diff --git a/Cargo.lock b/Cargo.lock
index bfb9348..6a754c4 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -182,9 +182,9 @@ dependencies = [
 
 [[package]]
 name = "arrayref"
-version = "0.3.7"
+version = "0.3.8"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6b4930d2cb77ce62f89ee5d5289b4ac049559b1c45539271f5ed4fdc7db34545"
+checksum = "9d151e35f61089500b617991b791fc8bfd237ae50cd5950803758a179b41e67a"
 
 [[package]]
 name = "arrayvec"
@@ -231,9 +231,9 @@ dependencies = [
 
 [[package]]
 name = "async-executor"
-version = "1.12.0"
+version = "1.13.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c8828ec6e544c02b0d6691d21ed9f9218d0384a82542855073c2a3f58304aaf0"
+checksum = "d7ebdfa2ebdab6b1760375fa7d6f382b9f486eac35fc994625a00e89280bdbb7"
 dependencies = [
  "async-task",
  "concurrent-queue",
@@ -298,7 +298,6 @@ dependencies = [
  "itertools 0.13.0",
  "nalgebra",
  "parry3d",
- "parry3d-f64",
 ]
 
 [[package]]
@@ -309,7 +308,7 @@ checksum = "b4adeeecb6d4628d3ca11836ce9af8309f9552d4bd3e3f6e4368440d8163260c"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.71",
+ "syn 2.0.72",
 ]
 
 [[package]]
@@ -434,7 +433,7 @@ dependencies = [
  "bevy_macro_utils",
  "proc-macro2",
  "quote",
- "syn 2.0.71",
+ "syn 2.0.72",
 ]
 
 [[package]]
@@ -518,7 +517,7 @@ checksum = "c8a8173bad3ed53fa158806b1beda147263337d6ef71a093780dd141b74386b1"
 dependencies = [
  "bevy_macro_utils",
  "quote",
- "syn 2.0.71",
+ "syn 2.0.72",
 ]
 
 [[package]]
@@ -595,7 +594,7 @@ dependencies = [
  "bevy_macro_utils",
  "proc-macro2",
  "quote",
- "syn 2.0.71",
+ "syn 2.0.72",
 ]
 
 [[package]]
@@ -655,7 +654,7 @@ dependencies = [
  "bevy_macro_utils",
  "proc-macro2",
  "quote",
- "syn 2.0.71",
+ "syn 2.0.72",
 ]
 
 [[package]]
@@ -783,8 +782,8 @@ checksum = "c3ad860d35d74b35d4d6ae7f656d163b6f475aa2e64fc293ee86ac901977ddb7"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.71",
- "toml_edit 0.22.15",
+ "syn 2.0.72",
+ "toml_edit 0.22.17",
 ]
 
 [[package]]
@@ -871,7 +870,7 @@ dependencies = [
  "bevy_macro_utils",
  "proc-macro2",
  "quote",
- "syn 2.0.71",
+ "syn 2.0.72",
  "uuid",
 ]
 
@@ -932,7 +931,7 @@ dependencies = [
  "bevy_macro_utils",
  "proc-macro2",
  "quote",
- "syn 2.0.71",
+ "syn 2.0.72",
 ]
 
 [[package]]
@@ -1004,7 +1003,7 @@ dependencies = [
  "bevy_macro_utils",
  "proc-macro2",
  "quote",
- "syn 2.0.71",
+ "syn 2.0.72",
 ]
 
 [[package]]
@@ -1124,7 +1123,7 @@ checksum = "ad9db261ab33a046e1f54b35f885a44f21fcc80aa2bc9050319466b88fe58fe3"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.71",
+ "syn 2.0.72",
 ]
 
 [[package]]
@@ -1188,7 +1187,7 @@ dependencies = [
  "regex",
  "rustc-hash",
  "shlex",
- "syn 2.0.71",
+ "syn 2.0.72",
 ]
 
 [[package]]
@@ -1285,7 +1284,7 @@ checksum = "1ee891b04274a59bd38b412188e24b849617b2e45a0fd8d057deb63e7403761b"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.71",
+ "syn 2.0.72",
 ]
 
 [[package]]
@@ -1294,6 +1293,12 @@ version = "1.5.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "1fd0f2584146f6f2ef48085050886acf353beff7305ebd1ae69500e27c67f64b"
 
