diff --git a/decompiler/config/jak3/all-types.gc b/decompiler/config/jak3/all-types.gc
index 6f7e883f3..24dede393 100644
--- a/decompiler/config/jak3/all-types.gc
+++ b/decompiler/config/jak3/all-types.gc
@@ -42180,6 +42180,12 @@
 ;; rigid-body                     ;;
 ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
 
+(deftype rigid-body-stack (structure)
+  ((vec vector :inline)
+   (mat matrix :inline)
+    )
+  )
+
 (deftype rigid-body-work (structure)
   ((max-ang-momentum float  :offset-assert 0)
    (max-ang-velocity float  :offset-assert 4)
diff --git a/decompiler/config/jak3/ntsc_v1/stack_structures.jsonc b/decompiler/config/jak3/ntsc_v1/stack_structures.jsonc
index d230162e8..a3a4667eb 100644
--- a/decompiler/config/jak3/ntsc_v1/stack_structures.jsonc
+++ b/decompiler/config/jak3/ntsc_v1/stack_structures.jsonc
@@ -429,7 +429,7 @@
   "(method 22 rigid-body-control)": [[16, ["inline-array", "vector", 2]]],
   "(method 23 rigid-body-control)": [[16, ["inline-array", "vector", 2]]],
   "(method 24 rigid-body-control)": [[16, ["inline-array", "vector", 2]]],
-  "(method 28 rigid-body-control)": [[16, "rigid-body-impact"]],
+  "(method 28 rigid-body-control)": [[16, "rigid-body-stack"]],
   "(method 50 rigid-body-object)": [[16, "rigid-body-impact"]],
   "(method 51 rigid-body-object)": [[16, "rigid-body-impact"]],
   "ptest": [[16, "vector"]],
diff --git a/goal_src/jak3/engine/physics/rigid-body.gc b/goal_src/jak3/engine/physics/rigid-body.gc
index d23a6745c..a184d0ad8 100644
--- a/goal_src/jak3/engine/physics/rigid-body.gc
+++ b/goal_src/jak3/engine/physics/rigid-body.gc
@@ -5,6 +5,12 @@
 ;; name in dgo: rigid-body
 ;; dgos: GAME
 
+(deftype rigid-body-stack (structure)
+  ((vec vector :inline)
+   (mat matrix :inline)
+    )
+  )
+
 ;; DECOMP BEGINS
 
 (deftype rigid-body-work (structure)
@@ -92,10 +98,10 @@
   )
 
 (defmethod rigid-body-control-method-28 ((this rigid-body-control) (arg0 vector) (arg1 quaternion))
-  (let ((s3-0 (new 'stack-no-clear 'rigid-body-impact)))
-    (quaternion->matrix (the-as matrix (-> s3-0 normal)) arg1)
-    (vector-rotate*! (-> s3-0 point) (-> this info cm-offset-joint) (the-as matrix (-> s3-0 normal)))
-    (vector+! (-> this position) arg0 (-> s3-0 point))
+  (let ((s3-0 (new 'stack-no-clear 'rigid-body-stack)))
+    (quaternion->matrix (-> s3-0 mat) arg1)
+    (vector-rotate*! (-> s3-0 vec) (-> this info cm-offset-joint) (-> s3-0 mat))
+    (vector+! (-> this position) arg0 (-> s3-0 vec))
     )
   (quaternion-copy! (the-as quaternion (-> this rot)) arg1)
   (quaternion-normalize! (the-as quaternion (-> this rot)))
diff --git a/test/decompiler/reference/jak3/engine/physics/rigid-body_REF.gc b/test/decompiler/reference/jak3/engine/physics/rigid-body_REF.gc
index e7293aec4..1bc0d6def 100644
--- a/test/decompiler/reference/jak3/engine/physics/rigid-body_REF.gc
+++ b/test/decompiler/reference/jak3/engine/physics/rigid-body_REF.gc
@@ -114,10 +114,10 @@
 ;; definition for method 28 of type rigid-body-control
 ;; WARN: Return type mismatch int vs none.
 (defmethod rigid-body-control-method-28 ((this rigid-body-control) (arg0 vector) (arg1 quaternion))
-  (let ((s3-0 (new 'stack-no-clear 'rigid-body-impact)))
-    (quaternion->matrix (the-as matrix (-> s3-0 normal)) arg1)
-    (vector-rotate*! (-> s3-0 point) (-> this info cm-offset-joint) (the-as matrix (-> s3-0 normal)))
-    (vector+! (-> this position) arg0 (-> s3-0 point))
+  (let ((s3-0 (new 'stack-no-clear 'rigid-body-stack)))
+    (quaternion->matrix (-> s3-0 mat) arg1)
+    (vector-rotate*! (-> s3-0 vec) (-> this info cm-offset-joint) (-> s3-0 mat))
+    (vector+! (-> this position) arg0 (-> s3-0 vec))
     )
   (quaternion-copy! (the-as quaternion (-> this rot)) arg1)
   (quaternion-normalize! (the-as quaternion (-> this rot)))