diff --git a/Nuake/src/Core/Maths.h b/Nuake/src/Core/Maths.h
index 6612d894..c16fba0e 100644
--- a/Nuake/src/Core/Maths.h
+++ b/Nuake/src/Core/Maths.h
@@ -5,6 +5,7 @@
 #include <glm/ext/quaternion_float.hpp>
 #include <src/Vendors/glm/ext/vector_float2.hpp>
 #include <src/Vendors/glm/ext/matrix_float4x4.hpp>
+#include "src/Vendors/glm/gtx/matrix_decompose.hpp"
 #include <glm/gtx/quaternion.hpp>
 
 namespace Nuake
diff --git a/Nuake/src/Core/Physics/DynamicWorld.cpp b/Nuake/src/Core/Physics/DynamicWorld.cpp
index bb5fa6ae..a83d77b0 100644
--- a/Nuake/src/Core/Physics/DynamicWorld.cpp
+++ b/Nuake/src/Core/Physics/DynamicWorld.cpp
@@ -3,6 +3,7 @@
 
 #include "src/Core/Core.h"
 #include "src/Core/Logger.h"
+#include "src/Core/Maths.h"
 #include <src/Core/Physics/PhysicsShapes.h>
 #include "src/Scene/Components/TransformComponent.h"
 #include "src/Scene/Components/CharacterControllerComponent.h"
@@ -259,9 +260,11 @@ namespace Nuake
 			}
 
 			const auto& startPos = rb->GetPosition();
+			const Quat& bodyRotation = rb->GetRotation();
+			const auto& joltRotation = JPH::Quat(bodyRotation.x, bodyRotation.y, bodyRotation.z, bodyRotation.w);
 			const auto& joltPos = JPH::Vec3(startPos.x, startPos.y, startPos.z);
 			auto joltShape = GetJoltShape(rb->GetShape());
-			JPH::BodyCreationSettings bodySettings(joltShape, joltPos, JPH::Quat::sIdentity(), motionType, Layers::MOVING);
+			JPH::BodyCreationSettings bodySettings(joltShape, joltPos, joltRotation, motionType, Layers::MOVING);
 
 			if (mass > 0.0f)
 			{
@@ -410,7 +413,7 @@ namespace Nuake
 			// Do 1 collision step per 1 / 60th of a second (round up).
 			int collisionSteps = 1;
 			constexpr float minStepDuration = 1.0f / 90.0f;
-			constexpr int maxStepCount = 4;
+			constexpr int maxStepCount = 32;
 			if(ts > minStepDuration)
 			{
 				collisionSteps = static_cast<float>(ts) / minStepDuration;
@@ -427,7 +430,7 @@ namespace Nuake
 
 			for (auto& c : _registeredCharacters)
 			{
-				c.second->PostSimulation(0.01);
+				c.second->PostSimulation(0.001);
 			}
 
 			SyncEntitiesTranforms();
diff --git a/Nuake/src/Core/Physics/Rigibody.h b/Nuake/src/Core/Physics/Rigibody.h
index 17030073..14b99b76 100644
--- a/Nuake/src/Core/Physics/Rigibody.h
+++ b/Nuake/src/Core/Physics/Rigibody.h
@@ -1,31 +1,38 @@
 #pragma once
 #include "PhysicsShapes.h"
-#include "../Core/Core.h"
-#include "../Scene/Entities/Entity.h"
+
+#include "src/Core/Core.h"
+#include "src/Core/Maths.h"
+#include "src/Scene/Entities/Entity.h"
 
 #include <glm/ext/vector_float3.hpp>
 
 namespace Nuake
 {
 	class Entity;
-	namespace Physics {
-		class RigidBody {
+	namespace Physics 
+	{
+		class RigidBody 
+		{
 		private:
 			Ref<PhysicShape> _collisionShape;
 			Vector3 _position;
+			Quat _rotation;
 			Entity _entity;
+
 		public:
 			float _mass;
 			Matrix4 _transform;
 
 			RigidBody();
-			RigidBody(glm::vec3 position, Entity handle);
-			RigidBody(float mass, glm::vec3 position, Matrix4 transform, Ref<PhysicShape> shape, Entity entity, glm::vec3 initialVel = glm::vec3(0, 0, 0));
+			RigidBody(Vector3 position, Entity handle);
+			RigidBody(float mass, Vector3 position, Quat rotation, Matrix4 transform, Ref<PhysicShape> shape, Entity entity, glm::vec3 initialVel = glm::vec3(0, 0, 0));
 
 			void UpdateTransform();
 
 			void SetEntityID(Entity ent);
 			Vector3 GetPosition() const { return _position; }
+			Quat GetRotation() const { return _rotation; }
 			bool HasShape() { return _collisionShape != nullptr; }
 			void SetShape(Ref<PhysicShape> shape);
 			Ref<PhysicShape> GetShape() const { return _collisionShape; }
diff --git a/Nuake/src/Core/Physics/Rigidbody.cpp b/Nuake/src/Core/Physics/Rigidbody.cpp
index 73583412..aaa93938 100644
--- a/Nuake/src/Core/Physics/Rigidbody.cpp
+++ b/Nuake/src/Core/Physics/Rigidbody.cpp
@@ -18,12 +18,13 @@ namespace Nuake
 			