+[[package]]
+name = "byteorder-lite"
+version = "0.1.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "8f1fe948ff07f4bd06c30984e69f5b4899c516a3ef74f34df92a2df2ab535495"
+
 [[package]]
 name = "bytes"
 version = "1.6.1"
@@ -1302,9 +1307,9 @@ checksum = "a12916984aab3fa6e39d655a33e09c0071eb36d6ab3aea5c2d78551f1df6d952"
 
 [[package]]
 name = "calloop"
-version = "0.12.4"
+version = "0.13.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fba7adb4dd5aa98e5553510223000e7148f621165ec5f9acd7113f6ca4995298"
+checksum = "b99da2f8558ca23c71f4fd15dc57c906239752dd27ff3c00a1d56b685b7cbfec"
 dependencies = [
  "bitflags 2.6.0",
  "log",
@@ -1316,9 +1321,9 @@ dependencies = [
 
 [[package]]
 name = "cc"
-version = "1.1.5"
+version = "1.1.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "324c74f2155653c90b04f25b2a47a8a631360cb908f92a772695f430c7e31052"
+checksum = "2aba8f4e9906c7ce3c73463f62a7f0c65183ada1a2d47e397cc8810827f9694f"
 dependencies = [
  "jobserver",
  "libc",
@@ -1365,7 +1370,7 @@ checksum = "0b023947811758c97c59bf9d1c188fd619ad4718dcaa767947df1cadb14f39f4"
 dependencies = [
  "glob",
  "libc",
- "libloading 0.8.4",
+ "libloading 0.8.5",
 ]
 
 [[package]]
@@ -1578,25 +1583,6 @@ dependencies = [
  "crossbeam-utils",
 ]
 
-[[package]]
-name = "crossbeam-deque"
-version = "0.8.5"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "613f8cc01fe9cf1a3eb3d7f488fd2fa8388403e97039e2f73692932e291a770d"
-dependencies = [
- "crossbeam-epoch",
- "crossbeam-utils",
-]
-
-[[package]]
-name = "crossbeam-epoch"
-version = "0.9.18"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5b82ac4a3c2ca9c3460964f020e1402edd5753411d7737aa39c3714ad1b5420e"
-dependencies = [
- "crossbeam-utils",
-]
-
 [[package]]
 name = "crossbeam-utils"
 version = "0.8.20"
@@ -1618,7 +1604,6 @@ dependencies = [
  "hexasphere 14.0.0",
  "noise",
  "rand",
- "wgpu",
 ]
 
 [[package]]
@@ -1628,7 +1613,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "b28bfe653d79bd16c77f659305b195b82bb5ce0c0eb2a4846b82ddbd77586813"
 dependencies = [
  "bitflags 2.6.0",
- "libloading 0.8.4",
+ "libloading 0.8.5",
  "winapi",
 ]
 
@@ -1654,7 +1639,7 @@ dependencies = [
  "proc-macro2",
  "quote",
  "rustc_version",
- "syn 2.0.71",
+ "syn 2.0.72",
 ]
 
 [[package]]
@@ -1669,7 +1654,7 @@ version = "0.5.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "330c60081dcc4c72131f8eb70510f1ac07223e5d4163db481a04a0befcffa412"
 dependencies = [
- "libloading 0.8.4",
+ "libloading 0.8.5",
 ]
 
 [[package]]
@@ -1728,7 +1713,7 @@ checksum = "fd31dbbd9743684d339f907a87fe212cb7b51d75b9e8e74181fe363199ee9b47"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.71",
+ "syn 2.0.72",
 ]
 
 [[package]]
@@ -1854,7 +1839,7 @@ checksum = "1a5c6c585bc94aaf2c7b51dd4c2ba22680844aba4c687be581871a6f518c5742"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.71",
+ "syn 2.0.72",
 ]
 
 [[package]]
@@ -2021,7 +2006,7 @@ dependencies = [
  "inflections",
  "proc-macro2",
  "quote",
- "syn 2.0.71",
+ "syn 2.0.72",
 ]
 
