diff --git a/src/action/mod.rs b/src/action/mod.rs
index 83fe8ba..abad0bc 100644
--- a/src/action/mod.rs
+++ b/src/action/mod.rs
@@ -29,15 +29,18 @@ impl Plugin for CyberActionPlugin {
             .register_type::<CyberLean>()
             .register_type::<CatControllerSettings>()
             .add_plugins((PhysicsPlugins::default(), FrameTimeDiagnosticsPlugin))
-            .insert_resource(SubstepCount(24))
+            .insert_resource(SubstepCount(6))
             .add_systems(
                 Update,
                 (
-                    gravity,
-                    #[cfg(feature = "inspector")]
+                    set_gravity,
+                    clear_forces,
+                    calculate_lean,
+                    apply_lean,
+                    //#[cfg(feature = "inspector")]
                     debug_bodies,
-                    (cyber_lean, suspension, falling_cat, input_forces).after(clear_forces),
-                ),
+                )
+                    .chain(),
             );
     }
 }
diff --git a/src/action/systems.rs b/src/action/systems.rs
index b410b22..84cc282 100644
--- a/src/action/systems.rs
+++ b/src/action/systems.rs
@@ -1,15 +1,14 @@
 use std::f32::consts::{FRAC_PI_3, FRAC_PI_4};
 
 use avian3d::{
+    collision::Collisions,
     dynamics::solver::xpbd::AngularConstraint,
     prelude::{
-        ColliderMassProperties, ExternalForce, ExternalTorque, Gravity, LinearVelocity,
+        ColliderMassProperties, Collision, ExternalForce, ExternalTorque, Gravity, LinearVelocity,
         PrismaticJoint, RigidBodyQuery,
     },
 };
-#[cfg(feature = "inspector")]
-use bevy::prelude::Entity;
-use bevy::prelude::{Quat, Query, Res, ResMut, Time, Transform, Vec3, With, Without};
+use bevy::prelude::{EventReader, Quat, Query, Res, ResMut, Time, Transform, Vec3, With, Without};
 
 use super::{CatControllerSettings, CatControllerState, CyberLean, MovementSettings};
 use crate::{
@@ -38,7 +37,7 @@ fn rotate_point(pt: &Vec3, rot: &Quat) -> Vec3 {
 }
 
 /// The gravity vector points from the cyberbike to the center of the planet.
-pub(super) fn gravity(
+pub(super) fn set_gravity(
     xform: Query<&Transform, With<CyberBikeBody>>,
 
     settings: Res<MovementSettings>,
@@ -46,20 +45,25 @@ pub(super) fn gravity(
 ) {
     let xform = xform.single();
     *gravity = Gravity(xform.translation.normalize() * -settings.gravity);
-
-    // clear all external forces
 }
 
-pub(super) fn clear_forces(mut forces: Query<(&mut ExternalForce, &mut ExternalTorque)>) {
-    for (mut force, mut torque) in forces.iter_mut() {
-        force.clear();
-        torque.clear();
+pub(super) fn clear_forces(
+    mut forces: Query<(Option<&mut ExternalForce>, Option<&mut ExternalTorque>)>,
+) {
+    for (force, torque) in forces.iter_mut() {
+        if let Some(mut force) = force {
+            force.clear();
+        }
+        if let Some(mut torque) = torque {
+            torque.clear();
+        }
     }
 }
 
 pub(super) fn suspension(
     movment_settings: Res<MovementSettings>,
     wheel_config: Res<WheelConfig>,
+    time: Res<Time>,
     mass: Query<&ColliderMassProperties, With<CyberBikeBody>>,
     mut axels: Query<(&mut ExternalForce, &CyberSpring, &Transform)>,
 ) {
@@ -68,17 +72,19 @@ pub(super) fn suspension(
     } else {
         1.0
     };
+    let dt = time.delta_seconds();
     let gravity = movment_settings.gravity;
-    let mag = -wheel_config.stiffness * mass * gravity;
+    let mag = -wheel_config.stiffness * mass * gravity * dt;
     for (mut force, spring, xform) in axels.iter_mut() {
         let spring = mag * spring.0;
         let spring = xform.translation + spring;
-        let _ = force.apply_force(spring);
+        bevy::log::info!("suspension force: {spring:?}");
+        //let _ = force.apply_force(spring);
     }
 }
 
