diff --git a/Readme.md b/Readme.md
index 9611550..e45692d 100644
--- a/Readme.md
+++ b/Readme.md
@@ -16,9 +16,9 @@ Current structure:
 - SSR
 - FXAA
 - Bloom
+- Floating origin with double precision coordinate system
 
 Work-In-Progress
-- [ ] Floating origin with double precision coordinate system
 - [ ] Planet Rendering
 
 ## Build prequsites
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 629893f..21de98b 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -4,6 +4,7 @@ add_executable (vulkan_engine
   main.cpp
   # core root
   core/types.h
+  core/world.h
   core/config.h
   core/context.h
   core/context.cpp
diff --git a/src/core/assets/async_loader.cpp b/src/core/assets/async_loader.cpp
index 6bebb0a..d770544 100644
--- a/src/core/assets/async_loader.cpp
+++ b/src/core/assets/async_loader.cpp
@@ -104,6 +104,32 @@ AsyncAssetLoader::JobID AsyncAssetLoader::load_gltf_async(const std::string &sce
     return id;
 }
 
+AsyncAssetLoader::JobID AsyncAssetLoader::load_gltf_async(const std::string &scene_name,
+                                                          const std::string &model_relative_path,
+                                                          const WorldVec3 &translation_world,
+                                                          const glm::quat &rotation,
+                                                          const glm::vec3 &scale,
+                                                          bool preload_textures)
+{
+    JobID id = load_gltf_async(scene_name, model_relative_path, glm::mat4(1.0f), preload_textures);
+    if (id == 0)
+    {
+        return 0;
+    }
+
+    std::lock_guard<std::mutex> lock(_jobs_mutex);
+    auto it = _jobs.find(id);
+    if (it != _jobs.end() && it->second)
+    {
+        Job &job = *it->second;
+        job.has_world_trs = true;
+        job.translation_world = translation_world;
+        job.rotation = rotation;
+        job.scale = scale;
+    }
+    return id;
+}
+
 bool AsyncAssetLoader::get_job_status(JobID id, JobState &out_state, float &out_progress, std::string *out_error)
 {
     std::lock_guard<std::mutex> lock(_jobs_mutex);
@@ -234,6 +260,13 @@ void AsyncAssetLoader::pump_main_thread(SceneManager &scene)
                     job->scene->debugName = job->model_relative_path;
                 }
                 scene.addGLTFInstance(job->scene_name, job->scene, job->transform);
+                if (job->has_world_trs)
+                {
+                    scene.setGLTFInstanceTRSWorld(job->scene_name,
+                                                  job->translation_world,
+                                                  job->rotation,
+                                                  job->scale);
+                }
 
                 // Optionally preload textures (same logic as addGLTFInstance)
                 if (job->preload_textures && _textures && _engine && _engine->_resourceManager)
diff --git a/src/core/assets/async_loader.h b/src/core/assets/async_loader.h
index 46fd879..04dca8d 100644
--- a/src/core/assets/async_loader.h
+++ b/src/core/assets/async_loader.h
@@ -11,8 +11,11 @@
 #include <thread>
 
 #include <glm/mat4x4.hpp>
+#include <glm/gtc/quaternion.hpp>
+#include <glm/vec3.hpp>
 
 #include "scene/vk_loader.h"
+#include "core/world.h"
 #include "core/assets/texture_cache.h"
 
 class VulkanEngine;
@@ -41,6 +44,13 @@ public:
                           const glm::mat4 &transform,
                           bool preload_textures = false);
 
+    JobID load_gltf_async(const std::string &scene_name,
+                          const std::string &model_relative_path,
+                          const WorldVec3 &translation_world,
+                          const glm::quat &rotation,
+                          const glm::vec3 &scale,
+                          bool preload_textures = false);
+
     bool get_job_status(JobID id, JobState &out_state, float &out_progress, std::string *out_error = nullptr);
 
     // Main-thread integration: commit completed jobs into the SceneManager.
@@ -66,6 +76,10 @@ private:
         std::string scene_name;
         std::string model_relative_path;
         glm::mat4 transform{1.0f};
+        bool has_world_trs{false};
+        WorldVec3 translation_world{0.0, 0.0, 0.0};
+        glm::quat rotation{1.0f, 0.0f, 0.0f, 0.0f};
+        glm::vec3 scale{1.0f};
         bool preload_textures{false};
 
         std::shared_ptr<LoadedGLTF> scene;
diff --git a/src/core/assets/texture_cache.cpp b/src/core/assets/texture_cache.cpp
index ee8d922..2e195db 100644
--- a/src/core/assets/texture_cache.cpp
+++ b/src/core/assets/texture_cache.cpp
@@ -533,7 +533,7 @@ void TextureCache::worker_loop()
                             {
                                 ktx_size_t off = 0, len = 0;
                                 ktxTexture_GetImageOffset(ktxTexture(ktex), mip, 0, 0, &off);
-                                ktxTexture_GetImageSize(ktxTexture(ktex), mip, &len);
+                                len = ktxTexture_GetImageSize(ktxTexture(ktex), mip);
                                 uint32_t w = std::max(1u, baseW >> mip);
                                 uint32_t h = std::max(1u, baseH >> mip);
                                 out.ktx.levels.push_back({ static_cast<uint64_t>(off), static_cast<uint64_t>(len), w, h });
diff --git a/src/core/engine.cpp b/src/core/engine.cpp
index 997abab..8732058 100644
--- a/src/core/engine.cpp
+++ b/src/core/engine.cpp
@@ -587,6 +587,36 @@ uint32_t VulkanEngine::loadGLTFAsync(const std::string &sceneName,
     return _asyncLoader->load_gltf_async(sceneName, resolvedPath, transform, preloadTextures);
 }
 
+uint32_t VulkanEngine::loadGLTFAsync(const std::string &sceneName,
+                                     const std::string &modelRelativePath,
+                                     const WorldVec3 &translationWorld,
+                                     const glm::quat &rotation,
+                                     const glm::vec3 &scale,
+                                     bool preloadTextures)
+{
+    if (!_asyncLoader || !_assetManager || !_sceneManager)
+    {
+        return 0;
+    }
+
+    const std::string resolvedPath = _assetManager->modelPath(modelRelativePath);
+    if (!file_exists_nothrow(resolvedPath))
+    {
+        fmt::println("[Engine] Failed to enqueue async glTF load for scene '{}' – model file not found (requested='{}', resolved='{}')",
+                     sceneName,
+                     modelRelativePath,
+                     resolvedPath);
+        return 0;
+    }
+
+    return _asyncLoader->load_gltf_async(sceneName,
+                                         resolvedPath,
+                                         translationWorld,
+                                         rotation,
+                                         scale,
+                                         preloadTextures);
+}
+
 void VulkanEngine::preloadInstanceTextures(const std::string &instanceName)
 {
     if (!_textureCache || !_sceneManager)
@@ -746,16 +776,16 @@ void VulkanEngine::draw()
     // Update IBL based on camera position and user-defined reflection volumes.
     if (_iblManager && _sceneManager)
     {
-        glm::vec3 camPos = _sceneManager->getMainCamera().position;
+        WorldVec3 camPosWorld = _sceneManager->getMainCamera().position_world;
         int newVolume = -1;
         for (size_t i = 0; i < _iblVolumes.size(); ++i)
         {
             const IBLVolume &v = _iblVolumes[i];
             if (!v.enabled) continue;
-            glm::vec3 local = camPos - v.center;
-            if (std::abs(local.x) <= v.halfExtents.x &&
-                std::abs(local.y) <= v.halfExtents.y &&
-                std::abs(local.z) <= v.halfExtents.z)
+            WorldVec3 local = camPosWorld - v.center_world;
+            if (std::abs(local.x) <= static_cast<double>(v.halfExtents.x) &&
+                std::abs(local.y) <= static_cast<double>(v.halfExtents.y) &&
+                std::abs(local.z) <= static_cast<double>(v.halfExtents.z))
             {
                 newVolume = static_cast<int>(i);
                 break;
@@ -800,7 +830,7 @@ void VulkanEngine::draw()
     if (_sceneManager && _mousePosPixels.x >= 0.0f && _mousePosPixels.y >= 0.0f)
     {
         RenderObject hoverObj{};
-        glm::vec3 hoverPos{};
+        WorldVec3 hoverPos{};
         if (_sceneManager->pick(_mousePosPixels, hoverObj, hoverPos))
         {
             _hoverPick.mesh = hoverObj.sourceMesh;
@@ -1225,7 +1255,7 @@ void VulkanEngine::run()
                         if (_sceneManager)
                         {
                             RenderObject hitObject{};
-                            glm::vec3 hitPos{};
+                            WorldVec3 hitPos{};
                             if (_sceneManager->pick(releasePos, hitObject, hitPos))
                             {
                                 _lastPick.mesh = hitObject.sourceMesh;
@@ -1269,8 +1299,8 @@ void VulkanEngine::run()
                             info.ownerType = obj.ownerType;
                             info.ownerName = obj.ownerName;
                             // Use bounds origin transformed to world as a representative point.
-                            glm::vec3 centerWorld = glm::vec3(obj.transform * glm::vec4(obj.bounds.origin, 1.0f));
-                            info.worldPos = centerWorld;
+                            glm::vec3 centerLocal = glm::vec3(obj.transform * glm::vec4(obj.bounds.origin, 1.0f));
+                            info.worldPos = local_to_world(centerLocal, _sceneManager->get_world_origin());
                             info.worldTransform = obj.transform;
                             info.firstIndex = obj.firstIndex;
                             info.indexCount = obj.indexCount;
@@ -1365,7 +1395,8 @@ void VulkanEngine::run()
                 if (_sceneManager->resolveObjectID(pickedID, picked))
                 {
                     // Fallback hit position: object origin in world space (can refine later)
-                    glm::vec3 fallbackPos = glm::vec3(picked.transform[3]);
+                    glm::vec3 fallbackLocal = glm::vec3(picked.transform[3]);
+                    WorldVec3 fallbackPos = local_to_world(fallbackLocal, _sceneManager->get_world_origin());
                     _lastPick.mesh = picked.sourceMesh;
                     _lastPick.scene = picked.sourceScene;
                     _lastPick.node = picked.sourceNode;
diff --git a/src/core/engine.h b/src/core/engine.h
index ed3adcc..08734d7 100644
--- a/src/core/engine.h
+++ b/src/core/engine.h
@@ -4,6 +4,7 @@
 #pragma once
 