 [[package]]
@@ -2144,7 +2129,7 @@ dependencies = [
  "bitflags 2.6.0",
  "com",
  "libc",
- "libloading 0.8.4",
+ "libloading 0.8.5",
  "thiserror",
  "widestring",
  "winapi",
@@ -2184,12 +2169,12 @@ checksum = "dfa686283ad6dd069f105e5ab091b04c62850d3e4cf5d67debad1933f55023df"
 
 [[package]]
 name = "image"
-version = "0.25.1"
+version = "0.25.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fd54d660e773627692c524beaad361aca785a4f9f5730ce91f42aabe5bce3d11"
+checksum = "99314c8a2152b8ddb211f924cdae532d8c5e4c8bb54728e12fff1b0cd5963a10"
 dependencies = [
  "bytemuck",
- "byteorder",
+ "byteorder-lite",
  "num-traits",
  "png",
 ]
@@ -2297,9 +2282,9 @@ checksum = "8eaf4bc02d17cbdd7ff4c7438cafcdf7fb9a4613313ad11b4f8fefe7d3fa0130"
 
 [[package]]
 name = "jobserver"
-version = "0.1.31"
+version = "0.1.32"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d2b099aaa34a9751c5bf0878add70444e1ed2dd73f347be99003d4577277de6e"
+checksum = "48d1dbcbbeb6a7fec7e059840aa538bd62aaccf972c7346c4d9d2059312853d0"
 dependencies = [
  "libc",
 ]
@@ -2320,7 +2305,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "6aae1df220ece3c0ada96b8153459b67eebe9ae9212258bb0134ae60416fdf76"
 dependencies = [
  "libc",
- "libloading 0.8.4",
+ "libloading 0.8.5",
  "pkg-config",
 ]
 
@@ -2380,9 +2365,9 @@ dependencies = [
 
 [[package]]
 name = "libloading"
-version = "0.8.4"
+version = "0.8.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e310b3a6b5907f99202fcdb4960ff45b93735d7c7d96b760fcff8db2dc0e103d"
+checksum = "4979f22fdb869068da03c9f7528f8297c6fd2606bc3a4affe42e6a823fdb8da4"
 dependencies = [
  "cfg-if",
  "windows-targets 0.52.6",
@@ -2472,9 +2457,9 @@ dependencies = [
 
 [[package]]
 name = "matrixmultiply"
-version = "0.3.8"
+version = "0.3.9"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "7574c1cf36da4798ab73da5b215bbf444f50718207754cb522201d78d1cd0ff2"
+checksum = "9380b911e3e96d10c1f415da0876389aaf1b56759054eeb0de7df940c456ba1a"
 dependencies = [
  "autocfg",
  "rawpointer",
@@ -2584,7 +2569,7 @@ checksum = "254a5372af8fc138e36684761d3c0cdb758a4410e938babcff1c860ce14ddbfc"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.71",
+ "syn 2.0.72",
 ]
 
 [[package]]
@@ -2715,7 +2700,7 @@ checksum = "ed3955f1a9c7c0c15e092f9c887db08b1fc683305fdf6eb6684f22555355e202"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.71",
+ "syn 2.0.72",
 ]
 
 [[package]]
@@ -2765,7 +2750,7 @@ dependencies = [
  "proc-macro-crate",
  "proc-macro2",
  "quote",
- "syn 2.0.71",
+ "syn 2.0.72",
 ]
 
 [[package]]
@@ -3086,30 +3071,6 @@ dependencies = [
  "nalgebra",
  "num-derive",
  "num-traits",
- "rayon",
- "rustc-hash",
- "simba",
- "slab",
- "smallvec",
- "spade",
-]
-
-[[package]]
-name = "parry3d-f64"
-version = "0.15.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fdc07fa374273eca29066d59d3ded520bf845ed582e38c0d60109459ea4ed76e"
-dependencies = [
- "approx",
- "arrayvec",
- "bitflags 1.3.2",
- "downcast-rs",
- "either",
- "log",
- "nalgebra",
- "num-derive",
- "num-traits",
- "rayon",
  "rustc-hash",
  "simba",
  "slab",
@@ -3158,7 +3119,7 @@ checksum = "2f38a4412a78282e09a2cf38d195ea5420d15ba0602cb375210efbc877243965"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.71",
+ "syn 2.0.72",
 ]
 
 [[package]]
@@ -3329,26 +3290,6 @@ version = "0.2.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "60a357793950651c4ed0f3f52338f53b2f809f32d83a07f72909fa13e4c6c1e3"
 
