Cargo.toml

@@ -1,17 +1,12 @@
 [package]
 name = "physics-test"
 version = "0.1.0"
-edition = "2024"
+edition = "2021"
 
 [dependencies]
+avian3d = { git = "https://github.com/Jondolf/avian.git" }
 bevy = { version = "0.15", features = ["bevy_dev_tools"] }
-bevy-inspector-egui = "0.29"
+bevy-inspector-egui = "0.28"
-
-[dependencies.avian3d]
-default-features = false
-version = "0.2"
-features = ["3d", "f32", "parry-f32", "debug-plugin", "default-collider", "collider-from-mesh"]
-
 
 [features]
 no-mesh = []

src/bike.rs

@@ -1,88 +1,40 @@
-use avian3d::{
+use std::f32::consts::FRAC_PI_2;
-    math::{Scalar, FRAC_PI_2},
+
-    prelude::*,
+use avian3d::prelude::*;
-};
 use bevy::prelude::*;
 
 use crate::physics::CatControllerState;
 
-pub const SPRING_CONSTANT: Scalar = 60.0;
-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 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);
-
 #[derive(Component)]
 pub struct CyberBikeBody;
 
-#[derive(Component, Clone, Copy, Debug)]
+#[derive(Component)]
-pub enum CyberWheel {
+pub struct CyberWheel;
-    Front,
-    Rear,
-}
 
-#[derive(Component, Clone, Copy, Debug, Reflect, Default)]
+// marker for front suspension joint
-#[reflect(Component)]
+#[derive(Component)]
-pub struct WheelState {
+pub struct Steering;
-    pub displacement: Scalar,
+#[derive(Component)]
-    pub force_normal: Scalar,
+pub struct FrontHub;
-    pub sliding: bool,
-    pub contact_point: Option<Vec3>,
-    pub contact_normal: Option<Vec3>,
-}
 
-impl WheelState {
+// marker for rear suspension joint
-    pub fn reset(&mut self) {
+#[derive(Component)]
-        *self = Self::default();
+pub struct Rearing;
-    }
+#[derive(Component)]
-}
+pub struct RearHub;
-
-#[derive(Component, Clone, Copy, Debug, Reflect)]
-#[reflect(Component)]
-#[require(WheelState)]
-pub struct WheelConfig {
-    pub attach: Vec3,
-    pub rest_dist: Scalar,
-    pub konstant: Scalar,
-    pub damping: Scalar,
-    pub friction: Scalar,
-    pub radius: Scalar,
-}
-
-impl WheelConfig {
-    fn new(
-        attach: Vec3,
-        rest_dist: Scalar,
-        konstant: Scalar,
-        damping: Scalar,
-        friction: Scalar,
-        radius: Scalar,
-    ) -> Self {
-        WheelConfig {
-            attach,
-            rest_dist,
-            konstant,
-            damping,
-            friction,
-            radius,
-        }
-    }
-}
 
 fn spawn_bike(
     mut commands: Commands,
     mut meshes: ResMut<Assets<Mesh>>,
     mut materials: ResMut<Assets<StandardMaterial>>,
 ) {
-    let pos = Vec3::new(0.0, 5.0, 0.0);
+    let pos = Vec3::new(0.0, 4.0, 0.0);
-    let xform = Transform::from_translation(pos); //.with_rotation(Quat::from_rotation_z(0.0));
+    let xform = Transform::from_translation(pos).with_rotation(Quat::from_rotation_z(0.0));
 
     let body_collider =
         Collider::capsule_endpoints(0.5, Vec3::new(0.0, 0.0, -0.65), Vec3::new(0.0, 0.0, 0.8));
 
