From 35655d3f3cc47247b6423fca1e387974133a9bf3 Mon Sep 17 00:00:00 2001
From: Joe Ardent <code@ardent.nebcorp.com>
Date: Sun, 11 May 2025 15:37:43 -0700
Subject: [PATCH] doesn't really work, but some good ideas

---
 Cargo.lock     | 197 ++++++++++++++++++++++++++++------------
 Cargo.toml     |   6 +-
 src/bike.rs    |  12 +--
 src/physics.rs | 240 ++++++++++++++++++++++++++++++++-----------------
 4 files changed, 305 insertions(+), 150 deletions(-)

diff --git a/Cargo.lock b/Cargo.lock
index 49eeabb..cf1318b 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -219,14 +219,15 @@ dependencies = [
 
 [[package]]
 name = "async-executor"
-version = "1.13.1"
+version = "1.13.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "30ca9a001c1e8ba5149f91a74362376cc6bc5b919d92d988668657bd570bdcec"
+checksum = "bb812ffb58524bdd10860d7d974e2f01cc0950c2438a74ee5ec2e2280c6c4ffa"
 dependencies = [
  "async-task",
  "concurrent-queue",
  "fastrand",
  "futures-lite",
+ "pin-project-lite",
  "slab",
 ]
 
@@ -288,8 +289,9 @@ checksum = "ace50bade8e6234aa140d9a2f552bbee1db4d353f69b8217bc503490fc1a9f26"
 
 [[package]]
 name = "avian3d"
-version = "0.2.0"
-source = "git+https://github.com/Jondolf/avian?branch=main#50d01bc837f3e1a95bba03673925848a543c3c5e"
+version = "0.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e8ba10c23fee3d432f3c6cf8d036e269d952b8840c1ca4fa6a021ab926786dc4"
 dependencies = [
  "avian_derive",
  "bevy",
@@ -306,7 +308,8 @@ dependencies = [
 [[package]]
 name = "avian_derive"
 version = "0.2.2"
-source = "git+https://github.com/Jondolf/avian?branch=main#50d01bc837f3e1a95bba03673925848a543c3c5e"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "12b257f601a1535e0d4a7a7796f535e3a13de62fd422b16dff7c14d27f0d4048"
 dependencies = [
  "proc-macro-error2",
  "proc-macro2",
@@ -715,8 +718,9 @@ dependencies = [
 
 [[package]]
 name = "bevy_heavy"
-version = "0.1.0"
-source = "git+https://github.com/Jondolf/bevy_heavy#3905efe581700296de8f48d33388c5471dfca785"
+version = "0.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "34ccc861fea2ff58c67f4df119512e204050bd7631a3a9c65e1a5e9d162cce28"
 dependencies = [
  "bevy_math",
  "bevy_reflect",
@@ -1265,8 +1269,9 @@ dependencies = [
 
 [[package]]
 name = "bevy_transform_interpolation"
-version = "0.1.0"
-source = "git+https://github.com/Jondolf/bevy_transform_interpolation#9fd7fe92c32e2d30e38b80566dfa7b740119b593"
+version = "0.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "72c7c6c4e6a3d5415b3a29a17bd20c17cd0e2f068b96b24e263316d58d5346ea"
 dependencies = [
  "bevy",
 ]
@@ -1485,9 +1490,9 @@ checksum = "1628fb46dfa0b37568d12e5edd512553eccf6a22a78e8bde00bb4aed84d5bdbf"
 
 [[package]]
 name = "bytemuck"
-version = "1.22.0"
+version = "1.23.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b6b1fc10dbac614ebc03540c9dbd60e83887fda27794998c6528f1782047d540"
+checksum = "9134a6ef01ce4b366b50689c94f82c14bc72bc5d0386829828a2e2752ef7958c"
 dependencies = [
  "bytemuck_derive",
 ]
@@ -1537,9 +1542,9 @@ dependencies = [
 
 [[package]]
 name = "cc"
-version = "1.2.20"
+version = "1.2.22"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "04da6a0d40b948dfc4fa8f5bbf402b0fc1a64a28dbf7d12ffd683550f2c1b63a"
+checksum = "32db95edf998450acc7881c932f94cd9b05c87b4b2599e8bab064753da4acfd1"
 dependencies = [
  "jobserver",
  "libc",
@@ -1820,11 +1825,11 @@ checksum = "43da5946c66ffcc7745f48db692ffbb10a83bfe0afd96235c5c2a4fb23994929"
 