-[[package]]
-name = "rayon"
-version = "1.10.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b418a60154510ca1a002a752ca9714984e21e4241e804d32555251faf8b78ffa"
-dependencies = [
- "either",
- "rayon-core",
-]
-
-[[package]]
-name = "rayon-core"
-version = "1.12.1"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "1465873a3dfdaa8ae7cb14b4383657caab0b3e8a0aa9ae8e04b044854c8dfce2"
-dependencies = [
- "crossbeam-deque",
- "crossbeam-utils",
-]
-
 [[package]]
 name = "rectangle-pack"
 version = "0.4.2"
@@ -3549,7 +3490,7 @@ checksum = "e0cd7e117be63d3c3678776753929474f3b04a43a080c744d6b0ae2a8c28e222"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.71",
+ "syn 2.0.72",
 ]
 
 [[package]]
@@ -3632,9 +3573,9 @@ dependencies = [
 
 [[package]]
 name = "spade"
-version = "2.9.0"
+version = "2.10.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9f4ec45f91925e2c9ab3b6a857ee9ed36916990df76a1c475d783a328e247cc8"
+checksum = "7d676a3ce6cfd1e455199fefcf82db082f970872ce017df660f076a4e07a0d64"
 dependencies = [
  "hashbrown",
  "num-traits",
@@ -3676,9 +3617,9 @@ dependencies = [
 
 [[package]]
 name = "syn"
-version = "2.0.71"
+version = "2.0.72"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "b146dcf730474b4bcd16c311627b31ede9ab149045db4d6088b3becaea046462"
+checksum = "dc4b9b9bf2add8093d3f2c0204471e951b2285580335de42f9d2534f3ae7a8af"
 dependencies = [
  "proc-macro2",
  "quote",
@@ -3723,22 +3664,22 @@ dependencies = [
 
 [[package]]
 name = "thiserror"
-version = "1.0.62"
+version = "1.0.63"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f2675633b1499176c2dff06b0856a27976a8f9d436737b4cf4f312d4d91d8bbb"
+checksum = "c0342370b38b6a11b6cc11d6a805569958d54cfa061a29969c3b5ce2ea405724"
 dependencies = [
  "thiserror-impl",
 ]
 
 [[package]]
 name = "thiserror-impl"
-version = "1.0.62"
+version = "1.0.63"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d20468752b09f49e909e55a5d338caa8bedf615594e9d80bc4c565d30faf798c"
+checksum = "a4558b58466b9ad7ca0f102865eccc95938dca1a74a856f2b57b6629050da261"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.71",
+ "syn 2.0.72",
 ]
 
 [[package]]
@@ -3768,9 +3709,9 @@ checksum = "1f3ccbac311fea05f86f61904b462b55fb3df8837a366dfc601a0161d0532f20"
 
 [[package]]
 name = "toml_datetime"
-version = "0.6.6"
+version = "0.6.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "4badfd56924ae69bcc9039335b2e017639ce3f9b001c393c1b2d1ef846ce2cbf"
+checksum = "f8fb9f64314842840f1d940ac544da178732128f1c78c21772e876579e0da1db"
 
 [[package]]
 name = "toml_edit"
@@ -3785,13 +3726,13 @@ dependencies = [
 
 [[package]]
 name = "toml_edit"
-version = "0.22.15"
+version = "0.22.17"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d59a3a72298453f564e2b111fa896f8d07fabb36f51f06d7e875fc5e0b5a3ef1"
+checksum = "8d9f8729f5aea9562aac1cc0441f5d6de3cff1ee0c5d67293eeca5eb36ee7c16"
 dependencies = [
  "indexmap",
  "toml_datetime",
- "winnow 0.6.13",
+ "winnow 0.6.16",
 ]
 
 [[package]]
@@ -3813,7 +3754,7 @@ checksum = "34704c8d6ebcbc939824180af020566b01a7c01f80641264eba0999f6c2b6be7"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.71",
+ "syn 2.0.72",
 ]
 
 [[package]]
@@ -3942,9 +3883,9 @@ checksum = "f1bddf1187be692e79c5ffeab891132dfb0f236ed36a43c7ed39f1165ee20191"
 