-    commands
+    let bike = commands
         .spawn((xform, Visibility::default()))
         .insert((
             Name::new("body"),
@@ -92,120 +44,110 @@ fn spawn_bike(
             SleepingDisabled,
             CyberBikeBody,
             CatControllerState::default(),
-            ColliderDensity(1.2),
+            ColliderDensity(20.0),
-            AngularDamping(0.2),
             LinearDamping(0.1),
+            AngularDamping(2.0),
+            LinearVelocity::ZERO,
+            AngularVelocity::ZERO,
             ExternalForce::ZERO.with_persistence(false),
             ExternalTorque::ZERO.with_persistence(false),
         ))
         .with_children(|builder| {
             let color = Color::srgb(0.7, 0.05, 0.7);
-            let mut xform = Transform::default();
+            let mut rotation = Transform::default(); // Transform::from_rotation(Quat::from_rotation_y(FRAC_PI_2));
-            xform.rotate_x(FRAC_PI_2);
+            rotation.rotate_x(FRAC_PI_2);
             let pbr_bundle = (
                 Mesh3d(meshes.add(Capsule3d::new(0.5, 1.45))),
-                xform,
+                rotation,
                 MeshMaterial3d(materials.add(color)),
             );
             builder.spawn(pbr_bundle);
-            spawn_wheels(builder, meshes, materials, builder.parent_entity());
+        })
-        });
+        .id();
+
+    spawn_wheels(commands, meshes, materials, xform, bike);
 }
 
 fn spawn_wheels(
-    commands: &mut ChildBuilder,
+    mut commands: Commands,
     mut meshes: ResMut<Assets<Mesh>>,
     mut materials: ResMut<Assets<StandardMaterial>>,
+    xform: Transform,
     body: Entity,
 ) {
-    let mesh: Mesh = Sphere::new(WHEEL_RADIUS).into();
+    let front_rake = Vec3::new(0.0, -1.0, -0.57).normalize(); // about 30 degrees
+    let front_pos = xform.translation + front_rake;
 
-    let front_rake = Vec3::new(0.0, -1.0, -0.9).normalize(); // about 30 degrees
+    let (mesh, collider) = gen_tire();
-    let front_wheel_pos = FRONT_ATTACH + (front_rake * REST_DISTANCE);
 
-    wheel_caster(
+    let front_hub = wheels_helper(
-        commands,
+        &mut commands,
-        FRONT_ATTACH,
-        Dir3::new_unchecked(front_rake),
-        body,
-        REST_DISTANCE,
-        CyberWheel::Front,
-    );
-    wheel_mesh(
-        commands,
         &mut meshes,
         &mut materials,
-        front_wheel_pos,
+        front_pos,
         mesh.clone(),
-        WheelConfig::new(
+        collider.clone(),
-            FRONT_ATTACH,
-            REST_DISTANCE,
-            SPRING_CONSTANT,
-            DAMPING_CONSTANT,
-            FRICTION_COEFF,
-            WHEEL_RADIUS,
-        ),
-        CyberWheel::Front,
     );
+    commands.entity(front_hub).insert(FrontHub);
+    commands.spawn((
+        Steering,
+        FixedJoint::new(front_hub, body).with_local_anchor_2(*xform.forward() + front_rake),
+    ));
 
-    let rear_rake = Vec3::new(0.0, -1.0, 0.9).normalize();
+    let rear_rake = Vec3::new(0.0, -1.0, 0.57).normalize();
-    let rear_wheel_pos = REAR_ATTACH + (rear_rake * REST_DISTANCE);
+    let rear_pos = xform.translation + rear_rake;
 
-    wheel_caster(
+    let rear_hub = wheels_helper(
-        commands,
+        &mut commands,
-        REAR_ATTACH,
-        Dir3::new_unchecked(rear_rake),
-        body,
-        REST_DISTANCE,
-        CyberWheel::Rear,
-    );
-    wheel_mesh(
-        commands,
         &mut meshes,
         &mut materials,
-        rear_wheel_pos,
+        rear_pos,
         mesh,
-        WheelConfig::new(
+        collider,
-            REAR_ATTACH,
-            REST_DISTANCE,
-            SPRING_CONSTANT,
-            DAMPING_CONSTANT,
-            FRICTION_COEFF,
-            WHEEL_RADIUS,
-        ),
-        CyberWheel::Rear,
     );
+    commands.entity(rear_hub).insert(RearHub);
+    commands.spawn((
+        Rearing,
+        FixedJoint::new(rear_hub, body).with_local_anchor_2(*xform.back() + rear_rake),
+    ));
 }
 