 /// The desired lean angle, given steering input and speed.
-pub(super) fn cyber_lean(
+pub(super) fn calculate_lean(
     bike_state: Query<(&LinearVelocity, &Transform), With<CyberBikeBody>>,
     wheels: Query<&Transform, With<CyberWheel>>,
     input: Res<InputState>,
@@ -104,7 +110,7 @@ pub(super) fn cyber_lean(
 }
 
 /// PID-based controller for stabilizing attitude; keeps the cyberbike upright.
-pub(super) fn falling_cat(
+pub(super) fn apply_lean(
     mut bike_query: Query<(&Transform, &mut ExternalTorque, &mut CatControllerState)>,
     time: Res<Time>,
     settings: Res<CatControllerSettings>,
@@ -132,7 +138,7 @@ pub(super) fn falling_cat(
 }
 
 /// Apply forces to the cyberbike as a result of input.
-pub(super) fn input_forces(
+pub(super) fn apply_inputs(
     settings: Res<MovementSettings>,
     input: Res<InputState>,
     time: Res<Time>,
@@ -159,7 +165,8 @@ pub(super) fn input_forces(
     let thrust = xform.forward() * input.throttle * settings.accel;
     let point = xform.translation + *xform.back();
 
-    let _ = *forces.apply_force_at_point(dt * thrust, point, mass.center_of_mass.0);
+    //let _ = *forces.apply_force_at_point(dt * thrust, point,
+    // mass.center_of_mass.0);
 
     // brake + thrust
     for mut motor in braking_query.iter_mut() {
@@ -188,10 +195,41 @@ pub(super) fn input_forces(
     fork.align_orientation(&mut axle, &mut bike, diff, &mut compliance, 1.0, dt);
 }
 
-#[cfg(feature = "inspector")]
-pub(super) fn debug_bodies(bodies: Query<(Entity, RigidBodyQuery)>) {
-    for (entity, rbq) in bodies.iter().filter(|(_, r)| r.rb.is_dynamic()) {
-        let line = format!("{entity:?} at {:?}", rbq.current_position());
-        bevy::log::info!(line);
+//#[cfg(feature = "inspector")]
+mod inspector {
+    use bevy::prelude::Entity;
+
+    use super::*;
+    pub(crate) fn debug_bodies(
+        bodies: Query<(Entity, RigidBodyQuery)>,
+        mut collisions: EventReader<Collision>,
+    ) {
+        let bodies: Vec<_> = bodies.iter().collect();
+        for i in 0..(bodies.len()) {
+            let (ent, ref rb) = bodies[i];
+            let cur_pos = rb.current_position();
+            let mut max = 0.0f32;
+            let mut min = f32::MAX;
+            for j in 0..(bodies.len()) {
+                if j == i {
+                    continue;
+                }
+                let (_, ref other) = bodies[j];
+                let dist = (cur_pos - other.current_position()).length();
+                max = max.max(dist);
+                min = min.min(dist);
+            }
+            let line = format!("{ent:?} at {cur_pos:?} -- min: {min}, max: {max}");
+            bevy::log::info!(line);
+        }
+        for Collision(contacts) in collisions.read() {
+            bevy::log::info!(
+                "Entities {:?} and {:?} are colliding",
+                contacts.entity1,
+                contacts.entity2,
+            );
+        }
     }
 }
+//#[cfg(feature = "inspector")]
+pub(super) use inspector::debug_bodies;
diff --git a/src/bike/body.rs b/src/bike/body.rs
index c7a7487..954beec 100644
--- a/src/bike/body.rs
+++ b/src/bike/body.rs
@@ -4,8 +4,8 @@ use bevy::{
     scene::SceneBundle,
 };
 
-use super::{spawn_wheels, CyberBikeBody, Meshterial, WheelConfig, BIKE_BODY_COLLISION_GROUP};
-use crate::{action::CatControllerState, planet::PLANET_RADIUS};
+use super::{spawn_wheels, CyberBikeBody, Meshterial, WheelConfig};
+use crate::{action::CatControllerState, planet::PLANET_RADIUS, ColliderGroups};
 
 pub(super) fn spawn_cyberbike(
     mut commands: Commands,
@@ -32,8 +32,8 @@ pub(super) fn spawn_cyberbike(
         ..Default::default()
     };
 