 #include <core/types.h>
+#include <core/world.h>
 #include <vector>
 #include <string>
 #include <unordered_map>
@@ -123,7 +124,7 @@ public:
     // Simple world-space IBL reflection volumes (axis-aligned boxes).
     struct IBLVolume
     {
-        glm::vec3 center{0.0f, 0.0f, 0.0f};
+        WorldVec3 center_world{0.0, 0.0, 0.0};
         glm::vec3 halfExtents{10.0f, 10.0f, 10.0f};
         IBLPaths paths{};   // HDRI paths for this volume
         bool enabled{true};
@@ -149,7 +150,7 @@ public:
         Node *node = nullptr;
         RenderObject::OwnerType ownerType = RenderObject::OwnerType::None;
         std::string ownerName;
-        glm::vec3 worldPos{0.0f};
+        WorldVec3 worldPos{0.0, 0.0, 0.0};
         glm::mat4 worldTransform{1.0f};
         uint32_t indexCount = 0;
         uint32_t firstIndex = 0;
@@ -242,6 +243,13 @@ public:
                            const glm::mat4 &transform = glm::mat4(1.f),
                            bool preloadTextures = false);
 
+    uint32_t loadGLTFAsync(const std::string &sceneName,
+                           const std::string &modelRelativePath,
+                           const WorldVec3 &translationWorld,
+                           const glm::quat &rotation,
+                           const glm::vec3 &scale,
+                           bool preloadTextures = false);
+
     // Preload textures for an already-loaded scene instance so they are
     // available before the object becomes visible (visibility-driven loading).
     void preloadInstanceTextures(const std::string &instanceName);
diff --git a/src/core/engine_ui.cpp b/src/core/engine_ui.cpp
index 2b76d7d..181694c 100644
--- a/src/core/engine_ui.cpp
+++ b/src/core/engine_ui.cpp
@@ -245,7 +245,7 @@ namespace
             VulkanEngine::IBLVolume vol{};
             if (eng->_sceneManager)
             {
-                vol.center = eng->_sceneManager->getMainCamera().position;
+                vol.center_world = eng->_sceneManager->getMainCamera().position_world;
             }
             vol.halfExtents = glm::vec3(10.0f, 10.0f, 10.0f);
             vol.paths = eng->_globalIBLPaths;
@@ -259,7 +259,13 @@ namespace
             ImGui::Separator();
             ImGui::Text("Volume %zu", i);
             ImGui::Checkbox("Enabled", &vol.enabled);
-            ImGui::InputFloat3("Center", &vol.center.x);
+            {
+                double c[3] = {vol.center_world.x, vol.center_world.y, vol.center_world.z};
+                if (ImGui::InputScalarN("Center (world)", ImGuiDataType_Double, c, 3, nullptr, nullptr, "%.3f"))
+                {
+                    vol.center_world = WorldVec3(c[0], c[1], c[2]);
+                }
+            }
             ImGui::InputFloat3("Half Extents", &vol.halfExtents.x);
 
             // Simple path editors; store absolute or engine-local paths.
@@ -337,6 +343,17 @@ namespace
         ImGui::Text("Swapchain:   %ux%u", scExt.width, scExt.height);
         ImGui::Text("Draw fmt:    %s", string_VkFormat(eng->_swapchainManager->drawImage().imageFormat));
         ImGui::Text("Swap fmt:    %s", string_VkFormat(eng->_swapchainManager->swapchainImageFormat()));
+
+        if (eng->_sceneManager)
+        {
+            ImGui::Separator();
+            WorldVec3 origin = eng->_sceneManager->get_world_origin();
+            WorldVec3 camWorld = eng->_sceneManager->getMainCamera().position_world;
+            glm::vec3 camLocal = eng->_sceneManager->get_camera_local_position();
+            ImGui::Text("Origin (world): (%.3f, %.3f, %.3f)", origin.x, origin.y, origin.z);
+            ImGui::Text("Camera (world): (%.3f, %.3f, %.3f)", camWorld.x, camWorld.y, camWorld.z);
+            ImGui::Text("Camera (local): (%.3f, %.3f, %.3f)", camLocal.x, camLocal.y, camLocal.z);
+        }
     }
 
     // Texture streaming + budget UI
@@ -956,18 +973,18 @@ namespace
                 SceneManager::PointLight pl{};
                 if (sceneMgr->getPointLight(static_cast<size_t>(selectedLight), pl))
                 {
-                    float pos[3] = {pl.position.x, pl.position.y, pl.position.z};
+                    double pos[3] = {pl.position_world.x, pl.position_world.y, pl.position_world.z};
                     float col[3] = {pl.color.r, pl.color.g, pl.color.b};
                     bool changed = false;
 
-                    changed |= ImGui::InputFloat3("Position", pos);
+                    changed |= ImGui::InputScalarN("Position (world)", ImGuiDataType_Double, pos, 3, nullptr, nullptr, "%.3f");
                     changed |= ImGui::SliderFloat("Radius", &pl.radius, 0.1f, 1000.0f);
                     changed |= ImGui::ColorEdit3("Color", col);
                     changed |= ImGui::SliderFloat("Intensity", &pl.intensity, 0.0f, 100.0f);
 
                     if (changed)
                     {
-                        pl.position = glm::vec3(pos[0], pos[1], pos[2]);
+                        pl.position_world = WorldVec3(pos[0], pos[1], pos[2]);
                         pl.color = glm::vec3(col[0], col[1], col[2]);
                         sceneMgr->setPointLight(static_cast<size_t>(selectedLight), pl);
                     }
@@ -983,12 +1000,12 @@ namespace
             // Controls for adding a new light
             ImGui::Separator();
             ImGui::TextUnformatted("Add point light");
-            static float newPos[3] = {0.0f, 1.0f, 0.0f};
+            static double newPos[3] = {0.0, 1.0, 0.0};
             static float newRadius = 10.0f;
             static float newColor[3] = {1.0f, 1.0f, 1.0f};
             static float newIntensity = 5.0f;
 
