# Floating origin with Havok **URL:** \ **Category:** Questions\ **Tags:** physics\ **Created:** [April 23, 2023, 4:42pm UTC](https://forum.babylonjs.com/t/floating-origin-with-havok/40130 "2023-04-23T16:42:58Z")\ **Posts on this page:** 7\ **Page:** 1
**Author:** ![CrashMaster](https://sea2.discourse-cdn.com/flex024/user_avatar/forum.babylonjs.com/crashmaster/32/23662_2.png) [@CrashMaster](https://forum.babylonjs.com/u/CrashMaster)\ **Post date:** [April 23, 2023, 4:42pm UTC](https://forum.babylonjs.com/t/floating-origin-with-havok/40130/1 "2023-04-23T16:42:58Z")
Hey everyone, I’m trying to get Havok to work when I keep the camera at the origin of the scene like here: [Playground](https://playground.babylonjs.com/#Z8HTUN#56) (use WASD or ZQSD to move around) I think the disablePreStep thingy is making the sphere miss a few physics update when I move the scene around. The sphere seems to jitter a bit and sometimes goes through the ground. Is there another way to move everything at once that would be havok friendly? ---
**Author:** ![jeremy-coleman](https://sea2.discourse-cdn.com/flex024/user_avatar/forum.babylonjs.com/jeremy-coleman/32/15493_2.png) [@jeremy-coleman](https://forum.babylonjs.com/u/jeremy-coleman)\ **Post date:** [April 23, 2023, 6:36pm UTC](https://forum.babylonjs.com/t/floating-origin-with-havok/40130/2 "2023-04-23T18:36:12Z")
Havok does continuous collision detection , the unity docs have a good write up on the concept. [Unity - Manual: Continuous collision detection (CCD)](https://docs.unity3d.com/Manual/ContinuousCollisionDetection.html) . I suggest also looking at the typescript definitions of the havok wasm module inside node\_modules (it actually has no dependency on or reference to anything babylon related). It’ll quickly help translate some abstract concepts, such as a joint just being a constraint variant. ---
**Author:** ![CrashMaster](https://sea2.discourse-cdn.com/flex024/user_avatar/forum.babylonjs.com/crashmaster/32/23662_2.png) [@CrashMaster](https://forum.babylonjs.com/u/CrashMaster)\ **Post date:** [April 24, 2023, 9:49am UTC](https://forum.babylonjs.com/t/floating-origin-with-havok/40130/3 "2023-04-24T09:49:31Z")
It is really impressive that Havok can manage CCD while being so fast. I looked in the ts definitions of the wasm module, I will try `HP_Body_SetQTransform` and report if I am successful or not! ---
**Author:** ![CrashMaster](https://sea2.discourse-cdn.com/flex024/user_avatar/forum.babylonjs.com/crashmaster/32/23662_2.png) [@CrashMaster](https://forum.babylonjs.com/u/CrashMaster)\ **Post date:** [April 25, 2023, 12:55pm UTC](https://forum.babylonjs.com/t/floating-origin-with-havok/40130/4 "2023-04-25T12:55:18Z")
Alright I modified the playground quite a bit and reused some findings from ["moveWithCollisions" with havoc? - #13 by Raggar](https://forum.babylonjs.com/t/movewithcollisions-with-havoc/40118/13) It works a lot better but there is still a small issue: [Playground](https://playground.babylonjs.com/#Z8HTUN#104) I’m adding gravity in the linear velocity of the box and it makes it jitter for some reason. For comparison when using Havok gravity: [Playground](https://playground.babylonjs.com/#Z8HTUN#105) the box behaves as expected. Is there something about the way havok computes its own gravity, I guessed it would just be added to the linear velocity but it seems to be different 🤔 ---
**Author:** ![carolhmj](https://sea2.discourse-cdn.com/flex024/user_avatar/forum.babylonjs.com/carolhmj/32/25918_2.png) [@carolhmj](https://forum.babylonjs.com/u/carolhmj)\ **Post date:** [April 25, 2023, 2:13pm UTC](https://forum.babylonjs.com/t/floating-origin-with-havok/40130/5 "2023-04-25T14:13:31Z")
Gravity is an acceleration so it has to be multiplied by time no? @Cedric ---
**Author:** ![CrashMaster](https://sea2.discourse-cdn.com/flex024/user_avatar/forum.babylonjs.com/crashmaster/32/23662_2.png) [@CrashMaster](https://forum.babylonjs.com/u/CrashMaster)\ **Post date:** [April 25, 2023, 2:21pm UTC](https://forum.babylonjs.com/t/floating-origin-with-havok/40130/6 "2023-04-25T14:21:28Z")
That would make sense indeed. I tried it but the results are a bit underwhelming: [Playground](https://playground.babylonjs.com/#Z8HTUN#106). And dividing the deltaTime by 1000 causes the box to not fall at all… I think one possible issue is that setting the linear velocity might override other forces havok adds to the body. But it does not explain why it works here: [Playground](https://playground.babylonjs.com/#Z8HTUN%23100) ---
**Author:** ![Cedric](https://sea2.discourse-cdn.com/flex024/user_avatar/forum.babylonjs.com/cedric/32/2742_2.png) [@Cedric](https://forum.babylonjs.com/u/Cedric)\ **Post date:** [May 2, 2023, 9:13am UTC](https://forum.babylonjs.com/t/floating-origin-with-havok/40130/7 "2023-05-02T09:13:20Z")
Yes, so acceleration \* deltaTime give the velocity.