 [[package]]
 name = "ctrlc"
-version = "3.4.6"
+version = "3.4.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "697b5419f348fd5ae2478e8018cb016c00a5881c7f46c717de98ffd135a5651c"
+checksum = "46f93780a459b7d656ef7f071fe699c4d3d2cb201c4b24d085b6ddc505276e73"
 dependencies = [
- "nix",
+ "nix 0.30.1",
  "windows-sys 0.59.0",
 ]
 
@@ -1911,9 +1916,9 @@ checksum = "ea8a8b81cacc08888170eef4d13b775126db426d0b348bee9d18c2c1eaf123cf"
 
 [[package]]
 name = "dpi"
-version = "0.1.1"
+version = "0.1.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f25c0e292a7ca6d6498557ff1df68f32c99850012b6ea401cf8daf771f22ff53"
+checksum = "d8b14ccef22fc6f5a8f4d7d768562a182c04ce9a3b3157b91390b52ddfdf1a76"
 
 [[package]]
 name = "either"
@@ -2063,9 +2068,9 @@ checksum = "d9c4f5dac5e15c24eb999c26181a6ca40b39fe946cbe4c263c7209467bc83af2"
 
 [[package]]
 name = "font-types"
-version = "0.8.4"
+version = "0.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1fa6a5e5a77b5f3f7f9e32879f484aa5b3632ddfbe568a16266c904a6f32cdaf"
+checksum = "02a596f5713680923a2080d86de50fe472fb290693cf0f701187a1c8b36996b7"
 dependencies = [
  "bytemuck",
 ]
@@ -2179,9 +2184,9 @@ dependencies = [
 
 [[package]]
 name = "getrandom"
-version = "0.3.2"
+version = "0.3.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "73fea8450eea4bac3940448fb7ae50d91f034f941199fcd9d909a5a07aa455f0"
+checksum = "26145e563e54f2cadc477553f1ec5ee650b00862f0a58bcd12cbdc5f0ea2d2f4"
 dependencies = [
  "cfg-if",
  "libc",
@@ -2215,7 +2220,7 @@ dependencies = [
  "libc",
  "libudev-sys",
  "log",
- "nix",
+ "nix 0.29.0",
  "uuid",
  "vec_map",
  "wasm-bindgen",
@@ -2397,9 +2402,9 @@ dependencies = [
 
 [[package]]
 name = "hashbrown"
-version = "0.15.2"
+version = "0.15.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "bf151400ff0baff5465007dd2f3e717f3fe502074ca563069ce3a6629d07b289"
+checksum = "84b26c544d002229e640969970a2e74021aadf6e2f96372b9c58eff97de08eb3"
 dependencies = [
  "allocator-api2",
  "equivalent",
@@ -2567,7 +2572,7 @@ version = "0.1.33"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "38f262f097c174adebe41eb73d66ae9c06b2844fb0da69969647bbddd9b0538a"
 dependencies = [
- "getrandom 0.3.2",
+ "getrandom 0.3.3",
  "libc",
 ]
 
@@ -2632,19 +2637,19 @@ checksum = "d750af042f7ef4f724306de029d18836c26c1765a54a6a3f094cbd23a7267ffa"
 
 [[package]]
 name = "libloading"
-version = "0.8.6"
+version = "0.8.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fc2f4eb4bc735547cfed7c0a4922cbd04a4655978c09b54f1f7b228750664c34"
+checksum = "6a793df0d7afeac54f95b471d3af7f0d4fb975699f972341a4b76988d49cdf0c"
 dependencies = [
  "cfg-if",
- "windows-targets 0.52.6",
+ "windows-targets 0.53.0",
 ]
 
 [[package]]
 name = "libm"
-version = "0.2.13"
+version = "0.2.15"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c9627da5196e5d8ed0b0495e61e518847578da83483c37288316d9b2e03a7f72"
+checksum = "f9fbbcab51052fe104eb5e5d351cf728d30a5be1fe14d9be8a3b097481fb97de"
 
 [[package]]
 name = "libredox"
@@ -2654,7 +2659,7 @@ checksum = "c0ff37bd590ca25063e35af745c343cb7a0271906fb7b37e4813e8f79f00268d"
 dependencies = [
  "bitflags 2.9.0",
  "libc",
- "redox_syscall 0.5.11",
+ "redox_syscall 0.5.12",
 ]
 
 [[package]]
@@ -2914,6 +2919,18 @@ dependencies = [
  "libc",
 ]
 