 //-************************************************************************
 // helper fns for the wheels
 //-************************************************************************
 
-fn wheel_caster(
+fn gen_tire() -> (Mesh, Collider) {
-    commands: &mut ChildBuilder,
+    let mut tire_mesh: Mesh = Torus::new(0.25, 0.40).into();
-    origin: Vec3,
+    let tire_verts = tire_mesh
-    direction: Dir3,
+        .attribute(Mesh::ATTRIBUTE_POSITION)
-    parent: Entity,
+        .unwrap()
-    rest_dist: Scalar,
+        .as_float3()
-    wheel: CyberWheel,
+        .unwrap()
-) {
+        .iter()
-    let caster = RayCaster::new(origin, direction)
+        .map(|v| {
-        .with_max_distance(rest_dist)
+            //
-        .with_max_hits(1)
+            let v = Vec3::from_array(*v);
-        .with_query_filter(SpatialQueryFilter::from_excluded_entities([parent]));
+            let m = Mat3::from_rotation_z(90.0f32.to_radians());
+            let p = m.mul_vec3(v);
+            p.to_array()
+        })
+        .collect::<Vec<[f32; 3]>>();
+    tire_mesh.remove_attribute(Mesh::ATTRIBUTE_POSITION);
+    tire_mesh.insert_attribute(Mesh::ATTRIBUTE_POSITION, tire_verts);
 
-    commands.spawn((caster, wheel));
+    let collider = Collider::convex_hull_from_mesh(&tire_mesh).unwrap();
+
+    (tire_mesh, collider)
 }
 
-fn wheel_mesh(
+fn wheels_helper(
-    commands: &mut ChildBuilder,
+    commands: &mut Commands,
     meshes: &mut ResMut<Assets<Mesh>>,
     materials: &mut ResMut<Assets<StandardMaterial>>,
     position: Vec3,
     tire_mesh: Mesh,
-    config: WheelConfig,
+    collider: Collider,
-    wheel: CyberWheel,
+) -> Entity {
-) {
     let wheel_material = &StandardMaterial {
         base_color: Color::srgb(0.01, 0.01, 0.01),
         alpha_mode: AlphaMode::Opaque,
@@ -214,29 +156,47 @@ fn wheel_mesh(
     };
 
     let xform = Transform::from_translation(position);
+    let hub_mesh: Mesh = Sphere::new(0.1).into();
 
-    let name = match wheel {
+    let hub = commands
-        CyberWheel::Front => "front tire",
+        .spawn((
-        CyberWheel::Rear => "rear tire",
+            Name::new("hub"),
-    };
+            RigidBody::Dynamic,
+            MassPropertiesBundle::from_shape(&Collider::sphere(0.1), 200.0),
+            Mesh3d(meshes.add(hub_mesh)),
+            MeshMaterial3d(materials.add(wheel_material.clone())),
+            xform,
+        ))
+        .id();
 
-    commands.spawn((
+    let tire = commands
-        Name::new(name),
+        .spawn((
-        config,
+            Name::new("tire"),
             Mesh3d(meshes.add(tire_mesh)),
             MeshMaterial3d(materials.add(wheel_material.clone())),
             xform,
-        TransformInterpolation,
+            CyberWheel,
-        wheel,
+            RigidBody::Dynamic,
-    ));
+            collider,
+            Friction::new(0.9).with_dynamic_coefficient(0.6),
+            Restitution::new(0.1),
+            ColliderDensity(30.0),
+            CollisionLayers::from_bits(2, 2),
+            ExternalTorque::ZERO.with_persistence(false),
+            CollisionMargin(0.05),
+            SweptCcd::NON_LINEAR,
+        ))
+        .id();
+
+    // connect hubs and tires to make wheels
+    commands.spawn(RevoluteJoint::new(hub, tire).with_aligned_axis(Vec3::X));
+    hub
 }
 
