-Added latest physics tweaks and modified physics scene to debug performance

Assets/Unity Physics Items/ApplyBuoyancyForceSystem.cs

 using Unity.Physics.Systems;
 using Unity.Physics;
 
-[UpdateAfter(typeof(GertsnerSystem)), UpdateAfter(typeof(ExportPhysicsWorld))]
+[UpdateAfter(typeof(GertsnerSystem)), UpdateBefore(typeof(BuildPhysicsWorld))]
 public class ApplyBuoyancyForceSystem : JobComponentSystem
 {
 
 			DynamicBuffer<VoxelOffset> offsets = offsetBuffer[entity];
 			DynamicBuffer<VoxelHeight> heights = heightBuffer[entity];
 
-			var vel2 = vel;
-
-			Debug.Log("new pass: " + entity.ToString());
+			//Debug.Log("new pass: " + entity.ToString());
+            var entityTransform = new RigidTransform(rot.Value, pos.Value);
-				var wp = pos.Value + offsets[i].Value;
+				var wp = math.transform(entityTransform, offsets[i].Value);
 				float waterLevel = heights[i].Value.y;
 
 				if (wp.y - data.voxelResolution < waterLevel)
 
-					submergedAmount += subFactor;//(math.clamp(waterLevel - (wp.y - voxelResolution), 0f, voxelResolution * 2f) / (voxelResolution * 2f)) / voxels.Count;
+                    submergedAmount += subFactor / offsets.Length;//(math.clamp(waterLevel - (wp.y - voxelResolution), 0f, voxelResolution * 2f) / (voxelResolution * 2f)) / voxels.Count;
 
 					//var force2 = data.localArchimedesForce * subFactor;
 					
 					var localDampingForce = .005f * math.rcp(mass.InverseMass) * -velocity;
 					var force = localDampingForce + math.sqrt(subFactor) * data.localArchimedesForce;//\
 					ComponentExtensions.ApplyImpulse(ref vel, mass, pos, rot, force * dt, wp);
-					Debug.DrawLine(wp, force * dt + wp);
-					Debug.Log(string.Format("Position: {0:f1} -- Force: {1:f2} -- Height: {2:f2}\nVelocty: {3:f2} -- Damp: {4:f2} -- Mass: {5:f1} -- K: {6:f2}", wp, force, waterLevel, velocity, localDampingForce, math.rcp(mass.InverseMass), dt));
+					//entity.ApplyImpulse(force, wp);//RB.AddForceAtPosition(force, wp);
+					
+					//Debug.Log(string.Format("ECS: Position: {0:f1} -- Force: {1:f2} -- Height: {2:f2}\nVelocty: {3:f2} -- Damp: {4:f2} -- Mass: {5:f1} -- K: {6:f2}", wp, force, waterLevel, velocity, localDampingForce, math.rcp(mass.InverseMass), dt));
 				}
 				
 			}

Assets/Unity Physics Items/BuoyantObject2.cs

 
 namespace WaterSystem
 {
-	public class BuoyantObject2 : MonoBehaviour, IConvertGameObjectToEntity
+	public class BuoyantObject2 : MonoBehaviour//, IConvertGameObjectToEntity
 	{
 		public BuoyancyType _buoyancyType; // type of buoyancy to calculate
 		public float density; // density of the object, this is calculated off it's volume and mass
 			dstManager.AddBuffer<VoxelOffset>(entity);
 			dstManager.AddBuffer<VoxelHeight>(entity);
 
-			//var mass = dstManager.GetComponentData<Unity.Physics.PhysicsMass>(entity);
-			//mass.Transform.pos = centerOfMass;
-			//dstManager.SetComponentData(entity, mass);
+			var mass = dstManager.GetComponentData<Unity.Physics.PhysicsMass>(entity);
+			mass.CenterOfMass = centerOfMass;
+			dstManager.SetComponentData(entity, mass);
 
 			DynamicBuffer<VoxelOffset> offsets = dstManager.GetBuffer<VoxelOffset>(entity);
 			DynamicBuffer<VoxelHeight> heights = dstManager.GetBuffer<VoxelHeight>(entity);
-				offsets.Add(new VoxelOffset { Value = transform.TransformPoint(voxels[i]) - transform.position });
+                offsets.Add(new VoxelOffset { Value = voxels[i] - centerOfMass });// transform.TransformPoint(voxels[i]) - transform.position }); // << Is this right?
 				heights.Add(new VoxelHeight { Value = float3.zero });
 			}
 		}

Assets/Unity Physics Items/DriveSystem.cs

 using System.Collections;
 using System.Collections.Generic;
+using Unity.Burst;
 using Unity.Collections;
 using Unity.Entities;
 using Unity.Jobs;
 		return job.Schedule(this, inputDeps);
 	}
 
+	[BurstCompile]
 	[RequireComponentTag(typeof(MoveWithInputTag))]
 	public struct DriveWithInputJob : IJobForEachWithEntity<Translation, Rotation, PhysicsVelocity, PhysicsMass, DrivingData>
 	{
 				steering = Mathf.Clamp(steering, -1f, 1f); // clamp for reasonable values
 				var sTorque = new float3(0f, data.torque, -data.torque * .5f) * steering / mass.InverseInertia;
 				ComponentExtensions.ApplyAngularImpulse(ref vel, mass, sTorque * dt);
-				Debug.Log(string.Format("Force: {0}, Torque: {1} Throttle: {2}", force, sTorque, throttle));
+				//Debug.Log(string.Format("Force: {0}, Torque: {1} Throttle: {2}", force, sTorque, throttle));
 				//RB.AddRelativeTorque(new Vector3(0f, torque, -torque * 0.5f) * modifier, ForceMode.Acceleration); // add torque based on input and torque amount
 			//}
 		}

Assets/Unity Physics Items/PhysicsConversionSystem.cs

 		// Update is called once per frame
 		protected override void OnUpdate()
 		{
-			//Entities.ForEach((BuoyantObject2 behaviour) => { behaviour.Convert(GetPrimaryEntity(behaviour), DstEntityManager, this); });
+			Entities.ForEach((BuoyantObject2 behaviour) => { behaviour.Convert(GetPrimaryEntity(behaviour), DstEntityManager, this); });
 		}
 	}
 }