+[[package]]
+name = "nix"
+version = "0.30.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "74523f3a35e05aba87a1d978330aef40f67b0304ac79c1c00b294c9830543db6"
+dependencies = [
+ "bitflags 2.9.0",
+ "cfg-if",
+ "cfg_aliases",
+ "libc",
+]
+
 [[package]]
 name = "nom"
 version = "7.1.3"
@@ -3347,7 +3364,7 @@ checksum = "1e401f977ab385c9e4e3ab30627d6f26d00e2c73eef317493c4ec6d468726cf8"
 dependencies = [
  "cfg-if",
  "libc",
- "redox_syscall 0.5.11",
+ "redox_syscall 0.5.12",
  "smallvec",
  "windows-targets 0.52.6",
 ]
@@ -3663,9 +3680,9 @@ checksum = "60a357793950651c4ed0f3f52338f53b2f809f32d83a07f72909fa13e4c6c1e3"
 
 [[package]]
 name = "read-fonts"
-version = "0.25.3"
+version = "0.29.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f6f9e8a4f503e5c8750e4cd3b32a4e090035c46374b305a15c70bad833dca05f"
+checksum = "5ce8e2ca6b24313587a03ca61bb74c384e2a815bd90cf2866cfc9f5fb7a11fa0"
 dependencies = [
  "bytemuck",
  "font-types",
@@ -3688,9 +3705,9 @@ dependencies = [
 
 [[package]]
 name = "redox_syscall"
-version = "0.5.11"
+version = "0.5.12"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d2f103c6d277498fbceb16e84d317e2a400f160f46904d5f5410848c829511a3"
+checksum = "928fca9cf2aa042393a8325b9ead81d2f0df4cb12e1e24cef072922ccd99c5af"
 dependencies = [
  "bitflags 2.9.0",
 ]
@@ -3747,9 +3764,9 @@ checksum = "19b30a45b0cd0bcca8037f3d0dc3421eaf95327a17cad11964fb8179b4fc4832"
 
 [[package]]
 name = "robust"
-version = "1.1.0"
+version = "1.2.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "cbf4a6aa5f6d6888f39e980649f3ad6b666acdce1d78e95b8a2cb076e687ae30"
+checksum = "4e27ee8bb91ca0adcf0ecb116293afa12d393f9c2b9b9cd54d33e8078fe19839"
 
 [[package]]
 name = "rodio"
@@ -3840,9 +3857,9 @@ dependencies = [
 
 [[package]]
 name = "ruzstd"
-version = "0.8.0"
+version = "0.8.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c581601827da5c717bfae77d7b187e54293d23d8fb6b700b4b5e9b5828a13cc3"
+checksum = "3640bec8aad418d7d03c72ea2de10d5c646a598f9883c7babc160d91e3c1b26c"
 dependencies = [
  "twox-hash",
 ]
@@ -3957,9 +3974,9 @@ checksum = "d66dc143e6b11c1eddc06d5c423cfc97062865baf299914ab64caa38182078fe"
 
 [[package]]
 name = "skrifa"
-version = "0.26.6"
+version = "0.31.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8cc1aa86c26dbb1b63875a7180aa0819709b33348eb5b1491e4321fae388179d"
+checksum = "bbe6666ab11018ab91ff7b03f1a3b9fdbecfb610848436fefa5ce50343d3d913"
 dependencies = [
  "bytemuck",
  "read-fonts",
@@ -4076,9 +4093,9 @@ checksum = "0193cc4331cfd2f3d2011ef287590868599a2f33c3e69bc22c1a3d3acf9e02fb"
 
 [[package]]
 name = "swash"
-version = "0.2.2"
+version = "0.2.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fae9a562c7b46107d9c78cd78b75bbe1e991c16734c0aee8ff0ee711fb8b620a"
+checksum = "5dce3f0af95643c855cdc449fbaa17d8c2cd08e0b00a49a6babcbe6e71667f3d"
 dependencies = [
  "skrifa",
  "yazi",
@@ -4087,9 +4104,9 @@ dependencies = [
 
 [[package]]
 name = "syn"
-version = "2.0.100"
+version = "2.0.101"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b09a44accad81e1ba1cd74a32461ba89dee89095ba17b32f5d03683b1b1fc2a0"
+checksum = "8ce2b7fc941b3a24138a0a7cf8e858bfc6a992e7978a068a5c760deb0ed43caf"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -4212,9 +4229,9 @@ checksum = "3da5db5a963e24bc68be8b17b6fa82814bb22ee8660f192bb182771d498f09a3"
 
