Alright I modified the playground quite a bit and reused some findings from "moveWithCollisions" with havoc? - #13 by Raggar
It works a lot better but there is still a small issue: Playground
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 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 