 [[package]]
 name = "version_check"
-version = "0.9.4"
+version = "0.9.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "49874b5167b65d7193b8aba1567f5c7d93d001cafc34600cee003eda787e483f"
+checksum = "0b928f33d975fc6ad9f86c8f283853ad26bdd5b10b7f1542aa2fa15e2289105a"
 
 [[package]]
 name = "walkdir"
@@ -3983,7 +3924,7 @@ dependencies = [
  "once_cell",
  "proc-macro2",
  "quote",
- "syn 2.0.71",
+ "syn 2.0.72",
  "wasm-bindgen-shared",
 ]
 
@@ -4017,7 +3958,7 @@ checksum = "e94f17b526d0a461a191c78ea52bbce64071ed5c04c9ffe424dcb38f74171bb7"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.71",
+ "syn 2.0.72",
  "wasm-bindgen-backend",
  "wasm-bindgen-shared",
 ]
@@ -4125,7 +4066,7 @@ dependencies = [
  "js-sys",
  "khronos-egl",
  "libc",
- "libloading 0.8.4",
+ "libloading 0.8.5",
  "log",
  "metal",
  "naga",
@@ -4159,9 +4100,9 @@ dependencies = [
 
 [[package]]
 name = "wide"
-version = "0.7.25"
+version = "0.7.26"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2caba658a80831539b30698ae9862a72db6697dfdd7151e46920f5f2755c3ce2"
+checksum = "901e8597c777fa042e9e245bd56c0dc4418c5db3f845b6ff94fbac732c6a0692"
 dependencies = [
  "bytemuck",
  "safe_arch",
@@ -4276,7 +4217,7 @@ checksum = "942ac266be9249c84ca862f0a164a39533dc2f6f33dc98ec89c8da99b82ea0bd"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.71",
+ "syn 2.0.72",
 ]
 
 [[package]]
@@ -4287,7 +4228,7 @@ checksum = "2bbd5b46c938e506ecbce286b6628a02171d56153ba733b6c741fc627ec9579b"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.71",
+ "syn 2.0.72",
 ]
 
 [[package]]
@@ -4298,7 +4239,7 @@ checksum = "da33557140a288fae4e1d5f8873aaf9eb6613a9cf82c3e070223ff177f598b60"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.71",
+ "syn 2.0.72",
 ]
 
 [[package]]
@@ -4309,7 +4250,7 @@ checksum = "053c4c462dc91d3b1504c6fe5a726dd15e216ba718e84a0e46a88fbe5ded3515"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.71",
+ "syn 2.0.72",
 ]
 
 [[package]]
@@ -4538,9 +4479,9 @@ checksum = "589f6da84c646204747d1270a2a5661ea66ed1cced2631d546fdfb155959f9ec"
 
 [[package]]
 name = "winit"
-version = "0.30.3"
+version = "0.30.4"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "49f45a7b7e2de6af35448d7718dab6d95acec466eb3bb7a56f4d31d1af754004"
+checksum = "4225ddd8ab67b8b59a2fee4b34889ebf13c0460c1c3fa297c58e21eb87801b33"
 dependencies = [
  "android-activity",
  "atomic-waker",
@@ -4591,9 +4532,9 @@ dependencies = [
 
 [[package]]
 name = "winnow"
-version = "0.6.13"
+version = "0.6.16"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "59b5e5f6c299a3c7890b876a2a587f3115162487e704907d9b6cd29473052ba1"
+checksum = "b480ae9340fc261e6be3e95a1ba86d54ae3f9171132a73ce8d4bbaf68339507c"
 dependencies = [
  "memchr",
 ]
@@ -4618,7 +4559,7 @@ dependencies = [
  "as-raw-xcb-connection",
  "gethostname",
  "libc",
- "libloading 0.8.4",
+ "libloading 0.8.5",
  "once_cell",
  "rustix",
  "x11rb-protocol",
@@ -4678,5 +4619,5 @@ checksum = "fa4f8080344d4671fb4e831a13ad1e68092748387dfc4f55e356242fae12ce3e"
 dependencies = [
  "proc-macro2",
  "quote",
- "syn 2.0.71",
+ "syn 2.0.72",
 ]
diff --git a/Cargo.toml b/Cargo.toml
index c9d0130..ab58540 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -8,7 +8,7 @@ rand = "0.8"
 # bevy_polyline = "0.4"
 noise = "0.9"
 hexasphere = "14"
-wgpu = "0.20"
+#wgpu = "0.20"
 # bevy-inspector-egui = "0.18"
 
