diff --git a/Cargo.lock b/Cargo.lock
index 009256f..ccded1f 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -978,9 +978,9 @@ dependencies = [
 
 [[package]]
 name = "crc32fast"
-version = "1.3.1"
+version = "1.3.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a2209c310e29876f7f0b2721e7e26b84aff178aa3da5d091f9bfbf47669e60e3"
+checksum = "b540bd8bc810d3885c6ea91e2018302f68baba2129ab3e88f32389ee9370880d"
 dependencies = [
  "cfg-if 1.0.0",
 ]
diff --git a/src/action.rs b/src/action.rs
index b5c242c..f86b184 100644
--- a/src/action.rs
+++ b/src/action.rs
@@ -1,5 +1,5 @@
 use bevy::prelude::*;
-use bevy_rapier3d::prelude::*;
+use bevy_rapier3d::{na::Vector3, prelude::*};
 
 use crate::{
     geometry::{CyberBike, CyberSphere, PLANET_RADIUS},
@@ -25,42 +25,6 @@ impl Default for MovementSettings {
     }
 }
 
-#[derive(Component, Default)]
-pub(crate) struct CyberBikeState {
-    pub velocity: Vec3,
-    pub _colliding: bool,
-}
-
-fn gravity(xform: Query<&Transform, With<CyberBike>>, mut config: ResMut<RapierConfiguration>) {
-    let gravity = xform.single().translation.normalize() * -10.0;
-    config.gravity = gravity.into();
-}
-
-fn falling_cat(
-    time: Res<Time>,
-    mut bike_query: Query<(&Transform, &mut RigidBodyForcesComponent), With<CyberBike>>,
-) {
-    let dt = time.delta_seconds();
-
-    let (bike_xform, mut forces) = bike_query.single_mut();
-    let up = bike_xform.translation.normalize();
-    let cam_up = bike_xform.up();
-    let cos = up.dot(cam_up);
-
-    let theta = cos.acos();
-    let rate = if !theta.is_normal() {
-        0.0
-    } else if theta.is_sign_negative() {
-        -0.4
-    } else {
-        0.4
-    } * dt;
-
-    let torque = cam_up.cross(up).normalize() * rate * 50.0;
-
-    forces.torque = torque.into();
-}
-
 fn setup_colliders(
     mut commands: Commands,
     planet_query: Query<Entity, With<CyberSphere>>,
@@ -98,77 +62,66 @@ fn setup_colliders(
         .insert(ColliderPositionSync::Discrete);
 }
 
+fn gravity(xform: Query<&Transform, With<CyberBike>>, mut config: ResMut<RapierConfiguration>) {
+    let gravity = xform.single().translation.normalize() * -10.0;
+    config.gravity = gravity.into();
+}
+
+fn falling_cat(
+    time: Res<Time>,
+    mut bike_query: Query<(&Transform, &mut RigidBodyForcesComponent), With<CyberBike>>,
+) {
+    let dt = time.delta_seconds();
+
+    let (bike_xform, mut forces) = bike_query.single_mut();
+    let up = bike_xform.translation.normalize();
+    let cam_up = bike_xform.up();
+    let cos = up.dot(cam_up);
+
+    let theta = cos.acos();
+    let force = if !theta.is_normal() { 0.0 } else { theta * dt };
+    let torque = cam_up.cross(up).normalize() * force * 50.0;
+
+    forces.torque = torque.into();
+}
+
 fn update_forces(
     time: Res<Time>,
     settings: Res<MovementSettings>,
     input: Res<InputState>,
-    mut query: Query<(&Transform, &mut CyberBikeState)>,
+    mut query: Query<
+        (
+            &Transform,
+            &mut RigidBodyForcesComponent,
+            &mut ColliderMaterialComponent,
+        ),
+        With<CyberBike>,
+    >,
 ) {
     let dt = time.delta_seconds();
-    let (xform, mut state) = query.single_mut();
+    let (xform, mut forces, mut cmat) = query.single_mut();
 
-    // first gravity
-    let down = -xform.translation.normalize();
-    let dvel = down * settings.gravity * dt;
-    let mut vel = if state.velocity.is_finite() {
-        state.velocity + dvel
-    } else {
-        dvel
-    };
-
-    // thrust or brake
-    vel += xform.forward() * input.throttle * dt * settings.accel;
+    // thrust
+    let thrust: Vector3<f32> =
+        (xform.forward() * input.throttle * dt * settings.accel * 500.0).into();
+    forces.force += thrust;
 