 pub struct CyberBikePlugin;
 
 impl Plugin for CyberBikePlugin {
     fn build(&self, app: &mut App) {
-        app.register_type::<WheelConfig>();
-        app.register_type::<WheelState>();
         app.add_systems(Startup, spawn_bike);
     }
 }

src/camera.rs

@@ -16,7 +16,7 @@ impl Default for DebugCamOffset {
     fn default() -> Self {
         DebugCamOffset {
             rot: 60.0,
-            dist: 30.0,
+            dist: 10.0,
             alt: 4.0,
         }
     }
@@ -36,28 +36,34 @@ fn update_camera_pos(mut offset: ResMut<DebugCamOffset>, mut keys: ResMut<Button
             KeyCode::ArrowRight => offset.rot += 5.0,
             KeyCode::ArrowUp => {
                 if shifted {
+                    bevy::log::info!("up, shifted");
                     offset.alt += 0.5;
                 } else {
+                    bevy::log::info!("up");
                     offset.dist -= 0.5;
                 }
             }
             KeyCode::ArrowDown => {
                 if shifted {
+                    bevy::log::info!("down, shifted");
                     offset.alt -= 0.5;
                 } else {
+                    bevy::log::info!("down");
                     offset.dist += 0.5;
                 }
             }
-            KeyCode::KeyR => {
-                *offset = DebugCamOffset::default();
-            }
             _ => continue,
         }
     }
 
-    let released: Vec<_> = keys.get_just_released().copied().collect();
+    let just_released: HashSet<_> = keys.get_just_released().cloned().collect();
-    for key in released {
+    if !just_released.is_empty() {
-        keys.clear_just_released(key);
+        let released_shift = just_released.contains(&KeyCode::ShiftLeft)
+            || just_released.contains(&KeyCode::ShiftRight);
+        keys.reset_all();
+        if !released_shift && shifted {
+            keys.press(KeyCode::ShiftLeft);
+        }
     }
 }
 

src/input.rs

@@ -1,51 +0,0 @@
-use bevy::{
-    input::gamepad::{GamepadAxisChangedEvent, GamepadButtonChangedEvent, GamepadEvent},
-    prelude::*,
-};
-
-#[derive(Default, Debug, Resource)]
-pub(crate) struct InputState {
-    pub yaw: f32,
-    pub throttle: f32,
-    pub brake: bool,
-    pub pitch: f32,
-}
-
-fn update_input(mut events: EventReader<GamepadEvent>, mut istate: ResMut<InputState>) {
-    for pad_event in events.read() {
-        match pad_event {
-            GamepadEvent::Button(button_event) => {
-                let GamepadButtonChangedEvent { button, value, .. } = button_event;
-                match button {
-                    GamepadButton::RightTrigger2 => istate.throttle = *value,
-                    GamepadButton::LeftTrigger2 => istate.throttle = -value,
-                    GamepadButton::East => {
-                        istate.brake = value > &0.5;
-                    }
-                    _ => {}
-                }
-            }
-            GamepadEvent::Axis(axis_event) => {
-                let GamepadAxisChangedEvent { axis, value, .. } = axis_event;
-                match axis {
-                    GamepadAxis::LeftStickX => {
-                        istate.yaw = *value;
-                    }
-                    GamepadAxis::RightStickY => {
-                        istate.pitch = *value;
-                    }
-                    _ => {}
-                }
-            }
-            GamepadEvent::Connection(_) => {}
-        }
-    }
-}
-
-pub struct CyberInputPlugin;
-impl Plugin for CyberInputPlugin {
-    fn build(&self, app: &mut App) {
-        app.init_resource::<InputState>()
-            .add_systems(Update, update_input);
-    }
-}