-            ImGui::InputFloat3("New position", newPos);
+            ImGui::InputScalarN("New position (world)", ImGuiDataType_Double, newPos, 3, nullptr, nullptr, "%.3f");
             ImGui::SliderFloat("New radius", &newRadius, 0.1f, 1000.0f);
             ImGui::ColorEdit3("New color", newColor);
             ImGui::SliderFloat("New intensity", &newIntensity, 0.0f, 100.0f);
@@ -996,7 +1013,7 @@ namespace
             if (ImGui::Button("Add point light"))
             {
                 SceneManager::PointLight pl{};
-                pl.position = glm::vec3(newPos[0], newPos[1], newPos[2]);
+                pl.position_world = WorldVec3(newPos[0], newPos[1], newPos[2]);
                 pl.radius = newRadius;
                 pl.color = glm::vec3(newColor[0], newColor[1], newColor[2]);
                 pl.intensity = newIntensity;
@@ -1214,7 +1231,7 @@ namespace
 
         if (pick->ownerType == RenderObject::OwnerType::MeshInstance)
         {
-            if (sceneMgr->getMeshInstanceTransform(pick->ownerName, targetTransform))
+            if (sceneMgr->getMeshInstanceTransformLocal(pick->ownerName, targetTransform))
             {
                 target = GizmoTarget::MeshInstance;
                 ImGui::Text("Editing mesh instance: %s", pick->ownerName.c_str());
@@ -1222,7 +1239,7 @@ namespace
         }
         else if (pick->ownerType == RenderObject::OwnerType::GLTFInstance)
         {
-            if (sceneMgr->getGLTFInstanceTransform(pick->ownerName, targetTransform))
+            if (sceneMgr->getGLTFInstanceTransformLocal(pick->ownerName, targetTransform))
             {
                 target = GizmoTarget::GLTFInstance;
                 ImGui::Text("Editing glTF instance: %s", pick->ownerName.c_str());
@@ -1270,8 +1287,8 @@ namespace
                        : 1.0f;
 
         // Distance from camera to object; clamp to avoid degenerate planes.
-        glm::vec3 camPos = cam.position;
-        glm::vec3 objPos = pick->worldPos;
+        glm::vec3 camPos = sceneMgr->get_camera_local_position();
+        glm::vec3 objPos = glm::vec3(targetTransform[3]);
         float dist = glm::length(objPos - camPos);
         if (!std::isfinite(dist) || dist <= 0.0f)
         {
@@ -1282,7 +1299,7 @@ namespace
         float nearPlane = glm::max(0.05f, dist * 0.05f);
         float farPlane = glm::max(nearPlane * 50.0f, dist * 2.0f);
 
-        glm::mat4 view = cam.getViewMatrix();
+        glm::mat4 view = cam.getViewMatrix(sceneMgr->get_camera_local_position());
         glm::mat4 proj = glm::perspective(fovRad, aspect, nearPlane, farPlane);
 
         glm::mat4 before = targetTransform;
@@ -1313,10 +1330,10 @@ namespace
             switch (target)
             {
                 case GizmoTarget::MeshInstance:
-                    sceneMgr->setMeshInstanceTransform(pick->ownerName, targetTransform);
+                    sceneMgr->setMeshInstanceTransformLocal(pick->ownerName, targetTransform);
                     break;
                 case GizmoTarget::GLTFInstance:
-                    sceneMgr->setGLTFInstanceTransform(pick->ownerName, targetTransform);
+                    sceneMgr->setGLTFInstanceTransformLocal(pick->ownerName, targetTransform);
                     break;
                 default:
                     break;
@@ -1324,7 +1341,7 @@ namespace
 
             // Keep pick debug info roughly in sync.
             pick->worldTransform = targetTransform;
-            pick->worldPos = glm::vec3(targetTransform[3]);
+            pick->worldPos = local_to_world(glm::vec3(targetTransform[3]), sceneMgr->get_world_origin());
         }
     }
 } // namespace
diff --git a/src/core/game_api.cpp b/src/core/game_api.cpp
index 5a24ceb..175911d 100644
--- a/src/core/game_api.cpp
+++ b/src/core/game_api.cpp
@@ -37,6 +37,25 @@ Transform Transform::from_matrix(const glm::mat4& m)
     return t;
 }
 
+glm::mat4 TransformD::to_matrix() const
+{
+    glm::mat4 T = glm::translate(glm::mat4(1.0f), glm::vec3(position));
+    glm::mat4 R = glm::mat4_cast(rotation);
+    glm::mat4 S = glm::scale(glm::mat4(1.0f), scale);
+    return T * R * S;
+}
+
+TransformD TransformD::from_matrix(const glm::mat4& m)
+{
+    TransformD t;
+    glm::vec3 skew;
+    glm::vec4 perspective;
+    glm::vec3 pos{};
+    glm::decompose(m, t.scale, t.rotation, pos, skew, perspective);
+    t.position = glm::dvec3(pos);
+    return t;
+}
+
 // ============================================================================
 // Engine Implementation
 // ============================================================================
@@ -254,7 +273,19 @@ void Engine::set_global_ibl_paths(const IBLPaths& paths)
 size_t Engine::add_ibl_volume(const IBLVolume& volume)
 {
     VulkanEngine::IBLVolume v;
-    v.center = volume.center;
+    v.center_world = WorldVec3(volume.center);
+    v.halfExtents = volume.halfExtents;
+    v.paths = to_internal_ibl_paths(volume.paths);
+    v.enabled = volume.enabled;
+
+    _engine->_iblVolumes.push_back(v);
+    return _engine->_iblVolumes.size() - 1;
+}
+
+size_t Engine::add_ibl_volume(const IBLVolumeD& volume)
+{
+    VulkanEngine::IBLVolume v;
+    v.center_world = WorldVec3(volume.center);
     v.halfExtents = volume.halfExtents;
     v.paths = to_internal_ibl_paths(volume.paths);
     v.enabled = volume.enabled;
@@ -285,7 +316,19 @@ bool Engine::get_ibl_volume(size_t index, IBLVolume& out) const
     if (index >= _engine->_iblVolumes.size()) return false;
 
     const auto& v = _engine->_iblVolumes[index];
-    out.center = v.center;
+    out.center = glm::vec3(v.center_world);
+    out.halfExtents = v.halfExtents;
+    out.paths = from_internal_ibl_paths(v.paths);
+    out.enabled = v.enabled;
+    return true;
+}
+
+bool Engine::get_ibl_volume(size_t index, IBLVolumeD& out) const
+{
+    if (index >= _engine->_iblVolumes.size()) return false;
+
+    const auto& v = _engine->_iblVolumes[index];
+    out.center = v.center_world;
     out.halfExtents = v.halfExtents;
     out.paths = from_internal_ibl_paths(v.paths);
     out.enabled = v.enabled;
@@ -297,7 +340,19 @@ bool Engine::set_ibl_volume(size_t index, const IBLVolume& volume)
     if (index >= _engine->_iblVolumes.size()) return false;
 
     auto& v = _engine->_iblVolumes[index];
-    v.center = volume.center;
+    v.center_world = WorldVec3(volume.center);
+    v.halfExtents = volume.halfExtents;
+    v.paths = to_internal_ibl_paths(volume.paths);
+    v.enabled = volume.enabled;
+    return true;
+}
+
+bool Engine::set_ibl_volume(size_t index, const IBLVolumeD& volume)
+{
+    if (index >= _engine->_iblVolumes.size()) return false;
+
+    auto& v = _engine->_iblVolumes[index];
+    v.center_world = WorldVec3(volume.center);
     v.halfExtents = volume.halfExtents;
     v.paths = to_internal_ibl_paths(volume.paths);
     v.enabled = volume.enabled;
@@ -332,6 +387,28 @@ bool Engine::add_gltf_instance(const std::string& name,
     return _engine->addGLTFInstance(name, modelPath, transform.to_matrix(), preloadTextures);
 }
 
+bool Engine::add_gltf_instance(const std::string& name,
+                               const std::string& modelPath,
+                               const TransformD& transform,
+                               bool preloadTextures)
+{
+    if (!_engine || !_engine->_sceneManager)
+    {
+        return false;
+    }
+
+    // Add the instance first (GPU resources), then apply the authoritative world transform in double.
+    if (!_engine->addGLTFInstance(name, modelPath, glm::mat4(1.0f), preloadTextures))
+    {
+        return false;
+    }
+
+    return _engine->_sceneManager->setGLTFInstanceTRSWorld(name,
+                                                          WorldVec3(transform.position),
+                                                          transform.rotation,
+                                                          transform.scale);
+}
+
 uint32_t Engine::add_gltf_instance_async(const std::string& name,
                                          const std::string& modelPath,
                                          const Transform& transform,
@@ -340,6 +417,19 @@ uint32_t Engine::add_gltf_instance_async(const std::string& name,
     return _engine->loadGLTFAsync(name, modelPath, transform.to_matrix(), preloadTextures);
 }
 
