diff --git a/SHADE_Engine/src/Physics/System/SHPhysicsSystem.cpp b/SHADE_Engine/src/Physics/System/SHPhysicsSystem.cpp
index 32d6f03e..4fef71a3 100644
--- a/SHADE_Engine/src/Physics/System/SHPhysicsSystem.cpp
+++ b/SHADE_Engine/src/Physics/System/SHPhysicsSystem.cpp
@@ -239,21 +239,6 @@ namespace SHADE
 
   void SHPhysicsSystem::SimulateBody(SHGhostBody& ghostBody, SimulateBodyInfo& simInfo, SimulateBodyOutput& output)
   {
-    // Check for a valid rigidbody
-    const auto* rigidBody = SHComponentManager::GetComponent_s<SHRigidBodyComponent>(simInfo.bodyEID);
-    if (!rigidBody)
-    {
-      SHLOG_WARNING("Entity {} does not have a rigid body to simulate! This body will collide with everything!", simInfo.bodyEID)
-    }
-
-    // Prepare simulation info (I'm basically declaring an entire body here)
-    float   invMass           = 1.0f / ghostBody.mass;
-    SHVec3  worldInvInertia   = SHVec3::One;
-    SHVec3  worldCentroid     = SHVec3::One;
-
-    // Asserts. Don't be an idiot.
-    SHASSERT(invMass > 0, "GhostBody's mass in invalid")
-
     // Build raycast layer from colliders. If none exist....then this never stops simulating technically.
     // I'm too lazy to handle that case, so I'll just throw an error.
     uint16_t raycastLayers  = 0;
@@ -275,10 +260,22 @@ namespace SHADE
     raycastInfo.continuous  = false;
     raycastInfo.layers      = raycastLayers;
 
+    // Check for a valid rigidbody
+    const auto* rigidBody = SHComponentManager::GetComponent_s<SHRigidBodyComponent>(simInfo.bodyEID);
+    if (!rigidBody)
+    {
+      SHLOG_WARNING("Entity {} does not have a rigid body to simulate! This body will collide with everything!", simInfo.bodyEID)
+    }
+
+    double accumulatedTime  = 0.0f;
+
     bool  terminate         = true;
     int   iterationCounter  = simInfo.maxSteps;
+
     do
     {
+      accumulatedTime += simInfo.timeStep;
+
       raycastInfo.distance      = ghostBody.linearVelocity.Length() * simInfo.timeStep;   // Do not take the entire velocity's length as that is for an entire second.
       raycastInfo.ray.position  = ghostBody.position;
       raycastInfo.ray.direction = SHVec3::Normalise(ghostBody.linearVelocity);
@@ -287,52 +284,8 @@ namespace SHADE
       if (terminate)
         return;
 
-      // Compute world space data
-      const SHMatrix R  = SHMatrix::Rotate(ghostBody.orientation);
-      const SHMatrix RT = SHMatrix::Transpose(R);
-
-      SHMatrix localInertiaTensor = SHMatrix::Identity;
-
-      // Set the diagonals
-      localInertiaTensor.m[0][0] = ghostBody.localInvInertia.x;
-      localInertiaTensor.m[1][1] = ghostBody.localInvInertia.y;
-      localInertiaTensor.m[2][2] = ghostBody.localInvInertia.z;
-
-      localInertiaTensor *= RT;
-      const SHVec3 DIAGONALS { localInertiaTensor.m[0][0], localInertiaTensor.m[1][1], localInertiaTensor.m[2][2] };
-
-      worldInvInertia = R * DIAGONALS;
-
-      // Compute world centroid
-      worldCentroid = (R * ghostBody.localCentroid) + ghostBody.position;
-
-      // Apply forces
-      ghostBody.accumulatedForce  += simInfo.force;
-      ghostBody.angularVelocity   += worldInvInertia * SHVec3::Cross(ghostBody.position + simInfo.forceOffset, simInfo.force);
-      ghostBody.accumulatedTorque += simInfo.torque;
-
-      // Integrate Velocities
-      // Integrate forces and gravity into linear velocity
-      const SHVec3 LINEAR_ACCELERATION        = ghostBody.accumulatedForce * invMass;
-      const SHVec3 GRAVITATIONAL_ACCELERATION = ghostBody.gravityScale ? worldState.settings.gravity * ghostBody.gravityScale : SHVec3::Zero;
-
-      ghostBody.linearVelocity += (LINEAR_ACCELERATION + GRAVITATIONAL_ACCELERATION) * simInfo.timeStep * ghostBody.linearLock;
-      ghostBody.angularVelocity += worldInvInertia * (ghostBody.accumulatedTorque * simInfo.timeStep);
-
-      // Apply drag (exponentially applied)
-      ghostBody.linearVelocity  *= 1.0f / (1.0f + simInfo.timeStep * ghostBody.drag);
-      ghostBody.angularVelocity *= 1.0f / (1.0f + simInfo.timeStep * ghostBody.angularDrag);
-        
-      // Integrate Positions & Orientations
-      const SHQuaternion QV = SHQuaternion{ ghostBody.angularVelocity.x * simInfo.timeStep, ghostBody.angularVelocity.y * simInfo.timeStep, ghostBody.angularVelocity.z * simInfo.timeStep, 0.0f } * 0.5f;
-
-      ghostBody.position    += ghostBody.linearVelocity * simInfo.timeStep;
-      ghostBody.orientation += ghostBody.orientation * QV * SHQuaternion::FromEuler(ghostBody.angularLock);
-      ghostBody.orientation = SHQuaternion::Normalise(ghostBody.orientation);
-
-      // Clear forces 
-      ghostBody.accumulatedForce  = SHVec3::Zero;
-      ghostBody.accumulatedTorque = SHVec3::Zero;
+      while (accumulatedTime > fixedDT)
+        simulateBody(ghostBody, simInfo);
 
