diff --git a/Cargo.lock b/Cargo.lock
index 3a69ae8..a0cc2cb 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -461,7 +461,8 @@ dependencies = [
 [[package]]
 name = "bevy_rapier3d"
 version = "0.12.1"
-source = "git+https://github.com/nebkor/bevy_rapier?branch=debug-render-capsule#3387b8ff9d3615033144cb2e22ad4a965caa6b2b"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5186c735d7aa202e982f93c71b444d34bf15fed44aca942f9b5f2940e3d06764"
 dependencies = [
  "bevy",
  "nalgebra",
@@ -2599,9 +2600,9 @@ checksum = "8fb1df15f412ee2e9dfc1c504260fa695c1c3f10fe9f4a6ee2d2184d7d6450e2"
 
 [[package]]
 name = "syn"
-version = "1.0.86"
+version = "1.0.87"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8a65b3f4ffa0092e9887669db0eae07941f023991ab58ea44da8fe8e2d511c6b"
+checksum = "1e59d925cf59d8151f25a3bedf97c9c157597c9df7324d32d68991cc399ed08b"
 dependencies = [
  "proc-macro2",
  "quote",
diff --git a/Cargo.toml b/Cargo.toml
index 5f5f031..55ffb65 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -26,11 +26,11 @@ features = [
 ]
 
 [dependencies.bevy_rapier3d]
-git = "https://github.com/nebkor/bevy_rapier"
+#git = "https://github.com/nebkor/bevy_rapier"
 #path = "../bevy_rapier/bevy_rapier3d"
-branch = "debug-render-capsule"
+#branch = "debug-render-capsule"
 features = ["simd-nightly"]
-# version = "0.12"
+version = "0.12"
 
 # Maybe also enable only a small amount of optimization for our code:
 [profile.dev]
diff --git a/src/action.rs b/src/action.rs
index a37bf6e..6c1a799 100644
--- a/src/action.rs
+++ b/src/action.rs
@@ -39,11 +39,20 @@ fn falling_cat(
     let cam_up = bike_xform.up();
     let cos = up.dot(cam_up);
 
+    let roll_cos = up.dot(bike_xform.right());
+
+    let r_mag = if roll_cos.is_normal() {
+        roll_cos.powi(3) * 8.0
+    } else {
+        0.0
+    };
+    let r_tork = bike_xform.forward() * r_mag;
+
     let theta = cos.acos();
-    let force_mag = if !theta.is_normal() { 0.0 } else { theta * 2.0 };
+    let force_mag = if !theta.is_normal() { 0.0 } else { theta * 7.0 };
     let torque = cam_up.cross(up).normalize() * force_mag;
 
-    forces.torque = torque.into();
+    forces.torque = (r_tork + torque).into();
 }
 
 fn drag(
@@ -56,7 +65,7 @@ fn drag(
 
     if let Some(vel) = vels.linvel.try_normalize(0.001) {
         let v2 = vels.linvel.magnitude_squared();
-        forces.force -= vel * v2 * 0.002;
+        forces.force -= vel * v2 * 0.02;
     }
 }
 
diff --git a/src/bike.rs b/src/bike.rs
index 80eaa5f..7612b24 100644
--- a/src/bike.rs
+++ b/src/bike.rs
@@ -3,7 +3,7 @@ use bevy_rapier3d::prelude::*;
 
 use crate::planet::PLANET_RADIUS;
 
-pub(crate) const SPAWN_ALTITUDE: f32 = PLANET_RADIUS * 1.015 + 90.0;
+pub(crate) const SPAWN_ALTITUDE: f32 = PLANET_RADIUS * 1.01;
 
 #[derive(Component)]
 pub struct CyberBikeBody;
@@ -14,9 +14,12 @@ pub struct CyberBikeCollider;
 #[derive(Component, Debug)]
 pub struct CyberBikeModel;
 
+const BIKE_BODY_GROUP: InteractionGroups = InteractionGroups::new(0b01, 0b01);
+const BIKE_WHEEL_GROUP: InteractionGroups = InteractionGroups::new(0b10, 0b10);
+
 fn spawn_cyberbike(mut commands: Commands, asset_server: Res<AssetServer>) {
-    let xform = Transform::from_translation(Vec3::Y * SPAWN_ALTITUDE)
-        .with_rotation(Quat::from_axis_angle(Vec3::X, -80.0f32.to_radians()));
+    let xform = Transform::from_translation(Vec3::X * SPAWN_ALTITUDE)
+        .with_rotation(Quat::from_axis_angle(Vec3::Z, -89.0f32.to_radians()));
 
     let mut bbody = RigidBodyBundle::default();
 
