v, v2_perp_mul(vcp, w));
                 struct v2 b = v2_mul(xform_basis_mul_v2(joint->linear_mass_xf, v2_add(vel, bias)), mass_scale);
-
                 struct v2 old_impulse = joint->linear_impulse;
-                struct v2 impulse = v2_add(v2_mul(joint->linear_impulse, impulse_scale), b);
+                struct v2 impulse = v2_sub(v2_mul(old_impulse, -impulse_scale), b);
                 joint->linear_impulse = v2_clamp_len(v2_add(joint->linear_impulse, impulse), max_impulse);
                 impulse = v2_sub(joint->linear_impulse, old_impulse);
 
                 v = v2_add(v, v2_mul(impulse, inv_m));
-                w += v2_wedge(impulse, vcp) * inv_i;
+                w += v2_wedge(vcp, impulse) * inv_i;
             }
+
+            ent->linear_velocity = v;
+            ent->angular_velocity = w;
         }
     }
 }
@@ -1273,6 +1384,12 @@ INTERNAL void game_update(struct game_cmd_array game_cmds)
         struct game_cmd cmd = game_cmds.cmds[cmd_index];
 
         switch (cmd.kind) {
+            /* Cursor */
+            case GAME_CMD_KIND_CURSOR_MOVE:
+            {
+                G.user_cursor = cmd.cursor_pos;
+            } break;
+
             /* Clear level */
             case GAME_CMD_KIND_CLEAR_ALL:
             {
@@ -1294,7 +1411,6 @@ INTERNAL void game_update(struct game_cmd_array game_cmds)
                 spawn_test_entities(0);
 #endif
             } break;
-
             default: break;
         };
     }
@@ -1476,8 +1592,6 @@ INTERNAL void game_update(struct game_cmd_array game_cmds)
                 struct game_cmd cmd = game_cmds.cmds[i];
                 b32 start = cmd.state == GAME_CMD_STATE_START;
                 b32 stop = cmd.state == GAME_CMD_STATE_STOP;
-                (UNUSED)start;
-                (UNUSED)stop;
 
                 /* TODO: Combine movement from multiple inputs? E.G. a sudden
                  * start and immediate stop cmd should still move the player a
@@ -1486,7 +1600,7 @@ INTERNAL void game_update(struct game_cmd_array game_cmds)
                     case GAME_CMD_KIND_PLAYER_MOVE:
                     {
                         move = cmd.move_dir;
-                        focus = v2_sub(cmd.aim_pos, entity_get_xform(ent).og);
+                        focus = cmd.aim_dir;
                     } break;
 
                     case GAME_CMD_KIND_PLAYER_FIRE:
@@ -1863,7 +1977,7 @@ INTERNAL void game_update(struct game_cmd_array game_cmds)
     {
         integrate_velocities_from_forces(dt);
         create_contacts();
-        create_mouse_joints();
+        create_mouse_joints(game_cmds);
 
         prepare_contacts();
         prepare_motor_joints();
diff --git a/src/game.h b/src/game.h
index a48b4350..e13c0354 100644
--- a/src/game.h
+++ b/src/game.h
@@ -23,6 +23,8 @@ enum game_cmd_kind {
     GAME_CMD_KIND_SPAWN_TEST,
     GAME_CMD_KIND_PAUSE,
     GAME_CMD_KIND_STEP,
+    GAME_CMD_KIND_DRAG_OBJECT,
+    GAME_CMD_KIND_CURSOR_MOVE,
 
     GAME_CMD_KIND_COUNT
 };
@@ -33,7 +35,10 @@ struct game_cmd {
 
     /* GAME_CMD_KIND_PLAYER_MOVE */
     struct v2 move_dir;
-    struct v2 aim_pos;
+    struct v2 aim_dir;
+
+    /* GAME_CMD_KIND_CURSOR_MOVE */
+    struct v2 cursor_pos;
 
 #if RTC
     u32 collider_gjk_steps;
diff --git a/src/user.c b/src/user.c
index d15b38d5..b012b6f3 100644
--- a/src/user.c
+++ b/src/user.c
@@ -87,6 +87,7 @@ GLOBAL READONLY enum user_bind_kind g_binds[SYS_BTN_COUNT] = {
 
