diff --git a/src/action/mod.rs b/src/action/mod.rs
index 8937120..1fb495a 100644
--- a/src/action/mod.rs
+++ b/src/action/mod.rs
@@ -1,10 +1,11 @@
+use avian3d::prelude::*;
 use bevy::{
+    app::Startup,
     diagnostic::FrameTimeDiagnosticsPlugin,
     ecs::reflect::ReflectResource,
     prelude::{App, IntoSystemConfigs, Plugin, Resource},
     reflect::Reflect,
 };
-use bevy_rapier3d::prelude::{NoUserData, RapierPhysicsPlugin};
 
 mod components;
 mod systems;
@@ -28,9 +29,9 @@ impl Plugin for CyberActionPlugin {
             .init_resource::<CyberLean>()
             .register_type::<CyberLean>()
             .register_type::<CatControllerSettings>()
-            .add_plugin(RapierPhysicsPlugin::<NoUserData>::default())
-            .add_startup_system(timestep_setup)
-            .add_plugin(FrameTimeDiagnosticsPlugin::default())
+            .add_plugins(PhysicsPlugins::default())
+            .add_systems(Startup, timestep_setup)
+            .add_plugins(FrameTimeDiagnosticsPlugin::default())
             .add_systems(
                 (
                     gravity,
diff --git a/src/action/systems.rs b/src/action/systems.rs
index e55670d..61b4444 100644
--- a/src/action/systems.rs
+++ b/src/action/systems.rs
@@ -1,15 +1,12 @@
 use std::f32::consts::{FRAC_PI_3, FRAC_PI_4};
 
+use avian3d::prelude::*;
 use bevy::prelude::{
     Commands, Entity, Quat, Query, Res, ResMut, Time, Transform, Vec3, With, Without,
 };
-use bevy_rapier3d::prelude::{
-    CollisionGroups, ExternalForce, Group, MultibodyJoint, QueryFilter, RapierConfiguration,
-    RapierContext, ReadMassProperties, TimestepMode, Velocity,
-};
 
-#[cfg(feature = "inspector")]
-use super::ActionDebugInstant;
+//#[cfg(feature = "inspector")]
+//use super::ActionDebugInstant;
 use super::{CatControllerSettings, CatControllerState, CyberLean, MovementSettings, Tunneling};
 use crate::{
     bike::{CyberBikeBody, CyberSteering, CyberWheel, WheelConfig, BIKE_WHEEL_COLLISION_GROUP},
diff --git a/src/bike/body.rs b/src/bike/body.rs
index 98b4229..5ce49eb 100644
--- a/src/bike/body.rs
+++ b/src/bike/body.rs
@@ -1,11 +1,11 @@
+use avian3d::prelude::{
+    Ccd, Collider, ColliderMassProperties, CollisionGroups, Damping, ExternalForce, Friction,
+    ReadMassProperties, Restitution, RigidBody, Sleeping, TransformInterpolation, Velocity,
+};
 use bevy::{
     prelude::{AssetServer, BuildChildren, Commands, Quat, Res, SpatialBundle, Transform, Vec3},
     scene::SceneBundle,
 };
-use bevy_rapier3d::prelude::{
-    Ccd, Collider, ColliderMassProperties, CollisionGroups, Damping, ExternalForce, Friction,
-    ReadMassProperties, Restitution, RigidBody, Sleeping, TransformInterpolation, Velocity,
-};
 
 use super::{spawn_wheels, CyberBikeBody, Meshterial, WheelConfig, BIKE_BODY_COLLISION_GROUP};
 use crate::{action::CatControllerState, planet::PLANET_RADIUS};
diff --git a/src/bike/mod.rs b/src/bike/mod.rs
index f5e4212..212ec24 100644
--- a/src/bike/mod.rs
+++ b/src/bike/mod.rs
@@ -2,16 +2,16 @@ mod body;
 mod components;
 mod wheels;
 