 [[package]]
 name = "toml_edit"
-version = "0.22.25"
+version = "0.22.26"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "10558ed0bd2a1562e630926a2d1f0b98c827da99fabd3fe20920a59642504485"
+checksum = "310068873db2c5b3e7659d2cc35d21855dbafa50d1ce336397c666e3cb08137e"
 dependencies = [
  "indexmap",
  "toml_datetime",
@@ -4404,7 +4421,7 @@ version = "1.16.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "458f7a779bf54acc9f347480ac654f68407d3aab21269a6e3c9f922acd9e2da9"
 dependencies = [
- "getrandom 0.3.2",
+ "getrandom 0.3.3",
  "js-sys",
  "serde",
  "wasm-bindgen",
@@ -5010,13 +5027,29 @@ dependencies = [
  "windows_aarch64_gnullvm 0.52.6",
  "windows_aarch64_msvc 0.52.6",
  "windows_i686_gnu 0.52.6",
- "windows_i686_gnullvm",
+ "windows_i686_gnullvm 0.52.6",
  "windows_i686_msvc 0.52.6",
  "windows_x86_64_gnu 0.52.6",
  "windows_x86_64_gnullvm 0.52.6",
  "windows_x86_64_msvc 0.52.6",
 ]
 
+[[package]]
+name = "windows-targets"
+version = "0.53.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b1e4c7e8ceaaf9cb7d7507c974735728ab453b67ef8f18febdd7c11fe59dca8b"
+dependencies = [
+ "windows_aarch64_gnullvm 0.53.0",
+ "windows_aarch64_msvc 0.53.0",
+ "windows_i686_gnu 0.53.0",
+ "windows_i686_gnullvm 0.53.0",
+ "windows_i686_msvc 0.53.0",
+ "windows_x86_64_gnu 0.53.0",
+ "windows_x86_64_gnullvm 0.53.0",
+ "windows_x86_64_msvc 0.53.0",
+]
+
 [[package]]
 name = "windows_aarch64_gnullvm"
 version = "0.42.2"
@@ -5035,6 +5068,12 @@ version = "0.52.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "32a4622180e7a0ec044bb555404c800bc9fd9ec262ec147edd5989ccd0c02cd3"
 
+[[package]]
+name = "windows_aarch64_gnullvm"
+version = "0.53.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "86b8d5f90ddd19cb4a147a5fa63ca848db3df085e25fee3cc10b39b6eebae764"
+
 [[package]]
 name = "windows_aarch64_msvc"
 version = "0.42.2"
@@ -5053,6 +5092,12 @@ version = "0.52.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "09ec2a7bb152e2252b53fa7803150007879548bc709c039df7627cabbd05d469"
 
+[[package]]
+name = "windows_aarch64_msvc"
+version = "0.53.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c7651a1f62a11b8cbd5e0d42526e55f2c99886c77e007179efff86c2b137e66c"
+
 [[package]]
 name = "windows_i686_gnu"
 version = "0.42.2"
@@ -5071,12 +5116,24 @@ version = "0.52.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "8e9b5ad5ab802e97eb8e295ac6720e509ee4c243f69d781394014ebfe8bbfa0b"
 
+[[package]]
+name = "windows_i686_gnu"
+version = "0.53.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c1dc67659d35f387f5f6c479dc4e28f1d4bb90ddd1a5d3da2e5d97b42d6272c3"
+
 [[package]]
 name = "windows_i686_gnullvm"
 version = "0.52.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "0eee52d38c090b3caa76c563b86c3a4bd71ef1a819287c19d586d7334ae8ed66"
 
+[[package]]
+name = "windows_i686_gnullvm"
+version = "0.53.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "9ce6ccbdedbf6d6354471319e781c0dfef054c81fbc7cf83f338a4296c0cae11"
+
 [[package]]
 name = "windows_i686_msvc"
 version = "0.42.2"
@@ -5095,6 +5152,12 @@ version = "0.52.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "240948bc05c5e7c6dabba28bf89d89ffce3e303022809e73deaefe4f6ec56c66"
 
+[[package]]
+name = "windows_i686_msvc"
+version = "0.53.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "581fee95406bb13382d2f65cd4a908ca7b1e4c2f1917f143ba16efe98a589b5d"
+
 [[package]]
 name = "windows_x86_64_gnu"
 version = "0.42.2"
@@ -5113,6 +5176,12 @@ version = "0.52.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "147a5c80aabfbf0c7d901cb5895d1de30ef2907eb21fbbab29ca94c5b08b1a78"
 
+[[package]]
+name = "windows_x86_64_gnu"
+version = "0.53.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2e55b5ac9ea33f2fc1716d1742db15574fd6fc8dadc51caab1c16a3d3b4190ba"
+
 [[package]]
 name = "windows_x86_64_gnullvm"
 version = "0.42.2"
@@ -5131,6 +5200,12 @@ version = "0.52.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "24d5b23dc417412679681396f2b49f3de8c1473deb516bd34410872eff51ed0d"
 