 [features]
@@ -20,8 +20,9 @@ default-features = true
 features = ["bevy_dev_tools"]
 
 [dependencies.avian3d]
-default-features = true
+default-features = false
 version = "0.1"
+features = ["3d", "f32", "parry-f32", "debug-plugin", "default-collider", "collider-from-mesh"]
 
 # Maybe also enable only a small amount of optimization for our code:
 [profile.dev]
diff --git a/src/action/components.rs b/src/action/components.rs
index 77083f0..dd1cd74 100644
--- a/src/action/components.rs
+++ b/src/action/components.rs
@@ -36,7 +36,7 @@ pub struct MovementSettings {
 impl Default for MovementSettings {
     fn default() -> Self {
         Self {
-            accel: 2000.0,
+            accel: 40.0,
             gravity: 9.8,
         }
     }
diff --git a/src/action/mod.rs b/src/action/mod.rs
index 4777974..cc834a4 100644
--- a/src/action/mod.rs
+++ b/src/action/mod.rs
@@ -29,7 +29,7 @@ impl Plugin for CyberActionPlugin {
             .register_type::<CyberLean>()
             .register_type::<CatControllerSettings>()
             .add_plugins((PhysicsPlugins::default(), FrameTimeDiagnosticsPlugin))
-            .insert_resource(SubstepCount(12))
+            .insert_resource(SubstepCount(24))
             .add_systems(
                 FixedUpdate,
                 (set_gravity, calculate_lean, apply_lean, apply_inputs).chain(),
diff --git a/src/action/systems.rs b/src/action/systems.rs
index e9f2937..a9e77b7 100644
--- a/src/action/systems.rs
+++ b/src/action/systems.rs
@@ -1,39 +1,16 @@
 use std::f32::consts::{FRAC_PI_3, FRAC_PI_4};
 
-use avian3d::{
-    dynamics::solver::xpbd::AngularConstraint,
-    prelude::{ExternalTorque, FixedJoint, Gravity, LinearVelocity, RigidBodyQuery},
-};
+use avian3d::prelude::{AngleLimit, ExternalTorque, Gravity, LinearVelocity, RevoluteJoint};
 #[cfg(feature = "inspector")]
 use bevy::prelude::Gizmos;
-use bevy::prelude::{Quat, Query, Res, ResMut, Time, Transform, Vec3, With, Without};
+use bevy::prelude::{Quat, Query, Res, ResMut, Time, Transform, Vec3, With};
 
 use super::{CatControllerSettings, CatControllerState, CyberLean, MovementSettings};
 use crate::{
-    bike::{CyberBikeBody, CyberFork, CyberSteering, CyberWheel},
+    bike::{CyberBikeBody, CyberSteering, CyberWheel},
     input::InputState,
 };
 
-fn yaw_to_angle(yaw: f32) -> f32 {
-    let v = yaw.powi(5) * FRAC_PI_4;
-    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
-    let [x, y, z] = pt.normalize().to_array();
-    let qpt = Quat::from_xyzw(x, y, z, 0.0);
-    // p' = rot^-1 * qpt * rot
-    let rot_qpt = rot.inverse() * qpt * *rot;
-
-    // why does this need to be inverted???
-    -Vec3::from_array([rot_qpt.x, rot_qpt.y, rot_qpt.z])
-}
-
 /// The gravity vector points from the cyberbike to the center of the planet.
 pub(super) fn set_gravity(
     xform: Query<&Transform, With<CyberBikeBody>>,
@@ -110,24 +87,40 @@ pub(super) fn apply_lean(
 pub(super) fn apply_inputs(
     settings: Res<MovementSettings>,
     input: Res<InputState>,
-    time: Res<Time>,
     mut wheels: Query<(&Transform, &mut ExternalTorque), With<CyberWheel>>,
-    mut body_query: Query<RigidBodyQuery, (With<CyberBikeBody>, Without<CyberSteering>)>,
+    mut steering: Query<&mut RevoluteJoint, With<CyberSteering>>,
 ) {
-    let Ok(mut _bike) = body_query.get_single_mut() else {
-        bevy::log::debug!("no bike body found");
-        return;
-    };
-    let dt = time.delta_seconds();
-
     // brake + thrust
     for (xform, mut torque) in wheels.iter_mut() {
-        let factor = input.throttle * settings.accel;
-
-        let target = dt * factor;
+        let target = input.throttle * settings.accel;
         let tork = target * *xform.left();
         torque.apply_torque(tork);
     }
 