@@ -42,7 +45,12 @@ fn spawn_cyberbike(mut commands: Commands, asset_server: Res<AssetServer>) {
     );
     let bcollide = ColliderBundle {
         shape: shape.into(),
-        mass_properties: ColliderMassProps::Density(0.04).into(),
+        mass_properties: ColliderMassProps::Density(0.82).into(),
+        flags: ColliderFlags {
+            collision_groups: BIKE_BODY_GROUP,
+            ..Default::default()
+        }
+        .into(),
         material: ColliderMaterial {
             friction: 0.0,
             restitution: 0.0,
@@ -73,18 +81,24 @@ fn spawn_cyberbike(mut commands: Commands, asset_server: Res<AssetServer>) {
         .id();
 
     // seriously the cyberbike is so fucking huge what the heck
-    let wheel_positions = vec![-5.5, 4.7];
-    let wheel_rad = 0.7;
-    let wheel_y = -2.0;
+    let wheel_positions = vec![-5.1, 4.7, 4.7, -5.1];
+    let wheel_rad = 1.55;
+    let wheel_y = -1.5f32;
 
-    for wheel_z in wheel_positions {
-        let offset = Vec3::new(0.0, wheel_y, wheel_z);
+    for (i, &wheel_z) in wheel_positions.iter().enumerate() {
+        let wheel_x = if i % 2 == 0 { -2.5 } else { 2.5 };
+        let offset = Vec3::new(wheel_x, wheel_y, wheel_z);
         let trans = xform.translation + offset;
         let wheel_pos_in_world = Isometry::from_parts(trans.into(), xform.rotation.into());
         let _wheel_rb = commands
             .spawn_bundle(RigidBodyBundle {
                 position: wheel_pos_in_world.into(),
                 activation: RigidBodyActivation::cannot_sleep().into(),
+                damping: RigidBodyDamping {
+                    angular_damping: 0.8,
+                    ..Default::default()
+                }
+                .into(),
                 ccd: RigidBodyCcd {
                     ccd_enabled: true,
                     ccd_max_dist: wheel_rad,
@@ -97,18 +111,23 @@ fn spawn_cyberbike(mut commands: Commands, asset_server: Res<AssetServer>) {
             .insert_bundle(ColliderBundle {
                 material: ColliderMaterial::new(0.0, 0.0).into(),
                 shape: ColliderShape::ball(wheel_rad).into(),
-                mass_properties: ColliderMassProps::Density(0.01).into(),
+                mass_properties: ColliderMassProps::Density(0.001).into(),
+                flags: ColliderFlags {
+                    collision_groups: BIKE_WHEEL_GROUP,
+                    ..Default::default()
+                }
+                .into(),
                 ..Default::default()
             })
             .insert(ColliderPositionSync::Discrete)
             .insert(ColliderDebugRender::from(Color::YELLOW))
             .id();
 
-        let (stiffness, damping) = (0.1, 0.4);
+        let (stiffness, damping) = (0.011, 0.25);
 
         let prismatic = PrismaticJoint::new(Vector::y_axis())
             .local_anchor1(offset.into())
-            .motor_position(-0.1, stiffness, damping);
+            .motor_position(-0.2, stiffness, damping);
 
         commands.spawn_bundle(((JointBuilderComponent::new(prismatic, bike, _wheel_rb)),));
     }
diff --git a/src/camera.rs b/src/camera.rs
index 39ff72a..86c1c3c 100644
--- a/src/camera.rs
+++ b/src/camera.rs
@@ -114,7 +114,7 @@ pub struct CyberCamPlugin;
 impl Plugin for CyberCamPlugin {
     fn build(&self, app: &mut bevy::prelude::App) {
         app.add_startup_system(setup_cybercams)
-            .add_state(CyberCameras::Debug)
+            .add_state(CyberCameras::Hero)
             .add_system(cycle_cam_state)
             .add_system(update_active_camera)
             .add_system(follow_cyberbike);
diff --git a/src/main.rs b/src/main.rs
index ddcd75e..3e5ca2c 100644
--- a/src/main.rs
+++ b/src/main.rs
@@ -12,9 +12,9 @@ use cyber_rider::{
 };
 
 const MOVEMENT_SETTINGS: MovementSettings = MovementSettings {
-    sensitivity: 10.0, // steering
-    accel: 30.0,       // thrust
-    gravity: 8.0,
+    sensitivity: 60.0, // steering
+    accel: 70.0,       // thrust
+    gravity: 7.0,
 };
 
 fn main() {