src/main.rs

@@ -2,7 +2,7 @@ use avian3d::prelude::{
     Collider, ColliderDensity, CollisionLayers, CollisionMargin, Friction, PhysicsGizmos, RigidBody,
 };
 use bevy::{
-    color::{palettes::css::SILVER, Alpha},
+    color::palettes::css::SILVER,
     pbr::MeshMaterial3d,
     prelude::{
         default, App, AppGizmoBuilder, Assets, BuildChildren, ButtonInput, ChildBuild, Color,
@@ -15,12 +15,10 @@ use bevy_inspector_egui::quick::WorldInspectorPlugin;
 
 mod bike;
 mod camera;
-mod input;
 mod physics;
 
 use bike::CyberBikePlugin;
 use camera::CamPlug;
-use input::CyberInputPlugin;
 use physics::CyberPhysicsPlugin;
 
 fn main() {
@@ -29,7 +27,6 @@ fn main() {
         DefaultPlugins,
         CamPlug,
         CyberBikePlugin,
-        CyberInputPlugin,
         CyberPhysicsPlugin,
         WorldInspectorPlugin::new(),
     ))
@@ -60,7 +57,7 @@ fn ground_and_light(
         .spawn((
             spatial_bundle,
             RigidBody::Static,
-            Collider::cuboid(500.0, 5., 500.0),
+            Collider::cuboid(50.0, 5., 50.0),
             CollisionMargin(0.1),
             ColliderDensity(1000.0),
             CollisionLayers::ALL,
@@ -68,8 +65,8 @@ fn ground_and_light(
         ))
         .with_children(|p| {
             let bundle = (
-                Mesh3d(meshes.add(Plane3d::default().mesh().size(500.0, 500.0))),
+                Mesh3d(meshes.add(Plane3d::default().mesh().size(50.0, 50.0))),
-                MeshMaterial3d(materials.add(Color::from(SILVER).with_alpha(0.7))),
+                MeshMaterial3d(materials.add(Color::from(SILVER))),
                 Transform::from_xyz(0.0, 2.5, 0.0),
                 Visibility::Visible,
             );

src/physics.rs

@@ -1,8 +1,6 @@
-use avian3d::{math::Scalar, prelude::*};
+use avian3d::prelude::*;
 use bevy::prelude::*;
 
-const DRAG_COEFF: Scalar = 0.1;
-
 #[derive(Resource, Default, Debug, Reflect)]
 #[reflect(Resource)]
 struct CyberLean {
@@ -20,9 +18,9 @@ pub struct CatControllerSettings {
 impl Default for CatControllerSettings {
     fn default() -> Self {
         Self {
-            kp: 16.0,
+            kp: 1200.0,
-            kd: 2.0,
+            kd: 10.0,
-            ki: 0.9,
+            ki: 50.0,
         }
     }
 }
@@ -31,6 +29,7 @@ impl Default for CatControllerSettings {
 pub struct CatControllerState {
     pub roll_integral: f32,
     pub roll_prev: f32,
+    decay_factor: f32,
     roll_limit: f32,
 }
 
@@ -39,12 +38,19 @@ impl Default for CatControllerState {
         Self {
             roll_integral: Default::default(),
             roll_prev: Default::default(),
+            decay_factor: 0.99,
             roll_limit: 1.5,
         }
     }
 }
 
 impl CatControllerState {
+    pub fn decay(&mut self) {
+        if self.roll_integral.abs() > 0.001 {
+            self.roll_integral *= self.decay_factor;
+        }
+    }
+
     pub fn update_roll(&mut self, error: f32, dt: f32) -> (f32, f32) {
         let lim = self.roll_limit;
         self.roll_integral = (self.roll_integral + (error * dt)).min(lim).max(-lim);
@@ -52,19 +58,29 @@ impl CatControllerState {
         self.roll_prev = error;
         (derivative, self.roll_integral)
     }
+
+    pub fn set_integral_limits(&mut self, roll: f32) {
+        self.roll_limit = roll;
+    }
 }
 
 mod systems {
-    use std::f32::consts::{FRAC_PI_3, FRAC_PI_4};
+    use std::f32::consts::FRAC_PI_3;
 
     use avian3d::prelude::*;
     use bevy::prelude::*;
 