     // steering
+    let mut steering = steering.single_mut();
+    let angle = yaw_to_angle(input.yaw);
+    let angle = if angle.is_normal() { angle } else { 0.0 };
+    let limit = AngleLimit::new(angle - 0.01, angle + 0.01);
+    steering.angle_limit = Some(limit);
+}
+
+fn yaw_to_angle(yaw: f32) -> f32 {
+    let v = yaw.powi(5) * FRAC_PI_4;
+    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
+    let [x, y, z] = pt.normalize().to_array();
+    let qpt = Quat::from_xyzw(x, y, z, 0.0);
+    // p' = rot^-1 * qpt * rot
+    let rot_qpt = rot.inverse() * qpt * *rot;
+
+    // why does this need to be inverted???
+    -Vec3::from_array([rot_qpt.x, rot_qpt.y, rot_qpt.z])
 }
diff --git a/src/bike/body.rs b/src/bike/body.rs
index 5a999f6..e40c78e 100644
--- a/src/bike/body.rs
+++ b/src/bike/body.rs
@@ -17,7 +17,7 @@ pub(super) fn spawn_cyberbike(
     let altitude = PLANET_RADIUS - 10.0;
 
     let mut xform = Transform::from_translation(Vec3::X * altitude)
-        .with_rotation(Quat::from_axis_angle(Vec3::Z, -89.0f32.to_radians()));
+        .with_rotation(Quat::from_axis_angle(Vec3::Z, (-89.0f32).to_radians()));
 
     let right = xform.right() * 350.0;
     xform.translation += right;
diff --git a/src/bike/components.rs b/src/bike/components.rs
index f40b396..03056c7 100644
--- a/src/bike/components.rs
+++ b/src/bike/components.rs
@@ -1,5 +1,4 @@
 use bevy::{
-    math::Vec3,
     prelude::{Component, ReflectResource, Resource},
     reflect::Reflect,
 };
@@ -13,9 +12,6 @@ pub struct CyberSteering;
 #[derive(Clone, Copy, Debug, Component)]
 pub struct CyberWheel;
 
-#[derive(Clone, Debug, Component)]
-pub struct CyberFork(pub Vec3);
-
 #[derive(Resource, Reflect)]
 #[reflect(Resource)]
 pub struct WheelConfig {
@@ -43,8 +39,8 @@ impl Default for WheelConfig {
             damping: 8.0,
             radius: 0.40,
             thickness: 0.15,
-            friction: 0.9,
-            restitution: 0.5,
+            friction: 1.5,
+            restitution: 0.1,
             density: 30.0,
         }
     }
diff --git a/src/bike/wheels.rs b/src/bike/wheels.rs
index e5caf83..d91f2dd 100644
--- a/src/bike/wheels.rs
+++ b/src/bike/wheels.rs
@@ -1,7 +1,7 @@
-use avian3d::prelude::*;
+use avian3d::{math::FRAC_PI_2, prelude::*};
 use bevy::prelude::*;
 
-use super::{CyberFork, CyberSteering, CyberWheel, Meshterial, WheelConfig};
+use super::{CyberSteering, CyberWheel, Meshterial, WheelConfig};
 use crate::ColliderGroups;
 
 pub fn spawn_wheels(
@@ -34,7 +34,13 @@ pub fn spawn_wheels(
         wheel_poses.push((offset, None));
     }
 
-    let (mesh, collider) = gen_tire(conf);
+    // tires
+    let outer_radius = conf.radius;
+    let inner_radius = conf.radius - conf.thickness;
+    let mesh = Mesh::from(Torus::new(inner_radius, outer_radius))
+        .rotated_by(Quat::from_rotation_z(FRAC_PI_2));
+    let collider = Collider::convex_hull_from_mesh(&mesh).unwrap();
+
     for (offset, steering) in wheel_poses {
         let hub = wheels_helper(
             commands,
@@ -46,43 +52,21 @@ pub fn spawn_wheels(
             conf,
         );
 
