diff --git a/src/tsr/physics.cpp b/src/tsr/physics.cpp
index ede8d15..1cb1f4e 100644
--- a/src/tsr/physics.cpp
+++ b/src/tsr/physics.cpp
@@ -11,8 +11,10 @@ PxDefaultAllocator Physics::s_default_allocator_cb;
 
 PxFoundation* Physics::s_foundation = nullptr;
 PxPhysics* Physics::s_physics = nullptr;
-PxCooking* Physics::s_cooking = nullptr;
+//PxCooking* Physics::s_cooking = nullptr;
 PxPvd* Physics::s_pvd = nullptr;
+PxTolerancesScale Physics::s_scale;
+PxCookingParams Physics::s_cooking_params(s_scale);
 
 void Physics::Init() {
     // PHYSX init
@@ -29,29 +31,36 @@ void Physics::Init() {
     //PxPvdTransport* transport = PxDefaultPvdSocketTransportCreate("localhost", 5425, 10);
     //mPvd->connect(*transport, PxPvdInstrumentationFlag::eALL);
 
-    PxTolerancesScale scale;
+    //PxTolerancesScale scale;
 
-    s_physics = PxCreatePhysics(PX_PHYSICS_VERSION, *s_foundation, scale, recordMemoryAllocations, nullptr);
+    s_physics = PxCreatePhysics(PX_PHYSICS_VERSION, *s_foundation, s_scale, recordMemoryAllocations, nullptr);
     if (!s_physics)
         Throw("(PX) PxCreatePhysics failed!");
 
-    s_cooking = PxCreateCooking(PX_PHYSICS_VERSION, *s_foundation, PxCookingParams(scale));
-    if (!s_cooking)
-        Throw("(PX) PxCreateCooking failed!");
+    //s_cooking = PxCreateCooking(PX_PHYSICS_VERSION, *s_foundation, PxCookingParams(scale));
+    //if (!s_cooking)
+    //    Throw("(PX) PxCreateCooking failed!");
 
-    PxCookingParams params(scale);
-    s_cooking->setParams(params);
+    //PxCookingParams params(scale);
+    //s_cooking->setParams(params);
+
+    PxInitVehicleSDK(*s_physics);
+    PxVehicleSetBasisVectors(PxVec3(0, 1, 0), PxVec3(0, 0, 1));
+    PxVehicleSetUpdateMode(PxVehicleUpdateMode::eVELOCITY_CHANGE);
 }
 
 void Physics::Close() {
-    if (s_cooking)
-        s_cooking->release();
+    PxCloseVehicleSDK();
+
+    //if (s_cooking)
+    //    s_cooking->release();
     
     if (s_physics)
         s_physics->release();
     
     if (s_foundation)
         s_foundation->release();
+
 }
 
 PhysicsScene::PhysicsScene() {
@@ -178,14 +187,24 @@ PhysicsTriangleMesh::PhysicsTriangleMesh(const std::string& path) {
     mesh_desc.triangles.stride = 3 * sizeof(PxU32);
     mesh_desc.triangles.data = mia3.indices_ptr;
 
-#ifdef _DEBUG
-    // mesh should be validated before cooked without the mesh cleaning
-    bool res = Physics::GetCooking()->validateTriangleMesh(mesh_desc);
-    PX_ASSERT(res);
-#endif
+    //#ifdef _DEBUG
+    //    // mesh should be validated before cooked without the mesh cleaning
+    //    bool res = Physics::GetCooking()->validateTriangleMesh(mesh_desc);
+    //    PX_ASSERT(res);
+    //#endif
 
-    m_mesh = Physics::GetCooking()->createTriangleMesh(mesh_desc, Physics::GetPhysics()->getPhysicsInsertionCallback());
-}
+    //m_mesh = Physics::GetCooking()->createTriangleMesh(mesh_desc, Physics::GetPhysics()->getPhysicsInsertionCallback());
+    //PxCookTriangleMesh(Physics::GetCookingParams(), mesh_desc, Physics::GetPhysics()->getPhysicsInsertionCallback());
+
+    PxDefaultMemoryOutputStream writeBuffer;
+    PxTriangleMeshCookingResult::Enum result;
+    bool status = PxCookTriangleMesh(Physics::GetCookingParams(), mesh_desc, writeBuffer, &result);
+    if (!status)
+        Throw("Cant cook triangle mesh");
+
+    PxDefaultMemoryInputData readBuffer(writeBuffer.getData(), writeBuffer.getSize());
+    m_mesh = Physics::GetPhysics()->createTriangleMesh(readBuffer);
+};
 
 PhysicsTriangleMesh::~PhysicsTriangleMesh() {
     m_mesh->release();
diff --git a/src/tsr/physics.hpp b/src/tsr/physics.hpp
index 53ce22e..a4ed8e0 100644
--- a/src/tsr/physics.hpp
+++ b/src/tsr/physics.hpp
@@ -1,9 +1,9 @@
 #pragma once
-#include <PxPhysics.h>
-#include <PxFoundation.h>
-#include <PxConfig.h>
-#include <PxPhysicsAPI.h> 
-#include <PxFiltering.h>
+#include <physx/PxPhysics.h>
+//#include <physx/PxFoundation.h>
+#include <physx/PxConfig.h>
+#include <physx/PxPhysicsAPI.h> 
+#include <physx/PxFiltering.h>
 #include "tsr.hpp"
 #include "assets.hpp"
 #include "renderer.hpp"
@@ -18,14 +18,18 @@ namespace TSR {
 
         static PxFoundation* s_foundation;
         static PxPhysics* s_physics;
-        static PxCooking* s_cooking;
+        //static PxCooking* s_cooking;
         static PxPvd* s_pvd;
+
+        static PxTolerancesScale s_scale;
+        static PxCookingParams s_cooking_params;
     public:
         static void Init();
         static void Close();
 
         static PxPhysics* GetPhysics() { return s_physics; }
-        static PxCooking* GetCooking() { return s_cooking; }
+        static const PxCookingParams& GetCookingParams() { return s_cooking_params; }
+        //static PxCooking* GetCooking() { return s_cooking; }
     };
 
     class PhysicsScene {