-    use super::{CatControllerSettings, CatControllerState, CyberLean, DRAG_COEFF};
+    use super::{CatControllerSettings, CatControllerState, CyberLean};
-    use crate::{
+    use crate::bike::CyberBikeBody;
-        bike::{CyberBikeBody, CyberWheel, WheelConfig, WheelState, WHEEL_RADIUS},
+
-        input::InputState,
+    fn _yaw_to_angle(yaw: f32) -> f32 {
-    };
+        let v = yaw.powi(5) * FRAC_PI_3;
+        if v.is_normal() {
+            v
+        } else {
+            0.0
+        }
+    }
 
     fn rotate_point(pt: &Vec3, rot: &Quat) -> Vec3 {
         // thanks to https://danceswithcode.net/engineeringnotes/quaternions/quaternions.html
@@ -79,48 +95,32 @@ mod systems {
 
     pub(super) fn calculate_lean(
         bike_state: Query<(&LinearVelocity, &Transform), With<CyberBikeBody>>,
-        wheels: Query<&GlobalTransform, With<CyberWheel>>,
-        input: Res<InputState>,
-        gravity: Res<Gravity>,
         mut lean: ResMut<CyberLean>,
     ) {
-        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.single();
         let vel = velocity.dot(*xform.forward());
         let v_squared = vel.powi(2);
-        let steering_angle = yaw_to_angle(input.yaw);
+        let wheel_base = 1.145f32;
-        let radius = base / steering_angle.tan();
+        let radius = wheel_base;
-        let gravity = gravity.0.length();
+        let gravity = -9.8f32;
         let v2_r = v_squared / radius;
         let tan_theta = (v2_r / gravity).clamp(-FRAC_PI_3, FRAC_PI_3);
 
         if tan_theta.is_normal() {
-            lean.lean = tan_theta.atan().clamp(-FRAC_PI_3, FRAC_PI_3);
+            lean.lean = -tan_theta.atan().clamp(-FRAC_PI_3, FRAC_PI_3);
         } else {
-            //lean.lean = 0.0;
+            lean.lean = 0.0;
         }
     }
 
     pub(super) fn apply_lean(
-        mut bike_query: Query<(&Transform, &mut ExternalForce, &mut CatControllerState)>,
+        mut bike_query: Query<(&Transform, &mut ExternalTorque, &mut CatControllerState)>,
-        wheels: Query<&WheelState>,
         time: Res<Time>,
         settings: Res<CatControllerSettings>,
         lean: Res<CyberLean>,
         mut gizmos: Gizmos,
     ) {
-        let (xform, mut force, mut control_vars) = bike_query.single_mut();
+        let (xform, mut torque, mut control_vars) = bike_query.single_mut();
-
-        let mut factor = 1.0;
-        for wheel in wheels.iter() {
-            if wheel.contact_point.is_none() {
-                factor -= 0.25;
-            }
-        }
-
         let world_up = Vec3::Y; //xform.translation.normalize();
         let rot = Quat::from_axis_angle(*xform.back(), lean.lean);
         let target_up = rotate_point(&world_up, &rot).normalize();
@@ -135,7 +135,7 @@ mod systems {
         // show which is forward
         gizmos.arrow(
             *xform.forward() + xform.translation,
-            2.5 * *xform.forward() + xform.translation,
+            1.5 * *xform.forward() + xform.translation,
             bevy::color::palettes::basic::PURPLE,
         );
 
