diff --git a/src/actor.rs b/src/actor.rs
index 80e8823..067d7dd 100644
--- a/src/actor.rs
+++ b/src/actor.rs
@@ -11,7 +11,6 @@ impl Plugin for ActorPlugin {
         app.register_type::<ChatBranch>();
         app.add_systems(FixedUpdate, (
             update_physics_lifeforms,
-            update_physics_actors,
         ));
         app.add_systems(Update, (
             handle_new_conversations,
@@ -187,19 +186,6 @@ const SUIT_SIMPLE: Suit = Suit {
     integrity: 1e5,
 };
 
-pub fn update_physics_actors(
-    time: Res<Time>,
-    mut q_actors: Query<(&mut Actor, &mut Transform)>,
-) {
-    let d = time.delta_seconds();
-    for (actor, mut transform) in q_actors.iter_mut() {
-        transform.rotate(actor.angular_momentum);
-        // TODO: animate only a step based on time between update:
-        //transform.rotate(actor.angular_momentum.slerp(Quat::IDENTITY, d)); // not working
-        transform.translation += d * actor.v;
-    }
-}
-
 pub fn update_physics_lifeforms(
     time: Res<Time>,
     mut query: Query<(&mut LifeForm, &mut Suit, &Actor)>,
diff --git a/src/camera.rs b/src/camera.rs
index 0a65f49..623db67 100644
--- a/src/camera.rs
+++ b/src/camera.rs
@@ -1,6 +1,7 @@
 use bevy::prelude::*;
 use bevy::input::mouse::MouseMotion;
 use bevy::window::PrimaryWindow;
+use bevy_xpbd_3d::prelude::*;
 use std::f32::consts::*;
 use crate::{settings, audio, actor};
 
@@ -55,7 +56,9 @@ fn run_camera_controller(
             &mut Projection,
             &mut actor::Actor,
             &actor::LifeForm,
-            &mut actor::Engine
+            &mut actor::Engine,
+            &mut AngularVelocity,
+            &mut LinearVelocity,
         ), (With<Camera>, Without<actor::PlayerDrivesThis>)>,
 ) {
     let dt = time.delta_seconds();
@@ -67,7 +70,7 @@ fn run_camera_controller(
         focused = window_result.unwrap().focused;
     }
 
-    if let Ok((mut transform, mut controller, mut projection, mut actor, lifeform, player_engine)) = query.get_single_mut() {
+    if let Ok((mut transform, mut controller, mut projection, mut actor, lifeform, player_engine, mut angularvelocity, mut v)) = query.get_single_mut() {
         if !controller.initialized {
             controller.initialized = true;
             transform.rotation =
@@ -78,6 +81,8 @@ fn run_camera_controller(
             return;
         }
 
+        angularvelocity.0 = Vec3::splat(0.0);
+
         // Handle key input
         let mut axis_input = Vec3::ZERO;
         if focused {
@@ -100,7 +105,7 @@ fn run_camera_controller(
                 axis_input.y -= 1.2;
             }
             if key_input.pressed(settings.key_stop) {
-                let stop_direction = -actor.v.normalize();
+                let stop_direction = -v.normalize();
                 if stop_direction.length_squared() > 0.3 {
                     axis_input += 1.0 * (transform.rotation.inverse() * stop_direction);
                 }
@@ -131,17 +136,17 @@ fn run_camera_controller(
             let threshold = 1e-5;
             if key_input.pressed(settings.key_stop) {
                 for i in 0..3 {
-                    if actor.v[i].abs() < threshold {
-                        actor.v[i] = 0.0;
+                    if v[i].abs() < threshold {
+                        v[i] = 0.0;
                     }
-                    else if actor.v[i].signum() != (actor.v[i] + acceleration_total[i]).signum() {
+                    else if v[i].signum() != (v[i] + acceleration_total[i]).signum() {
                         // Overshoot
-                        actor.v[i] = 0.0;
+                        v[i] = 0.0;
                         acceleration_total[i] = 0.0;
                     }
                 }
             }
-            actor.v += acceleration_total;
+            v.0 += acceleration_total;
             engine.current_warmup = (engine.current_warmup + dt / engine.warmup_seconds).clamp(0.0, 1.0);
             play_thruster_sound = !settings.mute_sfx;
         }
diff --git a/src/main.rs b/src/main.rs
index b59b972..a192829 100644
--- a/src/main.rs
+++ b/src/main.rs
@@ -28,9 +28,7 @@ fn main() {
         }
     }
     if cfg!(debug_assertions) {
-        App::new().add_plugins((
-            OutFlyPlugin,
-        )).run();
+        App::new().add_plugins(OutFlyPlugin).run();
     } else {
         // In release builds, embed assets into the binary
         App::new().add_plugins((
diff --git a/src/world.rs b/src/world.rs
index 016db7e..29bc324 100644
--- a/src/world.rs
+++ b/src/world.rs
@@ -7,6 +7,7 @@ use bevy::prelude::*;
 //use bevy::render::render_resource::{TextureViewDescriptor, TextureViewDimension};
 use bevy::pbr::CascadeShadowConfigBuilder;
 use bevy::core_pipeline::bloom::{BloomCompositeMode, BloomSettings};
+use bevy_xpbd_3d::prelude::*;
 use std::f32::consts::PI;
 
 const ASTEROID_SIZE: f32 = 100.0;
@@ -40,6 +41,7 @@ impl Plugin for WorldPlugin {
         app.add_systems(Startup, (setup, load_defs));
         //app.add_systems(Update, asset_loaded.after(load_cubemap_asset));
         //app.add_systems(Update, swap_world_on_ar_toggle);
+        app.add_plugins(PhysicsPlugins::default());
         app.insert_resource(ClearColor(Color::rgb(0.0, 0.0, 0.0)));
     }
 }
@@ -81,6 +83,9 @@ pub fn setup(
     // Add player
     commands.spawn((
         actor::Player,
+        RigidBody::Dynamic,
+        AngularVelocity(Vec3::new(0.0, 0.0, 0.0)),
+        Collider::cuboid(1.0, 1.0, 1.0),
         actor::Actor {
             angular_momentum: Quat::IDENTITY,
             ..default()
@@ -391,6 +396,8 @@ impl ParserState {
                     component_suit,
                     component_talker,
                     component_model,
+                    RigidBody::Dynamic,
+                    Collider::cuboid(1.0, 1.0, 1.0),
                 ));
             }
             else {
@@ -399,6 +406,8 @@ impl ParserState {
                     component_lifeform,
                     component_suit,
                     component_model,
+                    RigidBody::Dynamic,
+                    Collider::cuboid(1.0, 1.0, 1.0),
                 ));
             }
         }
@@ -408,6 +417,8 @@ impl ParserState {
                     component_actor,
                     component_talker,
                     component_model,
+                    RigidBody::Dynamic,
+                    Collider::cuboid(1.0, 1.0, 1.0),
                 ));
             }
             else {
@@ -417,12 +428,16 @@ impl ParserState {
                         component_model,
                         component_vehicle,
                         component_engine,
+                        RigidBody::Dynamic,
+                        Collider::cuboid(1.0, 1.0, 1.0),
                     ));
                 }
                 else {
                     commands.spawn((
                         component_actor,
                         component_model,
+                        RigidBody::Dynamic,
+                        Collider::cuboid(1.0, 1.0, 1.0),
                     ));
                 }
             }