+[[package]]
+name = "windows_x86_64_gnullvm"
+version = "0.53.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0a6e035dd0599267ce1ee132e51c27dd29437f63325753051e71dd9e42406c57"
+
 [[package]]
 name = "windows_x86_64_msvc"
 version = "0.42.2"
@@ -5150,10 +5225,16 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "589f6da84c646204747d1270a2a5661ea66ed1cced2631d546fdfb155959f9ec"
 
 [[package]]
-name = "winit"
-version = "0.30.9"
+name = "windows_x86_64_msvc"
+version = "0.53.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a809eacf18c8eca8b6635091543f02a5a06ddf3dad846398795460e6e0ae3cc0"
+checksum = "271414315aff87387382ec3d271b52d7ae78726f5d44ac98b4f4030c91880486"
+
+[[package]]
+name = "winit"
+version = "0.30.10"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b0d05bd8908e14618c9609471db04007e644fd9cce6529756046cfc577f9155e"
 dependencies = [
  "android-activity",
  "atomic-waker",
@@ -5195,9 +5276,9 @@ dependencies = [
 
 [[package]]
 name = "winnow"
-version = "0.7.7"
+version = "0.7.10"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6cb8234a863ea0e8cd7284fcdd4f145233eb00fee02bbdd9861aec44e6477bc5"
+checksum = "c06928c8748d81b05c9be96aad92e1b6ff01833332f281e8cfca3be4b35fc9ec"
 dependencies = [
  "memchr",
 ]
@@ -5276,9 +5357,9 @@ checksum = "e01738255b5a16e78bbb83e7fbba0a1e7dd506905cfc53f4622d89015a03fbb5"
 
 [[package]]
 name = "zeno"
-version = "0.3.2"
+version = "0.3.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "cc0de2315dc13d00e5df3cd6b8d2124a6eaec6a2d4b6a1c5f37b7efad17fcc17"
+checksum = "6df3dc4292935e51816d896edcd52aa30bc297907c26167fec31e2b0c6a32524"
 
 [[package]]
 name = "zerocopy"
diff --git a/Cargo.toml b/Cargo.toml
index 2c73132..b4d8830 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -9,10 +9,8 @@ bevy = { version = "0.16", features = ["bevy_dev_tools", "configurable_error_han
 
 [dependencies.avian3d]
 default-features = false
-#version = "0.2"
-git = "https://github.com/Jondolf/avian"
-branch = "main"
-features = ["3d", "f32", "parry-f32", "debug-plugin", "default-collider", "collider-from-mesh"]
+version = "0.3"
+features = ["3d", "parry-f32", "debug-plugin", "collider-from-mesh", "diagnostic_ui"]
 
 
 [features]
diff --git a/src/bike.rs b/src/bike.rs
index 4e819e5..e2f0605 100644
--- a/src/bike.rs
+++ b/src/bike.rs
@@ -21,10 +21,10 @@ use crate::physics::CatControllerState;
 pub const SPRING_CONSTANT: Scalar = 40.0;
 pub const DAMPING_CONSTANT: Scalar = 10.0;
 pub const WHEEL_RADIUS: Scalar = 0.4;
-pub const REST_DISTANCE: Scalar = 1.5 + WHEEL_RADIUS;
+pub const REST_DISTANCE: Scalar = 1.0 + WHEEL_RADIUS;
 pub const FRICTION_COEFF: Scalar = 0.9;
-pub const FRONT_ATTACH: Vec3 = Vec3::new(0.0, 0.0, -0.5);
-pub const REAR_ATTACH: Vec3 = Vec3::new(0.0, 0.0, 0.5);
+pub const FRONT_ATTACH: Vec3 = Vec3::new(0.0, 0.0, -1.5);
+pub const REAR_ATTACH: Vec3 = Vec3::new(0.0, 0.0, 1.5);
 
 #[derive(Component)]
 pub struct CyberBikeBody;
@@ -141,9 +141,9 @@ fn spawn_children(
     let mesh = meshes.add(mesh);
     let material = materials.add(wheel_material);
 
-    let front_rake = Vec3::new(0.0, -1.0, -0.9).normalize(); // about 30 degrees
+    let front_rake = Vec3::new(0.0, -1.0, 0.0); // about 30 degrees
     let front_wheel_pos = FRONT_ATTACH + (front_rake * REST_DISTANCE);
-    let rear_rake = Vec3::new(0.0, -1.0, 0.9).normalize();
+    let rear_rake = Vec3::new(0.0, -1.0, 0.0);
     let rear_wheel_pos = REAR_ATTACH + (rear_rake * REST_DISTANCE);
 