@@ -150,252 +150,19 @@ 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 = mag * *xform.back();
-                force.apply_force_at_point(
+                torque.apply_torque(tork);
-                    lean_force,
-                    xform.translation + *xform.up(),
-                    xform.translation,
-                );
                 gizmos.arrow(
-                    xform.translation + *xform.up(),
+                    xform.translation + Vec3::Y,
-                    xform.translation + *xform.up() + lean_force,
+                    xform.translation + tork + Vec3::Y,
                     Color::WHITE,
                 );
             }
         }
     }
-
-    fn yaw_to_angle(yaw: f32) -> f32 {
-        let v = yaw.powi(5) * FRAC_PI_4;
-        if v.is_normal() {
-            v
-        } else {
-            0.0
-        }
 }
 
-    pub(super) fn suspension(
+use systems::{apply_lean, calculate_lean};
-        mut bike_body_query: Query<(&Transform, &mut ExternalForce), With<CyberBikeBody>>,
-        mut wheel_mesh_query: Query<
-            (&mut Transform, &mut WheelState, &WheelConfig, &CyberWheel),
-            Without<CyberBikeBody>,
-        >,
-        caster_query: Query<(&RayCaster, &RayHits, &CyberWheel)>,
-        time: Res<Time>,
-        mut gizmos: Gizmos,
-    ) {
-        let dt = time.delta().as_secs_f32();
-
-        let mut front_caster = &RayCaster::default();
-        let mut rear_caster = &RayCaster::default();
-
-        let mut front_hits = &RayHits::default();
-        let mut rear_hits = &RayHits::default();
-
-        for (caster, hits, wheel) in caster_query.iter() {
-            match wheel {
-                CyberWheel::Front => {
-                    front_caster = caster;
-                    front_hits = hits;
-                }
-                CyberWheel::Rear => {
-                    rear_caster = caster;
-                    rear_hits = hits;
-                }
-            }
-        }
-
-        let (bike_xform, mut bike_forces) = bike_body_query.single_mut();
-
-        for (mut xform, mut state, config, wheel) in wheel_mesh_query.iter_mut() {
-            let (caster, hits) = match wheel {
-                CyberWheel::Front => (front_caster, front_hits),
-                CyberWheel::Rear => (rear_caster, rear_hits),
-            };
-
-            if let Some(hit) = hits.iter().next() {
-                let dist = hit.distance;
-                let hit_point = caster.global_origin() + caster.global_direction() * dist;
-
-                let displacement = config.rest_dist - dist;
-                let damper_vel = (state.displacement - displacement) / dt;
-
-                let mag = config.konstant * displacement - config.damping * damper_vel;
-                let mag = mag.max(0.0);
-
-                state.force_normal = mag;
-                state.contact_normal = Some(hit.normal);
-                state.contact_point = Some(hit_point);
-                state.displacement = displacement;
-
-                let cdir = caster.direction.as_vec3();
-                xform.translation = config.attach + (cdir * (dist - WHEEL_RADIUS));
-
-                let force = hit.normal * mag * dt * 100.0;
-                gizmos.arrow(
-                    hit_point,
-                    hit_point + force,
-                    Color::linear_rgb(1., 0.5, 0.2),
-                );
-                bike_forces.apply_force_at_point(
-                    force,
-                    caster.global_origin(),
-                    bike_xform.translation,
-                );
-            } else {
-                xform.translation = config.attach + (caster.direction.as_vec3() * config.rest_dist);
-                state.reset();
-            }
-        }
-    }
-
-    pub(super) fn steering(
-        mut bike_query: Query<
-            (
-                &Transform,
-                &LinearVelocity,
-                &mut ExternalForce,
-                RigidBodyQueryReadOnly,
-            ),
-            With<CyberBikeBody>,
-        >,
-        mut wheels: Query<(&mut WheelState, &WheelConfig, &CyberWheel)>,
-        time: Res<Time>,
-        input: Res<InputState>,
-        mut gizmos: Gizmos,
-    ) {
