diff --git a/packages/dev/core/src/Physics/v2/IPhysicsEnginePlugin.ts b/packages/dev/core/src/Physics/v2/IPhysicsEnginePlugin.ts
index 1954f01dad1..0f6a2a05728 100644
--- a/packages/dev/core/src/Physics/v2/IPhysicsEnginePlugin.ts
+++ b/packages/dev/core/src/Physics/v2/IPhysicsEnginePlugin.ts
@@ -351,6 +351,15 @@ export const enum PhysicsMotionType {
     DYNAMIC,
 }
 
+/**
+ * Indicates how to handle position/rotation change of transform node attached to a physics body
+ */
+export enum PhysicsPrestepType {
+    DISABLED,
+    TELEPORT,
+    ACTION,
+}
+
 /**
  * Controls the body sleep mode.
  */
diff --git a/packages/dev/core/src/Physics/v2/Plugins/havokPlugin.ts b/packages/dev/core/src/Physics/v2/Plugins/havokPlugin.ts
index 41522cc3ec5..9559a8c887d 100644
--- a/packages/dev/core/src/Physics/v2/Plugins/havokPlugin.ts
+++ b/packages/dev/core/src/Physics/v2/Plugins/havokPlugin.ts
@@ -7,6 +7,7 @@ import {
     PhysicsConstraintAxis,
     PhysicsConstraintAxisLimitMode,
     PhysicsEventType,
+    PhysicsPrestepType,
     PhysicsActivationControl,
 } from "../IPhysicsEnginePlugin";
 import type {
@@ -1140,19 +1141,25 @@ export class HavokPlugin implements IPhysicsEnginePluginV2 {
      * same transformation.
      */
     public setPhysicsBodyTransformation(body: PhysicsBody, node: TransformNode) {
-        const transformNode = body.transformNode;
-        if (body.numInstances > 0) {
-            // instances
-            const m = transformNode as Mesh;
-            const matrixData = m._thinInstanceDataStorage.matrixData;
-            if (!matrixData) {
-                return; // TODO: error handling
+        if (body.getPrestepType() == PhysicsPrestepType.TELEPORT) {
+            const transformNode = body.transformNode;
+            if (body.numInstances > 0) {
+                // instances
+                const m = transformNode as Mesh;
+                const matrixData = m._thinInstanceDataStorage.matrixData;
+                if (!matrixData) {
+                    return; // TODO: error handling
+                }
+                const instancesCount = body.numInstances;
+                this._createOrUpdateBodyInstances(body, body.getMotionType(), matrixData, 0, instancesCount, true);
+            } else {
+                // regular
+                this._hknp.HP_Body_SetQTransform(body._pluginData.hpBodyId, this._getTransformInfos(node));
             }
-            const instancesCount = body.numInstances;
-            this._createOrUpdateBodyInstances(body, body.getMotionType(), matrixData, 0, instancesCount, true);
+        } else if (body.getPrestepType() == PhysicsPrestepType.ACTION) {
+            this.setTargetTransform(body, node.absolutePosition, node.absoluteRotationQuaternion);
         } else {
-            // regular
-            this._hknp.HP_Body_SetQTransform(body._pluginData.hpBodyId, this._getTransformInfos(node));
+            Logger.Warn("Invalid prestep type set to physics body.");
         }
     }
 
