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Nevermind, I've corrected it :

let pos = new CANNON.Vec3(this.actor.getPosition().x, this.actor.getPosition().y, this.actor.getPosition().z);

let vec = new Sup.Math.Vector3(Sup.Input.getGamepadAxisValue(0,0) * this.speed, velocity.y, Sup.Input.getGamepadAxisValue(0,1) * this.speed).rotate(this.actor.getLocalOrientation())

this.actor.cannonBody.body.applyImpulse(new CANNON.Vec3(vec.x - v.x, vec.y - v.y, vec.z - v.z), pos);