     children![
@@ -161,7 +161,7 @@ fn spawn_children(
             WheelConfig::new(
                 FRONT_ATTACH,
                 REST_DISTANCE,
-                SPRING_CONSTANT - 5.0,
+                SPRING_CONSTANT - 25.0,
                 DAMPING_CONSTANT,
                 FRICTION_COEFF,
                 WHEEL_RADIUS,
diff --git a/src/physics.rs b/src/physics.rs
index c26b8b8..323ca96 100644
--- a/src/physics.rs
+++ b/src/physics.rs
@@ -20,9 +20,9 @@ pub struct CatControllerSettings {
 impl Default for CatControllerSettings {
     fn default() -> Self {
         Self {
-            kp: 60.0,
-            kd: 30.0,
-            ki: 0.0,
+            kp: 40.0,
+            kd: 14.0,
+            ki: 2.0,
         }
     }
 }
@@ -46,6 +46,7 @@ impl Default for CatControllerState {
 
 impl CatControllerState {
     pub fn update_roll(&mut self, error: f32, dt: f32) -> (f32, f32) {
+        dbg!(error);
         let lim = self.roll_limit;
         self.roll_integral = (self.roll_integral + (error * dt)).min(lim).max(-lim);
         let derivative = (error - self.roll_prev) / dt;
@@ -55,14 +56,15 @@ impl CatControllerState {
 }
 
 mod systems {
-    use std::f32::consts::{FRAC_PI_3, FRAC_PI_4};
+    use std::f32::consts::FRAC_PI_4;
 
     use avian3d::prelude::{
-        ComputedCenterOfMass, ExternalForce, ExternalTorque, Gravity, LinearVelocity, RayCaster,
-        RayHits, RigidBodyQueryReadOnly,
+        AngularVelocity, Collider, ComputedCenterOfMass, ExternalForce, ExternalTorque, Gravity,
+        LinearVelocity, PhysicsDiagnosticsUiSettings, RayCaster, RayHits, RigidBodyQueryReadOnly,
     };
     use bevy::{
-        ecs::system::{Populated, Single},
+        ecs::system::{Populated, Query, Single},
+        gizmos::retained::Gizmo,
         prelude::{
             ButtonInput, Color, Gizmos, GlobalTransform, KeyCode, Quat, Res, ResMut, Time,
             Transform, Vec, Vec3, With, Without,
@@ -87,60 +89,105 @@ mod systems {
     }
 
     pub(super) fn calculate_lean(
-        bike_state: Single<(&LinearVelocity, &Transform), With<CyberBikeBody>>,
-        wheels: Populated<&GlobalTransform, With<CyberWheel>>,
-        input: Res<InputState>,
+        velocities: Single<(&LinearVelocity, &AngularVelocity), With<CyberBikeBody>>,
+        wheels: Populated<(&GlobalTransform, &CyberWheel), With<Collider>>,
         gravity: Res<Gravity>,
         mut lean: ResMut<CyberLean>,
+        mut gizmos: Gizmos,
     ) {
-        let mut wheels = wheels.iter();
-        let w1 = wheels.next().unwrap();
-        let w2 = wheels.next().unwrap();
-        let base = (w1.translation() - w2.translation()).length().abs();
-        let (velocity, xform) = bike_state.into_inner();
-        let vel = velocity.dot(*xform.forward());
-        let v_squared = vel.powi(2);
-        let steering_angle = yaw_to_angle(input.yaw);
-        let radius = base / steering_angle.tan();
-        let gravity = gravity.0.length();
-        let v2_r = v_squared / radius;
-        let tan_theta = (v2_r / gravity).clamp(-FRAC_PI_3, FRAC_PI_3);
+        let mut w1 = GlobalTransform::default();
+        let mut w2 = GlobalTransform::default();
+        for (xform, wheel) in wheels.iter() {
+            match wheel {
+                CyberWheel::Front => w1 = *xform,
+                CyberWheel::Rear => w2 = *xform,
+            }
+        }
+        let wheelbase = (w2.translation() - w1.translation()).normalize();
+
+        let (lin_vel, ang_vel) = velocities.into_inner();
+
+        let right = wheelbase.cross(gravity.0).normalize();
+        let up = -right.cross(wheelbase).normalize();
+        let spin = ang_vel.dot(up);
+
+        let mid = (w2.translation() + w1.translation()) / 2.0;
+
+        gizmos.arrow(mid, mid + (up * 5.0), Color::linear_rgb(0.0, 1.0, 1.0));
+
+        let period = if spin.is_normal() {
+            1.0 / spin
+        } else {
+            f32::MAX
+        };
+
+        let radius = lin_vel.length() * period;
+        let gravity = gravity.0.dot(up);
+        let tan_theta = lin_vel.length_squared() / (radius * gravity);
 