+uint32_t Engine::add_gltf_instance_async(const std::string& name,
+                                         const std::string& modelPath,
+                                         const TransformD& transform,
+                                         bool preloadTextures)
+{
+    return _engine->loadGLTFAsync(name,
+                                 modelPath,
+                                 WorldVec3(transform.position),
+                                 transform.rotation,
+                                 transform.scale,
+                                 preloadTextures);
+}
+
 bool Engine::remove_gltf_instance(const std::string& name)
 {
     return _engine->_sceneManager ? _engine->_sceneManager->removeGLTFInstance(name) : false;
@@ -358,6 +448,23 @@ bool Engine::get_gltf_instance_transform(const std::string& name, Transform& out
     return false;
 }
 
+bool Engine::get_gltf_instance_transform(const std::string& name, TransformD& out) const
+{
+    if (!_engine->_sceneManager) return false;
+
+    WorldVec3 t{};
+    glm::quat r{};
+    glm::vec3 s{};
+    if (_engine->_sceneManager->getGLTFInstanceTRSWorld(name, t, r, s))
+    {
+        out.position = glm::dvec3(t);
+        out.rotation = r;
+        out.scale = s;
+        return true;
+    }
+    return false;
+}
+
 bool Engine::set_gltf_instance_transform(const std::string& name, const Transform& transform)
 {
     return _engine->_sceneManager
@@ -365,6 +472,16 @@ bool Engine::set_gltf_instance_transform(const std::string& name, const Transfor
            : false;
 }
 
+bool Engine::set_gltf_instance_transform(const std::string& name, const TransformD& transform)
+{
+    return _engine->_sceneManager
+           ? _engine->_sceneManager->setGLTFInstanceTRSWorld(name,
+                                                            WorldVec3(transform.position),
+                                                            transform.rotation,
+                                                            transform.scale)
+           : false;
+}
+
 bool Engine::add_primitive_instance(const std::string& name,
                                     PrimitiveType type,
                                     const Transform& transform)
@@ -382,6 +499,32 @@ bool Engine::add_primitive_instance(const std::string& name,
     return _engine->addPrimitiveInstance(name, geomType, transform.to_matrix());
 }
 
+bool Engine::add_primitive_instance(const std::string& name,
+                                    PrimitiveType type,
+                                    const TransformD& transform)
+{
+    AssetManager::MeshGeometryDesc::Type geomType;
+    switch (type)
+    {
+    case PrimitiveType::Cube:    geomType = AssetManager::MeshGeometryDesc::Type::Cube; break;
+    case PrimitiveType::Sphere:  geomType = AssetManager::MeshGeometryDesc::Type::Sphere; break;
+    case PrimitiveType::Plane:   geomType = AssetManager::MeshGeometryDesc::Type::Plane; break;
+    case PrimitiveType::Capsule: geomType = AssetManager::MeshGeometryDesc::Type::Capsule; break;
+    default: return false;
+    }
+
+    if (!_engine->addPrimitiveInstance(name, geomType, glm::mat4(1.0f)))
+    {
+        return false;
+    }
+    return _engine->_sceneManager
+           ? _engine->_sceneManager->setMeshInstanceTRSWorld(name,
+                                                            WorldVec3(transform.position),
+                                                            transform.rotation,
+                                                            transform.scale)
+           : false;
+}
+
 bool Engine::remove_mesh_instance(const std::string& name)
 {
     return _engine->_sceneManager ? _engine->_sceneManager->removeMeshInstance(name) : false;
@@ -400,6 +543,23 @@ bool Engine::get_mesh_instance_transform(const std::string& name, Transform& out
     return false;
 }
 
+bool Engine::get_mesh_instance_transform(const std::string& name, TransformD& out) const
+{
+    if (!_engine->_sceneManager) return false;
+
+    WorldVec3 t{};
+    glm::quat r{};
+    glm::vec3 s{};
+    if (_engine->_sceneManager->getMeshInstanceTRSWorld(name, t, r, s))
+    {
+        out.position = glm::dvec3(t);
+        out.rotation = r;
+        out.scale = s;
+        return true;
+    }
+    return false;
+}
+
 bool Engine::set_mesh_instance_transform(const std::string& name, const Transform& transform)
 {
     return _engine->_sceneManager
@@ -407,6 +567,16 @@ bool Engine::set_mesh_instance_transform(const std::string& name, const Transfor
            : false;
 }
 
+bool Engine::set_mesh_instance_transform(const std::string& name, const TransformD& transform)
+{
+    return _engine->_sceneManager
+           ? _engine->_sceneManager->setMeshInstanceTRSWorld(name,
+                                                            WorldVec3(transform.position),
+                                                            transform.rotation,
+                                                            transform.scale)
+           : false;
+}
+
 void Engine::preload_instance_textures(const std::string& name)
 {
     _engine->preloadInstanceTextures(name);
@@ -477,7 +647,22 @@ size_t Engine::add_point_light(const PointLight& light)
     if (!_engine->_sceneManager) return 0;
 
     SceneManager::PointLight pl;
-    pl.position = light.position;
+    pl.position_world = WorldVec3(light.position);
+    pl.radius = light.radius;
+    pl.color = light.color;
+    pl.intensity = light.intensity;
+
+    size_t idx = _engine->_sceneManager->getPointLightCount();
+    _engine->_sceneManager->addPointLight(pl);
+    return idx;
+}
+
+size_t Engine::add_point_light(const PointLightD& light)
+{
+    if (!_engine->_sceneManager) return 0;
+
+    SceneManager::PointLight pl;
+    pl.position_world = WorldVec3(light.position);
     pl.radius = light.radius;
     pl.color = light.color;
     pl.intensity = light.intensity;
@@ -499,7 +684,23 @@ bool Engine::get_point_light(size_t index, PointLight& out) const
     SceneManager::PointLight pl;
     if (_engine->_sceneManager->getPointLight(index, pl))
     {
-        out.position = pl.position;
+        out.position = glm::vec3(pl.position_world);
+        out.radius = pl.radius;
+        out.color = pl.color;
+        out.intensity = pl.intensity;
+        return true;
+    }
+    return false;
+}
+
+bool Engine::get_point_light(size_t index, PointLightD& out) const
+{
+    if (!_engine->_sceneManager) return false;
+
+    SceneManager::PointLight pl;
+    if (_engine->_sceneManager->getPointLight(index, pl))
+    {
+        out.position = pl.position_world;
         out.radius = pl.radius;
         out.color = pl.color;
         out.intensity = pl.intensity;
@@ -513,7 +714,20 @@ bool Engine::set_point_light(size_t index, const PointLight& light)
     if (!_engine->_sceneManager) return false;
 
     SceneManager::PointLight pl;
-    pl.position = light.position;
+    pl.position_world = WorldVec3(light.position);
+    pl.radius = light.radius;
+    pl.color = light.color;
+    pl.intensity = light.intensity;
+
+    return _engine->_sceneManager->setPointLight(index, pl);
+}
+
+bool Engine::set_point_light(size_t index, const PointLightD& light)
+{
+    if (!_engine->_sceneManager) return false;
+
+    SceneManager::PointLight pl;
+    pl.position_world = WorldVec3(light.position);
     pl.radius = light.radius;
     pl.color = light.color;
     pl.intensity = light.intensity;
@@ -748,7 +962,7 @@ void Engine::set_camera_position(const glm::vec3& position)
 {
     if (_engine->_sceneManager)
     {
-        _engine->_sceneManager->getMainCamera().position = position;
+        _engine->_sceneManager->getMainCamera().position_world = WorldVec3(position);
     }
 }
 
@@ -756,11 +970,28 @@ glm::vec3 Engine::get_camera_position() const
 {
     if (_engine->_sceneManager)
     {
-        return _engine->_sceneManager->getMainCamera().position;
+        return glm::vec3(_engine->_sceneManager->getMainCamera().position_world);
     }
     return glm::vec3(0.0f);
 }
 
+void Engine::set_camera_position(const glm::dvec3& position)
+{
+    if (_engine->_sceneManager)
+    {
+        _engine->_sceneManager->getMainCamera().position_world = position;
+    }
+}
+
+glm::dvec3 Engine::get_camera_position_d() const
+{
+    if (_engine->_sceneManager)
+    {
+        return _engine->_sceneManager->getMainCamera().position_world;
+    }
+    return glm::dvec3(0.0);
+}
+
 void Engine::set_camera_rotation(float pitch, float yaw)
 {
     if (_engine->_sceneManager)
@@ -821,7 +1052,7 @@ void Engine::camera_look_at(const glm::vec3& target)
     if (!_engine->_sceneManager) return;
 
     Camera& cam = _engine->_sceneManager->getMainCamera();
-    glm::vec3 dir = glm::normalize(target - cam.position);
+    glm::vec3 dir = glm::normalize(target - glm::vec3(cam.position_world));
 