-    let (membership, filter) = BIKE_BODY_COLLISION_GROUP;
-    let bike_collision_group = CollisionLayers::new(membership, filter);
+    let bike_collision_group =
+        CollisionLayers::new(ColliderGroups::BikeBody, ColliderGroups::Planet);
 
     let scene = asset_server.load("cb-no-y_up.glb#Scene0");
 
@@ -50,7 +50,7 @@ pub(super) fn spawn_cyberbike(
             SleepingDisabled,
             CyberBikeBody,
             CatControllerState::default(),
-            ColliderDensity(0.6),
+            ColliderDensity(0.06),
             LinearDamping(0.1),
             AngularDamping(2.0),
             LinearVelocity::ZERO,
@@ -66,5 +66,7 @@ pub(super) fn spawn_cyberbike(
         })
         .id();
 
+    bevy::log::info!("bike body: {bike:?}");
+
     spawn_wheels(&mut commands, bike, &xform, &wheel_conf, &mut meshterials);
 }
diff --git a/src/bike/mod.rs b/src/bike/mod.rs
index 212ec24..7c089d8 100644
--- a/src/bike/mod.rs
+++ b/src/bike/mod.rs
@@ -10,8 +10,8 @@ use bevy::{
 pub(crate) use self::components::*;
 use self::{body::spawn_cyberbike, wheels::spawn_wheels};
 
-pub const BIKE_BODY_COLLISION_GROUP: (u32, u32) = (0b01, 0b01);
-pub const BIKE_WHEEL_COLLISION_GROUP: (u32, u32) = (0b10, 0b10);
+pub const BIKE_BODY_COLLISION_GROUP: (u32, u32) = (1, 1);
+pub const BIKE_WHEEL_COLLISION_GROUP: (u32, u32) = (2, 2);
 
 type Meshterial<'a> = (
     ResMut<'a, Assets<Mesh>>,
diff --git a/src/bike/wheels.rs b/src/bike/wheels.rs
index 15636cb..1dac3ce 100644
--- a/src/bike/wheels.rs
+++ b/src/bike/wheels.rs
@@ -1,10 +1,8 @@
 use avian3d::prelude::*;
 use bevy::prelude::{Torus as Tire, *};
 
-use super::{
-    CyberFork, CyberSpring, CyberSteering, CyberWheel, Meshterial, WheelConfig,
-    BIKE_WHEEL_COLLISION_GROUP,
-};
+use super::{CyberFork, CyberSpring, CyberSteering, CyberWheel, Meshterial, WheelConfig};
+use crate::ColliderGroups;
 
 pub fn spawn_wheels(
     commands: &mut Commands,
@@ -13,11 +11,11 @@ pub fn spawn_wheels(
     conf: &WheelConfig,
     meshterials: &mut Meshterial,
 ) {
-    let (membership, filter) = BIKE_WHEEL_COLLISION_GROUP;
-    let wheels_collision_group = CollisionLayers::new(membership, filter);
+    let wheels_collision_group =
+        CollisionLayers::new(ColliderGroups::Wheels, ColliderGroups::Planet);
     let wheel_y = conf.y;
     let not_sleeping = SleepingDisabled;
-    let ccd = SweptCcd::NON_LINEAR.include_dynamic(false);
+    let ccd = SweptCcd::LINEAR.include_dynamic(false);
     let limits = conf.limits;
     let (meshes, materials) = meshterials;
     let rake_vec: Vec3 = Vec3::new(0.0, 1.0, 0.57).normalize(); // about 30 degrees of rake
@@ -82,6 +80,7 @@ pub fn spawn_wheels(
                 SpatialBundle::default(),
                 RigidBody::Dynamic,
                 ColliderDensity(0.1),
+                CollisionMargin(0.1),
                 AngularVelocity::ZERO,
                 ExternalTorque::ZERO,
             ))
@@ -91,43 +90,40 @@ pub fn spawn_wheels(
             .id();
 