         if tan_theta.is_normal() {
-            lean.lean = tan_theta.atan().clamp(-FRAC_PI_3, FRAC_PI_3);
+            lean.lean = tan_theta.atan();
         } else {
-            //lean.lean = 0.0;
+            lean.lean = 0.0;
+        }
+    }
+
+    pub(super) fn clear(
+        mut forces: Query<&mut ExternalForce>,
+        mut torques: Query<&mut ExternalTorque>,
+    ) {
+        for mut force in forces.iter_mut() {
+            force.clear();
+        }
+        for mut torq in torques.iter_mut() {
+            torq.clear();
         }
     }
 
     pub(super) fn apply_lean(
-        bike_query: Single<(&Transform, &mut ExternalTorque, &mut CatControllerState)>,
-        wheels: Populated<(&WheelState, &GlobalTransform, &CyberWheel)>,
+        bike_query: Single<(
+            &Transform,
+            &mut ExternalTorque,
+            &mut CatControllerState,
+            &ComputedCenterOfMass,
+        )>,
+        wheels: Populated<(&WheelState, &CyberWheel)>,
         time: Res<Time>,
         settings: Res<CatControllerSettings>,
         lean: Res<CyberLean>,
         mut gizmos: Gizmos,
     ) {
-        let (xform, mut torque, mut control_vars) = bike_query.into_inner();
+        let (xform, mut force, mut control_vars, ComputedCenterOfMass(com)) =
+            bike_query.into_inner();
 
         let mut factor = 1.0;
-        let mut rxform = GlobalTransform::default();
-        let mut fxform = GlobalTransform::default();
-        for (wheel_state, xform, cwheel) in wheels.iter() {
-            if wheel_state.contact_point.is_none() {
-                factor -= 0.25;
-            }
-            match cwheel {
-                CyberWheel::Front => {
-                    fxform = *xform;
-                }
-                CyberWheel::Rear => {
-                    rxform = *xform;
+        let mut front = None;
+        let mut rear = None;
+        let mut normal = None;
+        for (state, wheel) in wheels.iter() {
+            if state.contact_point.is_none() {
+                factor -= 0.5;
+            } else {
+                normal = Some(state.contact_normal.unwrap());
+                match wheel {
+                    CyberWheel::Front => {
+                        front = Some(state.contact_point.unwrap());
+                    }
+                    CyberWheel::Rear => {
+                        rear = Some(state.contact_point.unwrap());
+                    }
                 }
             }
         }
 
-        let tork_axis = (rxform.translation() - fxform.translation()).normalize();
+        let axis = match (front, rear) {
+            (Some(f), Some(r)) => (r - f).normalize(),
+            (None, Some(_)) | (Some(_), None) => {
+                let normal = normal.unwrap();
+                normal.cross(*xform.left())
+            }
+            _ => return,
+        };
 
         let world_up = Vec3::Y; //xform.translation.normalize();
         let rot = Quat::from_axis_angle(*xform.back(), lean.lean);
@@ -171,10 +218,9 @@ mod systems {
             let mag =
                 (settings.kp * roll_error) + (settings.ki * integral) + (settings.kd * derivative);
             if mag.is_finite() {
-                //let lean_force = factor * mag * *xform.left();
-                let tork = factor * mag * tork_axis;
+                let lean_torq = factor * mag * axis;
 
-                torque.apply_torque(tork);
+                force.apply_torque(lean_torq);
 
                 gizmos.arrow(
                     xform.translation + *xform.up(),
@@ -287,7 +333,7 @@ mod systems {
         let bike_vel = bike_vel.0;
 
         let dt = time.delta().as_secs_f32();
-        let max_thrust = 500.0;
+        let max_thrust = 8000.0;
         let yaw_angle = -yaw_to_angle(input.yaw);
 
         for (mut state, config, wheel) in wheels.iter_mut() {
@@ -301,7 +347,7 @@ mod systems {
                 let thrust_mag = input.throttle * max_thrust * dt;
                 let (thrust_dir, thrust_force) = match wheel {
                     CyberWheel::Rear => (forward, thrust_mag),
-                    CyberWheel::Front => (rot * forward, thrust_mag * 0.1),
+                    CyberWheel::Front => (rot * forward, 0.0),
                 };
 
                 let thrust = thrust_force * thrust_dir;
@@ -318,15 +364,14 @@ mod systems {
                 let diff = bike_vel - vel;
                 bevy::log::debug!("{wheel:?}: vel diff: {diff:?} ({})", diff.length(),);
 