     // For a -Z forward convention, build a quaternion that rotates -Z into dir.
     // Use glm's lookAt-style helper via matrices, then convert to a quaternion.
@@ -843,6 +1074,33 @@ void Engine::camera_look_at(const glm::vec3& target)
     cam.orientation = glm::quat_cast(rot);
 }
 
+void Engine::camera_look_at(const glm::dvec3& target)
+{
+    if (!_engine->_sceneManager) return;
+
+    Camera& cam = _engine->_sceneManager->getMainCamera();
+    glm::dvec3 dirD = glm::normalize(target - cam.position_world);
+    glm::vec3 dir = glm::normalize(glm::vec3(dirD));
+
+    // For a -Z forward convention, build a quaternion that rotates -Z into dir.
+    glm::vec3 up(0.0f, 1.0f, 0.0f);
+    if (glm::length2(glm::cross(dir, up)) < 1e-6f)
+    {
+        up = glm::vec3(0.0f, 0.0f, 1.0f);
+    }
+
+    glm::vec3 f = dir;
+    glm::vec3 r = glm::normalize(glm::cross(up, f));
+    glm::vec3 u = glm::cross(f, r);
+
+    glm::mat3 rot;
+    rot[0] = r;
+    rot[1] = u;
+    rot[2] = -f; // -Z forward
+
+    cam.orientation = glm::quat_cast(rot);
+}
+
 // ----------------------------------------------------------------------------
 // Rendering
 // ----------------------------------------------------------------------------
@@ -904,6 +1162,15 @@ Engine::PickResult Engine::get_last_pick() const
     PickResult r;
     r.valid = _engine->_lastPick.valid;
     r.ownerName = _engine->_lastPick.ownerName;
+    r.worldPosition = glm::vec3(_engine->_lastPick.worldPos);
+    return r;
+}
+
+Engine::PickResultD Engine::get_last_pick_d() const
+{
+    PickResultD r;
+    r.valid = _engine->_lastPick.valid;
+    r.ownerName = _engine->_lastPick.ownerName;
     r.worldPosition = _engine->_lastPick.worldPos;
     return r;
 }
diff --git a/src/core/game_api.h b/src/core/game_api.h
index c117c22..307b6c2 100644
--- a/src/core/game_api.h
+++ b/src/core/game_api.h
@@ -60,6 +60,15 @@ struct PointLight
     float intensity{1.0f};
 };
 
+// Double-precision world-space point light data (position only).
+struct PointLightD
+{
+    glm::dvec3 position{0.0};
+    float radius{10.0f};
+    glm::vec3 color{1.0f};
+    float intensity{1.0f};
+};
+
 // IBL (Image-Based Lighting) paths
 struct IBLPaths
 {
@@ -78,6 +87,15 @@ struct IBLVolume
     bool enabled{true};
 };
 
+// Double-precision world-space IBL volume (center only).
+struct IBLVolumeD
+{
+    glm::dvec3 center{0.0};
+    glm::vec3 halfExtents{10.0f};
+    IBLPaths paths;
+    bool enabled{true};
+};
+
 // Transform decomposition
 struct Transform
 {
@@ -89,6 +107,17 @@ struct Transform
     static Transform from_matrix(const glm::mat4& m);
 };
 
+// Double-precision world-space transform (position only).
+struct TransformD
+{
+    glm::dvec3 position{0.0};
+    glm::quat rotation{1.0f, 0.0f, 0.0f, 0.0f};
+    glm::vec3 scale{1.0f};
+
+    glm::mat4 to_matrix() const;
+    static TransformD from_matrix(const glm::mat4& m);
+};
+
 // Engine statistics (read-only)
 struct Stats
 {
@@ -174,6 +203,7 @@ public:
 
     // Add a local IBL volume (returns volume index)
     size_t add_ibl_volume(const IBLVolume& volume);
+    size_t add_ibl_volume(const IBLVolumeD& volume);
 
     // Remove IBL volume by index
     bool remove_ibl_volume(size_t index);
@@ -181,6 +211,8 @@ public:
     // Get/set IBL volume properties
     bool get_ibl_volume(size_t index, IBLVolume& out) const;
     bool set_ibl_volume(size_t index, const IBLVolume& volume);
+    bool get_ibl_volume(size_t index, IBLVolumeD& out) const;
+    bool set_ibl_volume(size_t index, const IBLVolumeD& volume);
 
     // Get current active IBL volume index (-1 = global)
     int get_active_ibl_volume() const;
@@ -200,12 +232,20 @@ public:
                          const std::string& modelPath,
                          const Transform& transform = {},
                          bool preloadTextures = true);
+    bool add_gltf_instance(const std::string& name,
+                           const std::string& modelPath,
+                           const TransformD& transform,
+                           bool preloadTextures = true);
 
     // Add glTF model asynchronously (returns job ID, 0 on failure)
     uint32_t add_gltf_instance_async(const std::string& name,
                                   const std::string& modelPath,
                                   const Transform& transform = {},
                                   bool preloadTextures = true);
+    uint32_t add_gltf_instance_async(const std::string& name,
+                                     const std::string& modelPath,
+                                     const TransformD& transform,
+                                     bool preloadTextures = true);
 
     // Remove glTF instance
     bool remove_gltf_instance(const std::string& name);
@@ -213,11 +253,16 @@ public:
     // Get/set glTF instance transform
     bool get_gltf_instance_transform(const std::string& name, Transform& out) const;
     bool set_gltf_instance_transform(const std::string& name, const Transform& transform);
+    bool get_gltf_instance_transform(const std::string& name, TransformD& out) const;
+    bool set_gltf_instance_transform(const std::string& name, const TransformD& transform);
 
     // Add primitive mesh instance
     bool add_primitive_instance(const std::string& name,
                               PrimitiveType type,
                               const Transform& transform = {});
+    bool add_primitive_instance(const std::string& name,
+                                PrimitiveType type,
+                                const TransformD& transform);
 
     // Remove mesh instance (primitives or custom meshes)
     bool remove_mesh_instance(const std::string& name);
@@ -225,6 +270,8 @@ public:
     // Get/set mesh instance transform
     bool get_mesh_instance_transform(const std::string& name, Transform& out) const;
     bool set_mesh_instance_transform(const std::string& name, const Transform& transform);
+    bool get_mesh_instance_transform(const std::string& name, TransformD& out) const;
+    bool set_mesh_instance_transform(const std::string& name, const TransformD& transform);
 
     // Preload textures for an instance (useful before it becomes visible)
     void preload_instance_textures(const std::string& name);
@@ -256,6 +303,7 @@ public:
 
     // Add point light (returns index)
     size_t add_point_light(const PointLight& light);
+    size_t add_point_light(const PointLightD& light);
 
     // Remove point light by index
     bool remove_point_light(size_t index);
@@ -263,6 +311,8 @@ public:
     // Get/set point light properties
     bool get_point_light(size_t index, PointLight& out) const;
     bool set_point_light(size_t index, const PointLight& light);
+    bool get_point_light(size_t index, PointLightD& out) const;
+    bool set_point_light(size_t index, const PointLightD& light);
 
     // Get point light count
     size_t get_point_light_count() const;
@@ -322,6 +372,8 @@ public:
 
     void set_camera_position(const glm::vec3& position);
     glm::vec3 get_camera_position() const;
+    void set_camera_position(const glm::dvec3& position);
+    glm::dvec3 get_camera_position_d() const;
 
     void set_camera_rotation(float pitch, float yaw);
     void get_camera_rotation(float& pitch, float& yaw) const;
@@ -331,6 +383,7 @@ public:
 
     // Look at a target position
     void camera_look_at(const glm::vec3& target);
+    void camera_look_at(const glm::dvec3& target);
 
     // ------------------------------------------------------------------------
     // Rendering
@@ -363,8 +416,16 @@ public:
         glm::vec3 worldPosition{0.0f};
     };
 
+    struct PickResultD
+    {
+        bool valid{false};
+        std::string ownerName;
+        glm::dvec3 worldPosition{0.0};
+    };
+
     // Get last click selection result
     PickResult get_last_pick() const;
+    PickResultD get_last_pick_d() const;
 
     // Enable/disable ID buffer picking (vs CPU raycast)
     void set_use_id_buffer_picking(bool use);
diff --git a/src/core/types.h b/src/core/types.h
index 081cc19..6425b34 100644
--- a/src/core/types.h
+++ b/src/core/types.h
@@ -12,7 +12,16 @@
 #include <deque>
 