     // brake
-    if input.brake {
-        let s = vel.length_squared();
-        if s < 0.05 {
-            vel = Vec3::ZERO;
-        } else {
-            vel -= vel.normalize() * settings.accel * dt;
-        }
-    }
+    cmat.friction = if input.brake { 1.0 } else { 0.0 };
 
-    // drag
-    let v2 = vel.length_squared().min(100_000.0);
-    let drag = vel * settings.drag * v2 * dt;
-    vel -= drag;
-
-    if vel.length_squared() < 0.0001 {
-        vel = Vec3::ZERO;
-    }
-
-    state.velocity = vel;
-}
-
-fn steer_cyberbike(
-    settings: Res<MovementSettings>,
-    windows: Res<Windows>,
-    time: Res<Time>,
-    istate: Res<InputState>,
-    mut query: Query<&mut Transform, With<CyberBike>>,
-) {
-    let window = windows.get_primary().unwrap();
-    let window_scale = window.height().min(window.width());
-    let dt = time.delta_seconds();
-    let mut transform = query.single_mut();
-
-    let d_yaw = (settings.sensitivity * dt * window_scale * istate.yaw).to_radians();
-    let rotation = Quat::from_axis_angle(transform.local_y(), d_yaw);
-
-    transform.rotate(rotation);
+    // steering
+    let torque: Vector3<f32> = (xform.up() * input.yaw * dt * settings.sensitivity * 500.0).into();
+    forces.torque += torque;
 }
 
 pub struct CyberActionPlugin;
 impl Plugin for CyberActionPlugin {
     fn build(&self, app: &mut App) {
-        app.init_resource::<CyberBikeState>()
-            .init_resource::<MovementSettings>()
+        app.init_resource::<MovementSettings>()
             .add_plugin(RapierPhysicsPlugin::<NoUserData>::default())
             .add_startup_system_to_stage(StartupStage::PostStartup, setup_colliders)
             .add_system(gravity)
             .add_system(falling_cat)
-            //.add_system(update_forces)
-            .add_system(steer_cyberbike);
+            .add_system(update_forces);
     }
 }
diff --git a/src/geometry.rs b/src/geometry.rs
index 90a370b..3897da3 100644
--- a/src/geometry.rs
+++ b/src/geometry.rs
@@ -1,6 +1,6 @@
 use bevy::prelude::*;
 
-use crate::{action::CyberBikeState, Label};
+use crate::Label;
 
 pub const PLANET_RADIUS: f32 = 360.0;
 pub(crate) const SPAWN_ALTITUDE: f32 = PLANET_RADIUS + 100.0;
@@ -50,8 +50,7 @@ fn spawn_cyberbike(mut commands: Commands, asset_server: Res<AssetServer>) {
         .with_children(|rider| {
             rider.spawn_scene(asset_server.load("cyber-bike_no_y_up.glb#Scene0"));
         })
-        .insert(CyberBike)
-        .insert(CyberBikeState::default());
+        .insert(CyberBike);
 }
 
 pub struct CyberGeomPlugin;
diff --git a/src/ui.rs b/src/ui.rs
index e0e301e..565b7ce 100644
--- a/src/ui.rs
+++ b/src/ui.rs
@@ -1,6 +1,7 @@
 use bevy::prelude::*;
+use bevy_rapier3d::prelude::*;
 
-use crate::action::CyberBikeState;
+use crate::geometry::CyberBike;
 
 #[derive(Component)]
 struct UpText;
@@ -32,10 +33,13 @@ fn setup_ui(mut commands: Commands, asset_server: Res<AssetServer>) {
         .insert(UpText);
 }
 
-fn update_ui(state_query: Query<&CyberBikeState>, mut text_query: Query<&mut Text, With<UpText>>) {
+fn update_ui(
+    state_query: Query<&RigidBodyVelocityComponent, With<CyberBike>>,
+    mut text_query: Query<&mut Text, With<UpText>>,
+) {
     let mut text = text_query.single_mut();
     let state = state_query.single();
-    text.sections[0].value = format!("spd: {:.2}", state.velocity.length(),);
+    text.sections[0].value = format!("spd: {:.2}", state.linvel.magnitude());
 }
 
 pub struct CyberUIPlugin;