@@ -2323,7 +2330,8 @@ export class HavokPlugin implements IPhysicsEnginePluginV2 {
                 if (this._bodyCollisionObservable.size && collisionInfo.type !== PhysicsEventType.COLLISION_FINISHED) {
                     const observableA = this._bodyCollisionObservable.get(event.contactOnA.bodyId);
                     const observableB = this._bodyCollisionObservable.get(event.contactOnB.bodyId);
-
+                    event.contactOnA.position.subtractToRef(event.contactOnB.position, this._tmpVec3[0]);
+                    const distance = Vector3.Dot(this._tmpVec3[0], event.contactOnB.normal);
                     if (observableA) {
                         observableA.notifyObservers(collisionInfo);
                     }
@@ -2333,6 +2341,9 @@ export class HavokPlugin implements IPhysicsEnginePluginV2 {
                             colliderIndex: bodyInfoB.index,
                             collidedAgainst: bodyInfoA.body,
                             collidedAgainstIndex: bodyInfoA.index,
+                            point: event.contactOnB.position,
+                            distance: distance,
+                            impulse: event.impulseApplied,
                             normal: event.contactOnB.normal,
                             type: this._nativeCollisionValueToCollisionType(event.type),
                         };
@@ -2341,7 +2352,8 @@ export class HavokPlugin implements IPhysicsEnginePluginV2 {
                 } else if (this._bodyCollisionEndedObservable.size) {
                     const observableA = this._bodyCollisionEndedObservable.get(event.contactOnA.bodyId);
                     const observableB = this._bodyCollisionEndedObservable.get(event.contactOnB.bodyId);
-
+                    event.contactOnA.position.subtractToRef(event.contactOnB.position, this._tmpVec3[0]);
+                    const distance = Vector3.Dot(this._tmpVec3[0], event.contactOnB.normal);
                     if (observableA) {
                         observableA.notifyObservers(collisionInfo);
                     }
@@ -2351,6 +2363,9 @@ export class HavokPlugin implements IPhysicsEnginePluginV2 {
                             colliderIndex: bodyInfoB.index,
                             collidedAgainst: bodyInfoA.body,
                             collidedAgainstIndex: bodyInfoA.index,
+                            point: event.contactOnB.position,
+                            distance: distance,
+                            impulse: event.impulseApplied,
                             normal: event.contactOnB.normal,
                             type: this._nativeCollisionValueToCollisionType(event.type),
                         };
diff --git a/packages/dev/core/src/Physics/v2/physicsBody.ts b/packages/dev/core/src/Physics/v2/physicsBody.ts
index 102691b604c..03ef803b7ef 100644
--- a/packages/dev/core/src/Physics/v2/physicsBody.ts
+++ b/packages/dev/core/src/Physics/v2/physicsBody.ts
@@ -1,5 +1,5 @@
 import type { IBasePhysicsCollisionEvent, IPhysicsCollisionEvent, IPhysicsEnginePluginV2, PhysicsMassProperties } from "./IPhysicsEnginePlugin";
-import { PhysicsMotionType } from "./IPhysicsEnginePlugin";
+import { PhysicsMotionType, PhysicsPrestepType } from "./IPhysicsEnginePlugin";
 import type { PhysicsShape } from "./physicsShape";
 import { Vector3, Quaternion, TmpVectors } from "../../Maths/math.vector";
 import type { Scene } from "../../scene";
@@ -49,11 +49,18 @@ export class PhysicsBody {
      * The transform node associated with this Physics Body
      */
     transformNode: TransformNode;
+
     /**
      * Disable pre-step that consists in updating Physics Body from Transform Node Translation/Orientation.
      * True by default for maximum performance.
      */
-    disablePreStep: boolean = true;
+    public get disablePreStep(): boolean {
+        return this._prestepType == PhysicsPrestepType.DISABLED;
+    }
+
+    public set disablePreStep(value: boolean) {
+        this._prestepType = value ? PhysicsPrestepType.DISABLED : PhysicsPrestepType.TELEPORT;
+    }
 
     /**
      * Disable sync from physics to transformNode. This value is set to true at body creation or at motionType setting when the body is not dynamic.
@@ -73,6 +80,7 @@ export class PhysicsBody {
 
     private _motionType: PhysicsMotionType;
 
+    private _prestepType: PhysicsPrestepType = PhysicsPrestepType.DISABLED;
     /**
      * Constructs a new physics body for the given node.
      * @param transformNode - The Transform Node to construct the physics body for. For better performance, it is advised that this node does not have a parent.
@@ -264,6 +272,22 @@ export class PhysicsBody {
         return this._physicsPlugin.getMotionType(this, instanceIndex);
     }
 
+    /**
+     * Set the prestep type of the body
+     * @param prestepType prestep type provided by PhysicsPrestepType
+     */
+    public setPrestepType(prestepType: PhysicsPrestepType): void {
+        this._prestepType = prestepType;
+    }
+
+    /**
+     * Get the current prestep type of the body
+     * @returns the type of prestep associated with the body and its instance index
+     */
+    public getPrestepType(): PhysicsPrestepType {
+        return this._prestepType;
+    }
+
     /**
      * Computes the mass properties of the physics object, based on the set of physics shapes this body uses.
      * This method is useful for computing the initial mass properties of a physics object, such as its mass,