 #include <vulkan/vulkan.h>
+#if __has_include(<vulkan/vk_enum_string_helper.h>)
 #include <vulkan/vk_enum_string_helper.h>
+#elif __has_include(<vk_enum_string_helper.h>)
+#include <vk_enum_string_helper.h>
+#else
+// Fallback for environments without Vulkan-Hpp's enum string helpers.
+// This keeps the build working; enum names may not be available.
+inline const char *string_VkResult(VkResult) { return "VkResult"; }
+inline const char *string_VkFormat(VkFormat) { return "VkFormat"; }
+#endif
 
 #include <vk_mem_alloc.h>
 
diff --git a/src/core/world.h b/src/core/world.h
new file mode 100644
index 0000000..cc37865
--- /dev/null
+++ b/src/core/world.h
@@ -0,0 +1,36 @@
+#pragma once
+
+#include <glm/vec3.hpp>
+
+#include <cmath>
+
+// Authoritative world-space coordinates are stored as double precision.
+using WorldVec3 = glm::dvec3;
+
+inline glm::vec3 world_to_local(const WorldVec3 &world, const WorldVec3 &origin_world)
+{
+    const WorldVec3 local_d = world - origin_world;
+    return glm::vec3(static_cast<float>(local_d.x),
+                     static_cast<float>(local_d.y),
+                     static_cast<float>(local_d.z));
+}
+
+inline WorldVec3 local_to_world(const glm::vec3 &local, const WorldVec3 &origin_world)
+{
+    return origin_world + WorldVec3(local);
+}
+
+inline WorldVec3 snap_world(const WorldVec3 &p, double grid_size)
+{
+    if (grid_size <= 0.0)
+    {
+        return p;
+    }
+
+    auto snap = [grid_size](double v) {
+        return std::round(v / grid_size) * grid_size;
+    };
+
+    return WorldVec3(snap(p.x), snap(p.y), snap(p.z));
+}
+
diff --git a/src/render/graph/graph.h b/src/render/graph/graph.h
index 932ec6f..44ed42e 100644
--- a/src/render/graph/graph.h
+++ b/src/render/graph/graph.h
@@ -36,7 +36,6 @@ public:
 	RGBufferHandle create_buffer(const RGBufferDesc& desc);
 
 	// Pass builder API
-struct Pass; // fwd
 	using RecordCallback = std::function<void(VkCommandBuffer cmd, const class RGPassResources& res, EngineContext* ctx)>;
 	using BuildCallback  = std::function<void(class RGPassBuilder& b, EngineContext* ctx)>;
 
diff --git a/src/scene/camera.cpp b/src/scene/camera.cpp
index a801b4d..8a30eac 100644
--- a/src/scene/camera.cpp
+++ b/src/scene/camera.cpp
@@ -8,7 +8,8 @@
 void Camera::update()
 {
     glm::mat4 cameraRotation = getRotationMatrix();
-    position += glm::vec3(cameraRotation * glm::vec4(velocity * moveSpeed, 0.f));
+    glm::vec3 delta = glm::vec3(cameraRotation * glm::vec4(velocity * moveSpeed, 0.f));
+    position_world += glm::dvec3(delta);
 }
 
 void Camera::processSDLEvent(SDL_Event& e)
@@ -71,17 +72,17 @@ void Camera::processSDLEvent(SDL_Event& e)
     }
 }
 
-glm::mat4 Camera::getViewMatrix()
+glm::mat4 Camera::getViewMatrix(const glm::vec3 &position_local) const
 {
     // to create a correct model view, we need to move the world in opposite
     // direction to the camera
     //  so we will create the camera model matrix and invert
-    glm::mat4 cameraTranslation = glm::translate(glm::mat4(1.f), position);
+    glm::mat4 cameraTranslation = glm::translate(glm::mat4(1.f), position_local);
     glm::mat4 cameraRotation = getRotationMatrix();
     return glm::inverse(cameraTranslation * cameraRotation);
 }
 
-glm::mat4 Camera::getRotationMatrix()
+glm::mat4 Camera::getRotationMatrix() const
 {
     // Use the stored quaternion orientation directly.
     return glm::toMat4(orientation);
diff --git a/src/scene/camera.h b/src/scene/camera.h
index dabed92..0b90583 100644
--- a/src/scene/camera.h
+++ b/src/scene/camera.h
@@ -7,8 +7,8 @@
 
 class Camera {
 public:
-    glm::vec3 velocity;
-    glm::vec3 position;
+    glm::vec3 velocity{0.0f, 0.0f, 0.0f};
+    glm::dvec3 position_world{0.0, 0.0, 0.0};
     // Orientation stored as a quaternion (local -> world).
     glm::quat orientation { 1.0f, 0.0f, 0.0f, 0.0f };
 
@@ -20,8 +20,8 @@ public:
     // Field of view in degrees for projection
     float fovDegrees { 50.f };
 
-    glm::mat4 getViewMatrix();
-    glm::mat4 getRotationMatrix();
+    glm::mat4 getViewMatrix(const glm::vec3 &position_local) const;
+    glm::mat4 getRotationMatrix() const;
 
     void processSDLEvent(SDL_Event& e);
 
diff --git a/src/scene/vk_scene.cpp b/src/scene/vk_scene.cpp
index e25c37c..336c764 100644
--- a/src/scene/vk_scene.cpp
+++ b/src/scene/vk_scene.cpp
@@ -72,7 +72,7 @@ void SceneManager::init(EngineContext *context)
     _context = context;
 
     mainCamera.velocity = glm::vec3(0.f);
-    mainCamera.position = glm::vec3(30.f, -00.f, 85.f);
+    mainCamera.position_world = WorldVec3(30.0, 0.0, 85.0);
     mainCamera.orientation = glm::quat(1.0f, 0.0f, 0.0f, 0.0f);
 
     sceneData.ambientColor = glm::vec4(0.1f, 0.1f, 0.1f, 1.0f);
@@ -81,18 +81,20 @@ void SceneManager::init(EngineContext *context)
 
     // Seed a couple of default point lights for quick testing.
     PointLight warmKey{};
-    warmKey.position = glm::vec3(0.0f, 0.0f, 0.0f);
+    warmKey.position_world = WorldVec3(0.0, 0.0, 0.0);
     warmKey.radius = 25.0f;
     warmKey.color = glm::vec3(1.0f, 0.95f, 0.8f);
     warmKey.intensity = 15.0f;
     addPointLight(warmKey);
 
     PointLight coolFill{};
-    coolFill.position = glm::vec3(-10.0f, 4.0f, 10.0f);
+    coolFill.position_world = WorldVec3(-10.0, 4.0, 10.0);
     coolFill.radius = 20.0f;
     coolFill.color = glm::vec3(0.6f, 0.7f, 1.0f);
     coolFill.intensity = 10.0f;
     addPointLight(coolFill);
+
+    _camera_position_local = world_to_local(mainCamera.position_world, _origin_world);
 }
 
 void SceneManager::update_scene()
@@ -126,6 +128,24 @@ void SceneManager::update_scene()
 
     mainCamera.update();
 
+    // Floating origin: keep render-local coordinates near (0,0,0) by shifting the origin
+    // when the camera drifts too far in world space.
+    if (_floating_origin_recenter_threshold > 0.0)
+    {
+        const WorldVec3 d = mainCamera.position_world - _origin_world;
+        const double threshold2 = _floating_origin_recenter_threshold * _floating_origin_recenter_threshold;
+        if (glm::length2(d) > threshold2)
+        {
+            const WorldVec3 newOrigin =
+                (_floating_origin_snap_size > 0.0)
+                    ? snap_world(mainCamera.position_world, _floating_origin_snap_size)
+                    : mainCamera.position_world;
+            _origin_world = newOrigin;
+        }
+    }
+
+    _camera_position_local = world_to_local(mainCamera.position_world, _origin_world);
+
     // Simple per-frame dt (seconds) for animations
     static auto lastFrameTime = std::chrono::steady_clock::now();
     auto now = std::chrono::steady_clock::now();
@@ -155,6 +175,11 @@ void SceneManager::update_scene()
         }
     };
 