       if (!simInfo.continuousForce)
       {
@@ -494,4 +447,61 @@ namespace SHADE
     return onComponentRemovedEvent.get()->handle;
   }
 
+  void SHPhysicsSystem::simulateBody(SHGhostBody& ghostBody, const SimulateBodyInfo& simInfo) noexcept
+  {
+    float   invMass           = 1.0f / ghostBody.mass;
+    SHVec3  worldInvInertia   = SHVec3::One;
+    SHVec3  worldCentroid     = SHVec3::One;
+
+    SHASSERT(invMass > 0, "GhostBody's mass in invalid")
+
+    // Compute world space data
+    const SHMatrix R  = SHMatrix::Rotate(ghostBody.orientation);
+    const SHMatrix RT = SHMatrix::Transpose(R);
+
+    SHMatrix localInertiaTensor = SHMatrix::Identity;
+
+    // Set the diagonals
+    localInertiaTensor.m[0][0] = ghostBody.localInvInertia.x;
+    localInertiaTensor.m[1][1] = ghostBody.localInvInertia.y;
+    localInertiaTensor.m[2][2] = ghostBody.localInvInertia.z;
+
+    localInertiaTensor *= RT;
+    const SHVec3 DIAGONALS { localInertiaTensor.m[0][0], localInertiaTensor.m[1][1], localInertiaTensor.m[2][2] };
+
+    worldInvInertia = R * DIAGONALS;
+
+    // Compute world centroid
+    worldCentroid = (R * ghostBody.localCentroid) + ghostBody.position;
+
+    // Apply forces
+    ghostBody.accumulatedForce  += simInfo.force;
+    ghostBody.angularVelocity   += worldInvInertia * SHVec3::Cross(ghostBody.position + simInfo.forceOffset, simInfo.force);
+    ghostBody.accumulatedTorque += simInfo.torque;
+
+    // Integrate Velocities
+    // Integrate forces and gravity into linear velocity
+    const SHVec3 LINEAR_ACCELERATION        = ghostBody.accumulatedForce * invMass;
+    const SHVec3 GRAVITATIONAL_ACCELERATION = ghostBody.gravityScale ? worldState.settings.gravity * ghostBody.gravityScale : SHVec3::Zero;
+
+    ghostBody.linearVelocity += (LINEAR_ACCELERATION + GRAVITATIONAL_ACCELERATION) * fixedDT * ghostBody.linearLock;
+    ghostBody.angularVelocity += worldInvInertia * (ghostBody.accumulatedTorque * fixedDT);
+
+    // Apply drag (exponentially applied)
+    ghostBody.linearVelocity  *= 1.0f / (1.0f + fixedDT * ghostBody.drag);
+    ghostBody.angularVelocity *= 1.0f / (1.0f + fixedDT * ghostBody.angularDrag);
+        
+    // Integrate Positions & Orientations
+    const SHQuaternion QV = SHQuaternion{ ghostBody.angularVelocity.x, ghostBody.angularVelocity.y, ghostBody.angularVelocity.z, 0.0f } * fixedDT * 0.5f;
+
+    ghostBody.position    += ghostBody.linearVelocity * simInfo.timeStep;
+    ghostBody.orientation += ghostBody.orientation * QV * SHQuaternion::FromEuler(ghostBody.angularLock);
+    ghostBody.orientation = SHQuaternion::Normalise(ghostBody.orientation);
+
+    // Clear forces 
+    ghostBody.accumulatedForce  = SHVec3::Zero;
+    ghostBody.accumulatedTorque = SHVec3::Zero;
+  }
+
+
 } // namespace SHADE
\ No newline at end of file
diff --git a/SHADE_Engine/src/Physics/System/SHPhysicsSystem.h b/SHADE_Engine/src/Physics/System/SHPhysicsSystem.h
index c81bf3a9..7f1e18f3 100644
--- a/SHADE_Engine/src/Physics/System/SHPhysicsSystem.h
+++ b/SHADE_Engine/src/Physics/System/SHPhysicsSystem.h
@@ -274,5 +274,7 @@ namespace SHADE
 
     SHEventHandle onComponentAdded    (SHEventPtr onComponentAddedEvent);
     SHEventHandle onComponentRemoved  (SHEventPtr onComponentRemovedEvent);
+
+    void          simulateBody        (SHGhostBody& ghostBody, const SimulateBodyInfo& simInfo) noexcept;
   };
 } // namespace SHADE
\ No newline at end of file