-        let Ok((bike_xform, bike_vel, mut bike_force, bike_body)) = bike_query.get_single_mut()
-        else {
-            bevy::log::warn!("No entity for bike_query.");
-            return;
-        };
-        let bike_vel = bike_vel.0;
-
-        let dt = time.delta().as_secs_f32();
-        let max_thrust = 2000.0;
-        let yaw_angle = -yaw_to_angle(input.yaw);
-
-        for (mut state, config, wheel) in wheels.iter_mut() {
-            if let Some(contact_point) = state.contact_point {
-                // if contact_point is Some, we also have a normal.
-                let normal = state.contact_normal.unwrap().normalize();
-                let max_force_mag = state.force_normal * config.friction;
-
-                let rot = Quat::from_axis_angle(normal, yaw_angle);
-                let forward = normal.cross(*bike_xform.right());
-                let thrust_mag = input.throttle * max_thrust * dt;
-                let (thrust_dir, thrust_force) = match wheel {
-                    CyberWheel::Rear => (forward, thrust_mag * 0.1),
-                    CyberWheel::Front => (rot * forward, thrust_mag),
-                };
-
-                let thrust = thrust_force * thrust_dir;
-
-                let friction_dir = match wheel {
-                    CyberWheel::Front => normal.cross(thrust_dir),
-                    CyberWheel::Rear => normal.cross(*bike_xform.forward()),
-                };
-
-                let vel = bike_body.velocity_at_point(contact_point - bike_xform.translation);
-                let friction_factor = -0.025 * vel.dot(friction_dir);
-                let friction = (friction_factor / dt) * friction_dir;
-
-                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;
-                }
-
-                bike_force.apply_force_at_point(force, contact_point, bike_xform.translation);
-                gizmos.arrow(
-                    contact_point,
-                    contact_point + friction,
-                    Color::linear_rgb(1., 1., 0.2),
-                );
-                gizmos.arrow(
-                    contact_point,
-                    contact_point + thrust,
-                    Color::linear_rgb(1., 0., 0.2),
-                );
-            }
-        }
-    }
-
-    pub(super) fn drag(
-        mut bike_query: Query<
-            (&Transform, &LinearVelocity, &mut ExternalForce),
-            With<CyberBikeBody>,
-        >,
-        mut gizmos: Gizmos,
-        time: Res<Time>,
-    ) {
-        let (xform, vel, mut force) = bike_query.single_mut();
-
-        let dt = time.delta_secs();
-
-        let speed = vel.length();
-        let dspeed = speed.powf(1.2) * 0.1;
-        let dir = vel.normalize_or_zero();
-        let drag = -dspeed * dt * DRAG_COEFF * dir;
-        if speed > 1.0 {
-            force.apply_force_at_point(drag, xform.translation, xform.translation);
-        }
-
-        bevy::log::debug!("speed: {}, drag force: {}", speed, drag.length());
-
-        gizmos.arrow(
-            xform.translation,
-            xform.translation + drag * 10.,
-            Color::linear_rgb(1.0, 0.0, 0.0),
-        );
-    }
-
-    pub(super) fn tweak(
-        mut config: Query<&mut WheelConfig>,
-        mut keys: ResMut<ButtonInput<KeyCode>>,
-    ) {
-        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,
-                }
-            }
-        }
-        let released: Vec<_> = keys.get_just_released().copied().collect();
-        for key in released {
-            keys.clear_just_released(key);
-        }
-    }
-}
-
-use systems::{apply_lean, calculate_lean, drag, steering, suspension, tweak};
 
 pub struct CyberPhysicsPlugin;
 
@@ -408,13 +175,6 @@ impl Plugin for CyberPhysicsPlugin {
             .register_type::<CyberLean>()
             .add_plugins((PhysicsPlugins::default(), PhysicsDebugPlugin::default()))
             .insert_resource(SubstepCount(12))
-            .add_systems(Startup, |mut gravity: ResMut<Gravity>| {
+            .add_systems(Update, (apply_lean, calculate_lean));
-                gravity.0 *= 1.0;
-            })
-            .add_systems(
-                FixedUpdate,
-                (calculate_lean, apply_lean, suspension, steering, drag).chain(),
-            )
-            .add_systems(Update, tweak);
     }
 }