-                let mut force = thrust + friction;
-                force *= dt * 50.0;
-                let force_mag = force.length();
-                if force_mag > max_force_mag {
-                    state.sliding = true;
-                    force = force.normalize_or_zero() * max_force_mag;
-                } else {
-                    state.sliding = false;
-                }
+                let force = thrust + friction * dt;
+                // let force_mag = force.length();
+                // if force_mag > max_force_mag {
+                //     state.sliding = true;
+                //     force = force.normalize_or_zero() * max_force_mag;
+                // } else {
+                //     state.sliding = false;
+                // }
 
                 bike_force.apply_force_at_point(
                     force,
@@ -376,8 +421,6 @@ mod systems {
             );
         }
 
-        bevy::log::debug!("speed: {}, drag force: {}", vel.length(), drag.length());
-
         gizmos.arrow(
             xform.translation,
             xform.translation + drag * 10.,
@@ -385,37 +428,58 @@ mod systems {
         );
     }
 
+    pub(super) fn ef(
+        bike: Single<(&ExternalForce, &GlobalTransform), With<CyberBikeBody>>,
+        mut gizmos: Gizmos,
+    ) {
+        let (force, xform) = bike.into_inner();
+
+        let start = xform.translation() + (2.0 * Vec3::Y);
+        let force = force.length() * force.normalize_or_zero();
+        gizmos.arrow(start, start + force, Color::linear_rgb(1.0, 0.0, 0.0));
+    }
+
     pub(super) fn tweak(
-        mut config: Populated<&mut WheelConfig>,
+        mut config: ResMut<CatControllerSettings>,
         mut keys: ResMut<ButtonInput<KeyCode>>,
+        mut ui: ResMut<PhysicsDiagnosticsUiSettings>,
     ) {
         let keyset: std::collections::HashSet<_> = keys.get_pressed().collect();
         let shifted = keyset.contains(&KeyCode::ShiftLeft) || keyset.contains(&KeyCode::ShiftRight);
-        let config = config.iter_mut();
-        for ref mut c in config {
-            for key in &keyset {
-                match key {
-                    KeyCode::KeyS => {
-                        if shifted {
-                            c.konstant += 0.2;
-                        } else {
-                            c.konstant -= 0.2;
-                        }
-                        bevy::log::info!(c.konstant);
-                    }
-                    KeyCode::KeyD => {
-                        if shifted {
-                            c.damping += 0.1;
-                        } else {
-                            c.damping -= 0.1;
-                        }
-                        bevy::log::info!(c.damping);
-                    }
 
-                    _ => continue,
+        for key in &keyset {
+            match key {
+                KeyCode::KeyP => {
+                    if shifted {
+                        config.kp += 1.0;
+                    } else {
+                        config.kp -= 1.0;
+                    }
                 }
+                KeyCode::KeyD => {
+                    if shifted {
+                        config.kd += 1.0;
+                    } else {
+                        config.kd -= 1.0;
+                    }
+                }
+                KeyCode::KeyI => {
+                    if shifted {
+                        config.ki += 1.0;
+                    } else {
+                        config.ki -= 1.0;
+                    }
+                }
+                KeyCode::KeyU => {
+                    let enabled = ui.enabled;
+                    ui.enabled = !enabled;
+                }
+
+                _ => continue,
             }
         }
+        bevy::log::info!(?config);
+
         let released: Vec<_> = keys.get_just_released().copied().collect();
         for key in released {
             keys.clear_just_released(key);
@@ -423,7 +487,7 @@ mod systems {
     }
 }
 
-use systems::{apply_lean, calculate_lean, drag, suspension, tweak, wheel_action};
+use systems::{apply_lean, calculate_lean, clear, drag, ef, suspension, tweak, wheel_action};
 
 pub struct CyberPhysicsPlugin;
 
@@ -431,14 +495,26 @@ impl Plugin for CyberPhysicsPlugin {
     fn build(&self, app: &mut App) {
         app.init_resource::<CatControllerSettings>()
             .init_resource::<CyberLean>()
-            .add_plugins((PhysicsPlugins::default(), PhysicsDebugPlugin::default()))
-            .insert_resource(SubstepCount(12))
+            .add_plugins((
+                PhysicsPlugins::default(),
+                PhysicsDebugPlugin::default(),
+                PhysicsDiagnosticsUiPlugin,
+            ))
+            .insert_resource(SubstepCount(24))
             .add_systems(Startup, |mut gravity: ResMut<Gravity>| {
                 gravity.0 *= 1.0;
             })
             .add_systems(
                 FixedUpdate,
-                (calculate_lean, apply_lean, suspension, wheel_action, drag).chain(),
+                (
+                    calculate_lean,
+                    apply_lean,
+                    suspension,
+                    wheel_action,
+                    drag,
+                    ef,
+                )
+                    .chain(),
             )
             .add_systems(Update, tweak);
     }