     /* Testing */
 
+    [SYS_BTN_M1]                = USER_BIND_KIND_DEBUG_DRAG,
     [SYS_BTN_C]                 = USER_BIND_KIND_DEBUG_CLEAR,
     [SYS_BTN_V]                 = USER_BIND_KIND_DEBUG_SPAWN,
     [SYS_BTN_N]                 = USER_BIND_KIND_DEBUG_STEP,
@@ -530,6 +531,12 @@ INTERNAL void user_update(void)
         active_camera = entity_find_first_match_all(store, (struct entity_prop_array) { .count = ARRAY_COUNT(props), .props = props });
     }
 
+    struct entity *active_player;
+    {
+        enum entity_prop props[] = { ENTITY_PROP_PLAYER_CONTROLLED, ENTITY_PROP_ACTIVE };
+        active_player = entity_find_first_match_all(store, (struct entity_prop_array) { .count = ARRAY_COUNT(props), .props = props });
+    }
+
     /* ========================== *
      * Read sys events
      * ========================== */
@@ -940,7 +947,7 @@ INTERNAL void user_update(void)
                 debug_draw_xform(xf, color_x, color_y);
             }
 
-#if 0
+#if 1
             /* Draw focus arrow */
             if (entity_has_prop(ent, ENTITY_PROP_PLAYER_CONTROLLED)) {
                 struct sprite_sheet *sheet = sprite_sheet_from_tag_async(sprite_frame_scope, ent->sprite);
@@ -1382,18 +1389,38 @@ INTERNAL void user_update(void)
             input_move_dir = xform_basis_invert_mul_v2(G.world_view, input_move_dir);  /* Make move dir relative to world view */
             input_move_dir = v2_mul(v2_norm(input_move_dir), move_speed);
         }
-        struct v2 input_aim_pos = G.world_cursor;
+        struct v2 input_aim_dir = v2_sub(G.world_cursor, entity_get_xform(active_player).og);
+
+        /* Queue cursor move cmd */
+        queue_game_cmd(scratch.arena, &cmd_list, (struct game_cmd) {
+            .kind = GAME_CMD_KIND_CURSOR_MOVE,
+            .cursor_pos = G.world_cursor
+        });
+
+        /* Queue player input cmd */
         if (!G.debug_camera) {
             queue_game_cmd(scratch.arena, &cmd_list, (struct game_cmd) {
                 .kind = GAME_CMD_KIND_PLAYER_MOVE,
                 .move_dir = input_move_dir,
-                .aim_pos = input_aim_pos
+                .aim_dir = input_aim_dir
             });
+        }
 
-            /* Queue player fire cmd */
+        /* Queue player fire cmd */
+        i32 fire_presses = G.bind_states[USER_BIND_KIND_FIRE].num_presses - G.bind_states[USER_BIND_KIND_FIRE].num_releases;
+        if (!G.debug_camera && fire_presses) {
             queue_game_cmd(scratch.arena, &cmd_list, (struct game_cmd) {
                 .kind = GAME_CMD_KIND_PLAYER_FIRE,
-                .state = (G.bind_states[USER_BIND_KIND_FIRE].num_presses > 0 || G.bind_states[USER_BIND_KIND_FIRE].is_held) ? GAME_CMD_STATE_START : GAME_CMD_STATE_STOP
+                .state = fire_presses > 0 ? GAME_CMD_STATE_START : GAME_CMD_STATE_STOP
+            });
+        }
+
+        /* Queue physics drag cmd */
+        i32 drag_presses = G.bind_states[USER_BIND_KIND_DEBUG_DRAG].num_presses - G.bind_states[USER_BIND_KIND_DEBUG_DRAG].num_releases;
+        if (G.debug_camera && drag_presses) {
+            queue_game_cmd(scratch.arena, &cmd_list, (struct game_cmd) {
+                .kind = GAME_CMD_KIND_DRAG_OBJECT,
+                .state = drag_presses > 0 ? GAME_CMD_STATE_START : GAME_CMD_STATE_STOP
             });
         }
 
diff --git a/src/user.h b/src/user.h
index e2e9b057..74bb2a29 100644
--- a/src/user.h
+++ b/src/user.h
@@ -29,6 +29,7 @@ enum user_bind_kind {
     USER_BIND_KIND_DEBUG_CAMERA,
     USER_BIND_KIND_DEBUG_PAUSE,
     USER_BIND_KIND_DEBUG_STEP,
+    USER_BIND_KIND_DEBUG_DRAG,
     USER_BIND_KIND_FULLSCREEN,
     USER_BIND_KIND_ZOOM_IN,
     USER_BIND_KIND_ZOOM_OUT,