 		}
 
-		RigidBody::RigidBody(float mass, glm::vec3 position, Matrix4 transform, Ref<PhysicShape> shape, Entity entity, glm::vec3 initialVel) :
+		RigidBody::RigidBody(float mass, Vector3 position, Quat rotation, Matrix4 transform, Ref<PhysicShape> shape, Entity entity, glm::vec3 initialVel) :
 			_position(position),
 			_collisionShape(shape),
 			_mass(mass),
 			_entity(entity),
-			_transform(transform)
+			_transform(transform),
+			_rotation(rotation)
 		{
 			
 		}
diff --git a/Nuake/src/Scene/Systems/PhysicsSystem.cpp b/Nuake/src/Scene/Systems/PhysicsSystem.cpp
index b7b94ef5..24fc52ec 100644
--- a/Nuake/src/Scene/Systems/PhysicsSystem.cpp
+++ b/Nuake/src/Scene/Systems/PhysicsSystem.cpp
@@ -141,11 +141,12 @@ namespace Nuake
 			for (const auto& hull : brushComponent.Hulls)
 			{
 				const auto entity = Entity({ e, m_Scene });
-				const Vector3 startPosition = transformComponent.GetGlobalPosition();
-				const Matrix4 startTransform = transformComponent.GetGlobalTransform();
+				const Vector3& startPosition = transformComponent.GetGlobalPosition();
+				const Matrix4& startTransform = transformComponent.GetGlobalTransform();
+				const Quat& startRotation = transformComponent.GetGlobalRotation();
 				const auto collisionShape = CreateRef<Physics::ConvexHullShape>(hull);
 
-				auto rigidBody = CreateRef<Physics::RigidBody>(0.0f, startPosition, startTransform, collisionShape, entity);
+				auto rigidBody = CreateRef<Physics::RigidBody>(0.0f, startPosition, startRotation, startTransform, collisionShape, entity);
 				brushComponent.Rigidbody.push_back(rigidBody);
 
 				PhysicsManager::Get().RegisterBody(rigidBody);
@@ -220,8 +221,7 @@ namespace Nuake
 
 				BoxColliderComponent& boxComponent = ent.GetComponent<BoxColliderComponent>();
 				Ref<Physics::Box> boxShape = CreateRef<Physics::Box>(boxComponent.Size);
-
-				rigidBody = CreateRef<Physics::RigidBody>(rigidBodyComponent.Mass, transform.GetGlobalPosition(), transform.GetGlobalTransform(), boxShape, ent);
+				rigidBody = CreateRef<Physics::RigidBody>(rigidBodyComponent.Mass, transform.GetGlobalPosition(), transform.GetGlobalRotation(), transform.GetGlobalTransform(), boxShape, ent);
 				PhysicsManager::Get().RegisterBody(rigidBody);
 			}
 
@@ -232,7 +232,7 @@ namespace Nuake
 				float height = capsuleComponent.Height;
 				auto capsuleShape = CreateRef<Physics::Capsule>(radius, height);
 
-				rigidBody = CreateRef<Physics::RigidBody>(rigidBodyComponent.Mass, transform.GetGlobalPosition(), transform.GetGlobalTransform(), capsuleShape, ent);
+				rigidBody = CreateRef<Physics::RigidBody>(rigidBodyComponent.Mass, transform.GetGlobalPosition(), transform.GetGlobalRotation(), transform.GetGlobalTransform(), capsuleShape, ent);
 				PhysicsManager::Get().RegisterBody(rigidBody);
 			}
 
@@ -243,7 +243,7 @@ namespace Nuake
 				const auto& component = ent.GetComponent<SphereColliderComponent>();
 				auto shape = CreateRef<Physics::Sphere>(component.Radius);
 
-				rigidBody = CreateRef<Physics::RigidBody>(rigidBodyComponent.Mass, transform.GetGlobalPosition(), transform.GetGlobalTransform(), shape, ent);
+				rigidBody = CreateRef<Physics::RigidBody>(rigidBodyComponent.Mass, transform.GetGlobalPosition(), transform.GetGlobalRotation(), transform.GetGlobalTransform(), shape, ent);
 				PhysicsManager::Get().RegisterBody(rigidBody);
 			}
 
@@ -266,7 +266,7 @@ namespace Nuake
 					}
 					Ref<Mesh> mesh = submeshes[subMeshId];
 					auto shape = CreateRef<Physics::MeshShape>(mesh);
-					rigidBody = CreateRef<Physics::RigidBody>(rigidBodyComponent.Mass, transform.GetGlobalPosition(), transform.GetGlobalTransform(), shape, ent);
+					rigidBody = CreateRef<Physics::RigidBody>(rigidBodyComponent.Mass, transform.GetGlobalPosition(), transform.GetGlobalRotation(), transform.GetGlobalTransform(), shape, ent);
 					PhysicsManager::Get().RegisterBody(rigidBody);
 				}
 			}