-        let fork = commands
-            .spawn(FixedJoint::new(hub, bike).with_local_anchor_2(offset))
-            .id();
         if let Some(steering) = steering {
-            let axis = CyberFork(rake_vec);
-            commands.entity(fork).insert((steering, axis));
-            commands.entity(hub).insert(steering);
+            commands.spawn((
+                RevoluteJoint::new(bike, hub)
+                    .with_aligned_axis(rake_vec)
+                    .with_angle_limits(-0.01, 0.01)
+                    .with_local_anchor_2(Vec3::new(0.0, 0.08, -0.05))
+                    .with_local_anchor_1(offset),
+                steering,
+            ));
+        } else {
+            commands.spawn(FixedJoint::new(bike, hub).with_local_anchor_1(offset));
         }
     }
 }
 
-fn gen_tire(conf: &WheelConfig) -> (Mesh, Collider) {
-    let outer_radius = conf.radius;
-    let inner_radius = conf.radius - conf.thickness;
-    let mut tire_mesh: Mesh = Torus::new(inner_radius, outer_radius).into();
-    let tire_verts = tire_mesh
-        .attribute(Mesh::ATTRIBUTE_POSITION)
-        .unwrap()
-        .as_float3()
-        .unwrap()
-        .iter()
-        .map(|v| {
-            //
-            let v = Vec3::from_array(*v);
-            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);
-
-    let collider = Collider::convex_hull_from_mesh(&tire_mesh).unwrap();
-
-    (tire_mesh, collider)
-}
-
 fn wheels_helper(
     commands: &mut Commands,
     meshes: &mut ResMut<Assets<Mesh>>,
diff --git a/src/camera.rs b/src/camera.rs
index af637c7..704cbaf 100644
--- a/src/camera.rs
+++ b/src/camera.rs
@@ -140,8 +140,11 @@ fn common(app: &mut bevy::prelude::App) {
     app.insert_resource(DebugCamOffset::default())
         .add_systems(Startup, setup_cybercams)
         .init_state::<CyberCameras>()
+        .add_systems(Update, (cycle_cam_state, update_active_camera))
         .add_systems(
-            Update,
-            (cycle_cam_state, update_active_camera, follow_cyberbike),
+            PostUpdate,
+            follow_cyberbike
+                .after(avian3d::schedule::PhysicsSet::Sync)
+                .before(TransformSystem::TransformPropagate),
         );
 }
diff --git a/src/input.rs b/src/input.rs
index 47586af..a94b777 100644
--- a/src/input.rs
+++ b/src/input.rs
@@ -67,7 +67,7 @@ fn update_input(mut events: EventReader<GamepadEvent>, mut istate: ResMut<InputS
                             istate.brake = false;
                         }
                     }
-                    _ => info!("unhandled button press: {button_event:?}"),
+                    _ => {}
                 }
             }
             GamepadEvent::Axis(axis_event) => {
@@ -81,7 +81,7 @@ fn update_input(mut events: EventReader<GamepadEvent>, mut istate: ResMut<InputS
                     GamepadAxisType::RightStickY => {
                         istate.pitch = *value;
                     }
-                    _ => info!("unhandled axis event: {axis_event:?}"),
+                    _ => {}
                 }
             }
             GamepadEvent::Connection(_) => {}
diff --git a/src/planet.rs b/src/planet.rs
index 3bb10c8..eb43a50 100644
--- a/src/planet.rs
+++ b/src/planet.rs
@@ -1,12 +1,14 @@
 use avian3d::prelude::*;
 use bevy::{
     prelude::*,
-    render::{mesh::Indices, render_asset::RenderAssetUsages},
+    render::{
+        mesh::{Indices, PrimitiveTopology},
+        render_asset::RenderAssetUsages,
+    },
 };
 use hexasphere::shapes::IcoSphere;
 use noise::{HybridMulti, NoiseFn, SuperSimplex};
 use rand::{Rng, SeedableRng};
-use wgpu::PrimitiveTopology;
 
 pub const PLANET_RADIUS: f32 = 4_000.0;
 pub const PLANET_HUE: f32 = 31.0;