+    // Root transform to shift "world space" float scenes into render-local space.
+    // Any object that is authored in world coordinates (float) should be offset by -origin.
+    const glm::mat4 world_to_local_root =
+        glm::translate(glm::mat4{1.f}, world_to_local(WorldVec3(0.0, 0.0, 0.0), _origin_world));
+
     // Draw all loaded GLTF scenes (static world), advancing their independent animation states.
     for (auto &[name, scene] : loadedScenes)
     {
@@ -173,7 +198,7 @@ void SceneManager::update_scene()
         const size_t opaqueStart = mainDrawContext.OpaqueSurfaces.size();
         const size_t transpStart = mainDrawContext.TransparentSurfaces.size();
         mainDrawContext.gltfNodeLocalOverrides = nullptr;
-        scene->Draw(glm::mat4{1.f}, mainDrawContext);
+        scene->Draw(world_to_local_root, mainDrawContext);
         mainDrawContext.gltfNodeLocalOverrides = nullptr;
         tagOwner(RenderObject::OwnerType::StaticGLTF, name, opaqueStart, transpStart);
     }
@@ -203,7 +228,8 @@ void SceneManager::update_scene()
         {
             mainDrawContext.gltfNodeLocalOverrides = nullptr;
         }
-        glm::mat4 instanceTransform = make_trs_matrix(inst.translation, inst.rotation, inst.scale);
+        glm::vec3 tLocal = world_to_local(inst.translation_world, _origin_world);
+        glm::mat4 instanceTransform = make_trs_matrix(tLocal, inst.rotation, inst.scale);
         inst.scene->Draw(instanceTransform, mainDrawContext);
         mainDrawContext.gltfNodeLocalOverrides = nullptr;
         tagOwner(RenderObject::OwnerType::GLTFInstance, kv.first, opaqueStart, transpStart);
@@ -216,7 +242,8 @@ void SceneManager::update_scene()
     {
         const MeshInstance &inst = kv.second;
         if (!inst.mesh || inst.mesh->surfaces.empty()) continue;
-        glm::mat4 instanceTransform = make_trs_matrix(inst.translation, inst.rotation, inst.scale);
+        glm::vec3 tLocal = world_to_local(inst.translation_world, _origin_world);
+        glm::mat4 instanceTransform = make_trs_matrix(tLocal, inst.rotation, inst.scale);
         uint32_t surfaceIndex = 0;
         for (const auto &surf: inst.mesh->surfaces)
         {
@@ -249,7 +276,7 @@ void SceneManager::update_scene()
         }
     }
 
-    glm::mat4 view = mainCamera.getViewMatrix();
+    glm::mat4 view = mainCamera.getViewMatrix(_camera_position_local);
     // Use reversed infinite-Z projection (right-handed, -Z forward) to avoid far-plane clipping
     // on very large scenes. Vulkan clip space is 0..1 (GLM_FORCE_DEPTH_ZERO_TO_ONE) and requires Y flip.
     auto makeReversedInfinitePerspective = [](float fovyRadians, float aspect, float zNear) {
@@ -374,7 +401,8 @@ void SceneManager::update_scene()
     for (uint32_t i = 0; i < lightCount; ++i)
     {
         const PointLight &pl = pointLights[i];
-        sceneData.punctualLights[i].position_radius = glm::vec4(pl.position, pl.radius);
+        glm::vec3 posLocal = world_to_local(pl.position_world, _origin_world);
+        sceneData.punctualLights[i].position_radius = glm::vec4(posLocal, pl.radius);
         sceneData.punctualLights[i].color_intensity = glm::vec4(pl.color, pl.intensity);
     }
     for (uint32_t i = lightCount; i < kMaxPunctualLights; ++i)
@@ -448,7 +476,9 @@ void SceneManager::addMeshInstance(const std::string &name, std::shared_ptr<Mesh
     if (!mesh) return;
     MeshInstance inst{};
     inst.mesh = std::move(mesh);
-    decompose_trs_matrix(transform, inst.translation, inst.rotation, inst.scale);
+    glm::vec3 t{};
+    decompose_trs_matrix(transform, t, inst.rotation, inst.scale);
+    inst.translation_world = WorldVec3(t);
     inst.boundsTypeOverride = boundsType;
     dynamicMeshInstances[name] = std::move(inst);
 }
@@ -461,7 +491,7 @@ bool SceneManager::getMeshInstanceTransform(const std::string &name, glm::mat4 &
         return false;
     }
     const MeshInstance &inst = it->second;
-    outTransform = make_trs_matrix(inst.translation, inst.rotation, inst.scale);
+    outTransform = make_trs_matrix(glm::vec3(inst.translation_world), inst.rotation, inst.scale);
     return true;
 }
 
@@ -473,7 +503,74 @@ bool SceneManager::setMeshInstanceTransform(const std::string &name, const glm::
         return false;
     }
     MeshInstance &inst = it->second;
-    decompose_trs_matrix(transform, inst.translation, inst.rotation, inst.scale);
+    glm::vec3 t{};
+    decompose_trs_matrix(transform, t, inst.rotation, inst.scale);
+    inst.translation_world = WorldVec3(t);
+    return true;
+}
+
+bool SceneManager::getMeshInstanceTransformLocal(const std::string &name, glm::mat4 &outTransformLocal) const
+{
+    auto it = dynamicMeshInstances.find(name);
+    if (it == dynamicMeshInstances.end())
+    {
+        return false;
+    }
+
+    const MeshInstance &inst = it->second;
+    glm::vec3 tLocal = world_to_local(inst.translation_world, _origin_world);
+    outTransformLocal = make_trs_matrix(tLocal, inst.rotation, inst.scale);
+    return true;
+}
+
+bool SceneManager::setMeshInstanceTransformLocal(const std::string &name, const glm::mat4 &transformLocal)
+{
+    auto it = dynamicMeshInstances.find(name);
+    if (it == dynamicMeshInstances.end())
+    {
+        return false;
+    }
+
+    MeshInstance &inst = it->second;
+    glm::vec3 tLocal{};
+    decompose_trs_matrix(transformLocal, tLocal, inst.rotation, inst.scale);
+    inst.translation_world = local_to_world(tLocal, _origin_world);
+    return true;
+}
+
+bool SceneManager::getMeshInstanceTRSWorld(const std::string &name,
+                                          WorldVec3 &outTranslationWorld,
+                                          glm::quat &outRotation,
+                                          glm::vec3 &outScale) const
+{
+    auto it = dynamicMeshInstances.find(name);
+    if (it == dynamicMeshInstances.end())
+    {
+        return false;
+    }
+
+    const MeshInstance &inst = it->second;
+    outTranslationWorld = inst.translation_world;
+    outRotation = inst.rotation;
+    outScale = inst.scale;
+    return true;
+}
+
+bool SceneManager::setMeshInstanceTRSWorld(const std::string &name,
+                                          const WorldVec3 &translationWorld,
+                                          const glm::quat &rotation,
+                                          const glm::vec3 &scale)
+{
+    auto it = dynamicMeshInstances.find(name);
+    if (it == dynamicMeshInstances.end())
+    {
+        return false;
+    }
+
+    MeshInstance &inst = it->second;
+    inst.translation_world = translationWorld;
+    inst.rotation = rotation;
+    inst.scale = scale;
     return true;
 }
 
@@ -496,7 +593,9 @@ void SceneManager::addGLTFInstance(const std::string &name, std::shared_ptr<Load
                  scene->debugName.empty() ? "<unnamed>" : scene->debugName.c_str());
     GLTFInstance inst{};
     inst.scene = std::move(scene);
-    decompose_trs_matrix(transform, inst.translation, inst.rotation, inst.scale);
+    glm::vec3 t{};
+    decompose_trs_matrix(transform, t, inst.rotation, inst.scale);
+    inst.translation_world = WorldVec3(t);
     if (inst.scene && !inst.scene->animations.empty())
     {
         inst.animation.activeAnimation = 0;
@@ -551,7 +650,7 @@ bool SceneManager::getGLTFInstanceTransform(const std::string &name, glm::mat4 &
         return false;
     }
     const GLTFInstance &inst = it->second;
-    outTransform = make_trs_matrix(inst.translation, inst.rotation, inst.scale);
+    outTransform = make_trs_matrix(glm::vec3(inst.translation_world), inst.rotation, inst.scale);
     return true;
 }
 