-use bevy::prelude::{
-    App, Assets, IntoSystemConfig, Mesh, Plugin, ResMut, StandardMaterial, StartupSet,
+use bevy::{
+    app::PostStartup,
+    prelude::{App, Assets, Mesh, Plugin, ResMut, StandardMaterial},
 };
-use bevy_rapier3d::prelude::Group;
 
 pub(crate) use self::components::*;
 use self::{body::spawn_cyberbike, wheels::spawn_wheels};
 
-pub const BIKE_BODY_COLLISION_GROUP: (Group, Group) = (Group::GROUP_1, Group::GROUP_1);
-pub const BIKE_WHEEL_COLLISION_GROUP: (Group, Group) = (Group::GROUP_10, Group::GROUP_10);
+pub const BIKE_BODY_COLLISION_GROUP: (u32, u32) = (0b01, 0b01);
+pub const BIKE_WHEEL_COLLISION_GROUP: (u32, u32) = (0b10, 0b10);
 
 type Meshterial<'a> = (
     ResMut<'a, Assets<Mesh>>,
@@ -23,6 +23,6 @@ impl Plugin for CyberBikePlugin {
     fn build(&self, app: &mut App) {
         app.insert_resource(WheelConfig::default())
             .register_type::<WheelConfig>()
-            .add_startup_system(spawn_cyberbike.in_base_set(StartupSet::PostStartup));
+            .add_systems(PostStartup, spawn_cyberbike);
     }
 }
diff --git a/src/bike/wheels.rs b/src/bike/wheels.rs
index ef15ae3..a7c29dd 100644
--- a/src/bike/wheels.rs
+++ b/src/bike/wheels.rs
@@ -1,9 +1,9 @@
-use bevy::prelude::{shape::Torus as Tire, *};
-use bevy_rapier3d::prelude::{
+use avian3d::prelude::{
     Ccd, CoefficientCombineRule, Collider, ColliderMassProperties, CollisionGroups, Damping,
     ExternalForce, Friction, MultibodyJoint, PrismaticJointBuilder, Restitution,
     RevoluteJointBuilder, RigidBody, Sleeping, TransformInterpolation,
 };
+use bevy::prelude::{shape::Torus as Tire, *};
 
 use super::{CyberSteering, CyberWheel, Meshterial, WheelConfig, BIKE_WHEEL_COLLISION_GROUP};
 
diff --git a/src/glamor.rs b/src/glamor.rs
index fef9d57..981feb4 100644
--- a/src/glamor.rs
+++ b/src/glamor.rs
@@ -9,7 +9,7 @@ pub struct CyberGlamorPlugin;
 impl Plugin for CyberGlamorPlugin {
     fn build(&self, app: &mut App) {
         {
-            use bevy_rapier3d::render::{
+            use avian3d::render::{
                 DebugRenderMode, DebugRenderStyle, RapierDebugRenderPlugin,
             };
             let style = DebugRenderStyle {
diff --git a/src/planet.rs b/src/planet.rs
index ada1b26..43eb49f 100644
--- a/src/planet.rs
+++ b/src/planet.rs
@@ -2,7 +2,7 @@ use bevy::{
     prelude::{shape::Icosphere, *},
     render::{color::Color, mesh::Indices},
 };
-use bevy_rapier3d::prelude::*;
+use avian3d::prelude::*;
 use hexasphere::shapes::IcoSphere;
 use noise::{HybridMulti, NoiseFn, SuperSimplex};
 use rand::{Rng, SeedableRng};
diff --git a/src/ui.rs b/src/ui.rs
index 354ce0f..ee40c14 100644
--- a/src/ui.rs
+++ b/src/ui.rs
@@ -4,7 +4,7 @@ use bevy::prelude::{
 };
 #[cfg(feature = "inspector")]
 use bevy_inspector_egui::quick::WorldInspectorPlugin;
-use bevy_rapier3d::prelude::Velocity;
+use avian3d::prelude::Velocity;
 
 use crate::bike::CyberBikeBody;