@@ -560,7 +659,74 @@ bool SceneManager::setGLTFInstanceTransform(const std::string &name, const glm::
     auto it = dynamicGLTFInstances.find(name);
     if (it == dynamicGLTFInstances.end()) return false;
     GLTFInstance &inst = it->second;
-    decompose_trs_matrix(transform, inst.translation, inst.rotation, inst.scale);
+    glm::vec3 t{};
+    decompose_trs_matrix(transform, t, inst.rotation, inst.scale);
+    inst.translation_world = WorldVec3(t);
+    return true;
+}
+
+bool SceneManager::getGLTFInstanceTransformLocal(const std::string &name, glm::mat4 &outTransformLocal) const
+{
+    auto it = dynamicGLTFInstances.find(name);
+    if (it == dynamicGLTFInstances.end())
+    {
+        return false;
+    }
+
+    const GLTFInstance &inst = it->second;
+    glm::vec3 tLocal = world_to_local(inst.translation_world, _origin_world);
+    outTransformLocal = make_trs_matrix(tLocal, inst.rotation, inst.scale);
+    return true;
+}
+
+bool SceneManager::setGLTFInstanceTransformLocal(const std::string &name, const glm::mat4 &transformLocal)
+{
+    auto it = dynamicGLTFInstances.find(name);
+    if (it == dynamicGLTFInstances.end())
+    {
+        return false;
+    }
+
+    GLTFInstance &inst = it->second;
+    glm::vec3 tLocal{};
+    decompose_trs_matrix(transformLocal, tLocal, inst.rotation, inst.scale);
+    inst.translation_world = local_to_world(tLocal, _origin_world);
+    return true;
+}
+
+bool SceneManager::getGLTFInstanceTRSWorld(const std::string &name,
+                                          WorldVec3 &outTranslationWorld,
+                                          glm::quat &outRotation,
+                                          glm::vec3 &outScale) const
+{
+    auto it = dynamicGLTFInstances.find(name);
+    if (it == dynamicGLTFInstances.end())
+    {
+        return false;
+    }
+
+    const GLTFInstance &inst = it->second;
+    outTranslationWorld = inst.translation_world;
+    outRotation = inst.rotation;
+    outScale = inst.scale;
+    return true;
+}
+
+bool SceneManager::setGLTFInstanceTRSWorld(const std::string &name,
+                                          const WorldVec3 &translationWorld,
+                                          const glm::quat &rotation,
+                                          const glm::vec3 &scale)
+{
+    auto it = dynamicGLTFInstances.find(name);
+    if (it == dynamicGLTFInstances.end())
+    {
+        return false;
+    }
+
+    GLTFInstance &inst = it->second;
+    inst.translation_world = translationWorld;
+    inst.rotation = rotation;
+    inst.scale = scale;
     return true;
 }
 
diff --git a/src/scene/vk_scene.h b/src/scene/vk_scene.h
index 10a47d0..a0f3631 100644
--- a/src/scene/vk_scene.h
+++ b/src/scene/vk_scene.h
@@ -1,5 +1,6 @@
 #pragma once
 #include <core/types.h>
+#include <core/world.h>
 #include <scene/camera.h>
 #include <unordered_map>
 #include <memory>
@@ -67,10 +68,13 @@ public:
 
     Camera &getMainCamera() { return mainCamera; }
 
+    WorldVec3 get_world_origin() const { return _origin_world; }
+    glm::vec3 get_camera_local_position() const { return _camera_position_local; }
+
     // Ray-pick against current DrawContext using per-surface Bounds.
     // mousePosPixels is in window coordinates (SDL), origin at top-left.
     // Returns true if any object was hit, filling outObject and outWorldPos.
-    bool pick(const glm::vec2 &mousePosPixels, RenderObject &outObject, glm::vec3 &outWorldPos);
+    bool pick(const glm::vec2 &mousePosPixels, RenderObject &outObject, WorldVec3 &outWorldPos);
 
     // Resolve an object ID (from ID buffer) back to the RenderObject for
     // the most recently built DrawContext. Returns false if not found or id==0.
@@ -91,7 +95,7 @@ public:
     struct MeshInstance
     {
         std::shared_ptr<MeshAsset> mesh;
-        glm::vec3 translation{0.0f, 0.0f, 0.0f};
+        WorldVec3 translation_world{0.0, 0.0, 0.0};
         glm::quat rotation{1.0f, 0.0f, 0.0f, 0.0f};
         glm::vec3 scale{1.0f, 1.0f, 1.0f};
         std::optional<BoundsType> boundsTypeOverride;
@@ -102,6 +106,10 @@ public:
                          std::optional<BoundsType> boundsType = {});
     bool getMeshInstanceTransform(const std::string &name, glm::mat4 &outTransform);
     bool setMeshInstanceTransform(const std::string &name, const glm::mat4 &transform);
+    bool getMeshInstanceTransformLocal(const std::string &name, glm::mat4 &outTransformLocal) const;
+    bool setMeshInstanceTransformLocal(const std::string &name, const glm::mat4 &transformLocal);
+    bool getMeshInstanceTRSWorld(const std::string &name, WorldVec3 &outTranslationWorld, glm::quat &outRotation, glm::vec3 &outScale) const;
+    bool setMeshInstanceTRSWorld(const std::string &name, const WorldVec3 &translationWorld, const glm::quat &rotation, const glm::vec3 &scale);
     bool removeMeshInstance(const std::string &name);
     void clearMeshInstances();
 
@@ -109,7 +117,7 @@ public:
     struct GLTFInstance
     {
         std::shared_ptr<LoadedGLTF> scene;
-        glm::vec3 translation{0.0f, 0.0f, 0.0f};
+        WorldVec3 translation_world{0.0, 0.0, 0.0};
         glm::quat rotation{1.0f, 0.0f, 0.0f, 0.0f};
         glm::vec3 scale{1.0f, 1.0f, 1.0f};
         LoadedGLTF::AnimationState animation;
@@ -123,6 +131,10 @@ public:
     bool removeGLTFInstance(const std::string &name);
     bool getGLTFInstanceTransform(const std::string &name, glm::mat4 &outTransform);
     bool setGLTFInstanceTransform(const std::string &name, const glm::mat4 &transform);
+    bool getGLTFInstanceTransformLocal(const std::string &name, glm::mat4 &outTransformLocal) const;
+    bool setGLTFInstanceTransformLocal(const std::string &name, const glm::mat4 &transformLocal);
+    bool getGLTFInstanceTRSWorld(const std::string &name, WorldVec3 &outTranslationWorld, glm::quat &outRotation, glm::vec3 &outScale) const;
+    bool setGLTFInstanceTRSWorld(const std::string &name, const WorldVec3 &translationWorld, const glm::quat &rotation, const glm::vec3 &scale);
     void clearGLTFInstances();
     // Per-instance glTF node pose overrides (local-space, layered on top of animation/base TRS).
     // 'offset' is post-multiplied onto the node's localTransform for this instance only.
@@ -147,7 +159,7 @@ public:
 
     struct PointLight
     {
-        glm::vec3 position;
+        WorldVec3 position_world;
         float radius;
         glm::vec3 color;
         float intensity;
@@ -187,6 +199,10 @@ private:
     GPUSceneData sceneData = {};
     DrawContext mainDrawContext;
     std::vector<PointLight> pointLights;
+    WorldVec3 _origin_world{0.0, 0.0, 0.0};
+    glm::vec3 _camera_position_local{0.0f, 0.0f, 0.0f};
+    double _floating_origin_recenter_threshold = 1000.0;
+    double _floating_origin_snap_size = 100.0;
 
     std::unordered_map<std::string, std::shared_ptr<LoadedGLTF> > loadedScenes;
     // Per-named static glTF scene animation state (independent of instances).
diff --git a/src/scene/vk_scene_picking.cpp b/src/scene/vk_scene_picking.cpp
index 19bd96d..5990f66 100644
--- a/src/scene/vk_scene_picking.cpp
+++ b/src/scene/vk_scene_picking.cpp
@@ -421,7 +421,7 @@ namespace
     }
 } // namespace
 
-bool SceneManager::pick(const glm::vec2 &mousePosPixels, RenderObject &outObject, glm::vec3 &outWorldPos)
+bool SceneManager::pick(const glm::vec2 &mousePosPixels, RenderObject &outObject, WorldVec3 &outWorldPos)
 {
     if (_context == nullptr)
     {
@@ -473,7 +473,7 @@ bool SceneManager::pick(const glm::vec2 &mousePosPixels, RenderObject &outObject
                         -1.0f);
     dirCamera = glm::normalize(dirCamera);
 
-    glm::vec3 rayOrigin = mainCamera.position;
+    glm::vec3 rayOrigin = world_to_local(mainCamera.position_world, _origin_world);
     glm::mat4 camRotation = mainCamera.getRotationMatrix();
     glm::vec3 rayDir = glm::normalize(glm::vec3(camRotation * glm::vec4(dirCamera, 0.0f)));
 
@@ -539,7 +539,7 @@ bool SceneManager::pick(const glm::vec2 &mousePosPixels, RenderObject &outObject
 
     if (anyHit)
     {
-        outWorldPos = bestHitPos;
+        outWorldPos = local_to_world(bestHitPos, _origin_world);
     }
 
     return anyHit;