         let spring = CyberSpring(suspension_axis);
-        let axel = if let Some(steering) = steering {
+        let axle = if let Some(steering) = steering {
             commands.spawn((
                 RigidBody::Dynamic,
                 ExternalForce::ZERO,
                 steering,
                 spring,
-                Collider::sphere(0.1),
-                ColliderDensity(0.1),
-                CollisionLayers::from_bits(0, 0),
+                MassPropertiesBundle::new_computed(&Collider::sphere(0.1), 0.1),
             ))
         } else {
             commands.spawn((
                 RigidBody::Dynamic,
                 ExternalForce::ZERO,
                 spring,
-                Collider::sphere(0.1),
-                ColliderDensity(0.1),
-                CollisionLayers::from_bits(0, 0),
+                MassPropertiesBundle::new_computed(&Collider::sphere(0.1), 0.1),
             ))
         }
         .insert(SpatialBundle::from_transform(
             xform.with_translation(xform.translation + offset),
         ))
         .id();
-        let axel_joint = RevoluteJoint::new(axel, wheel).with_aligned_axis(Vec3::NEG_X);
+        bevy::log::info!("axle RB: {axle:?}");
+        let axel_joint = RevoluteJoint::new(axle, wheel).with_aligned_axis(Vec3::NEG_X);
         commands.spawn(axel_joint);
 
         // suspension and steering:
         if steering.is_some() {
-            let joint = PrismaticJoint::new(axel, bike)
+            let joint = PrismaticJoint::new(axle, bike)
                 .with_free_axis(suspension_axis)
                 .with_local_anchor_1(Vec3::new(0.0, 0.0, 0.1))
                 .with_local_anchor_2(offset)
                 .with_limits(limits[0], limits[1]);
             commands.spawn((joint, CyberFork));
         } else {
-            let joint = PrismaticJoint::new(axel, bike)
+            let joint = PrismaticJoint::new(axle, bike)
                 .with_free_axis(suspension_axis)
                 .with_local_anchor_2(offset)
                 .with_limits(limits[0], limits[1]);
@@ -168,7 +164,7 @@ fn gen_tires(conf: &WheelConfig) -> (Mesh, Collider) {
     for idx in indices.as_slice().chunks_exact(3) {
         idxs.push([idx[0] as u32, idx[1] as u32, idx[2] as u32]);
     }
-    let wheel_collider = Collider::convex_decomposition_from_mesh(&mesh).unwrap();
+    let wheel_collider = Collider::trimesh_from_mesh(&mesh).unwrap();
 
     (mesh, wheel_collider)
 }
diff --git a/src/camera.rs b/src/camera.rs
index 76d8318..91ddd8f 100644
--- a/src/camera.rs
+++ b/src/camera.rs
@@ -44,12 +44,15 @@ fn setup_cybercams(mut commands: Commands) {
         ..Default::default()
     };
 
-    commands
+    let id = commands
         .spawn(Camera3dBundle {
             projection: bevy::render::camera::Projection::Perspective(hero_projection),
             ..Default::default()
         })
-        .insert(CyberCameras::Hero);
+        .insert(CyberCameras::Hero)
+        .id();
+
+    commands.spawn(TargetCamera(id));
 
     commands
         .spawn(Camera3dBundle::default())
diff --git a/src/glamor.rs b/src/glamor.rs
index eba93ec..ba5ec7f 100644
--- a/src/glamor.rs
+++ b/src/glamor.rs
@@ -2,6 +2,7 @@ use avian3d::debug_render::PhysicsGizmos;
 use bevy::{
     color::Srgba,
     gizmos::AppGizmoBuilder,
+    math::Vec3,
     prelude::{App, Color, GizmoConfig, Plugin},
 };
 
@@ -20,6 +21,8 @@ impl Plugin for CyberGlamorPlugin {
                 PhysicsGizmos {
                     contact_point_color: Some(Srgba::GREEN.into()),
                     contact_normal_color: Some(Srgba::WHITE.into()),
+                    hide_meshes: true,
+                    axis_lengths: Some(Vec3::ZERO),
                     ..Default::default()
                 },
                 GizmoConfig::default(),
diff --git a/src/lib.rs b/src/lib.rs
index aa32801..e25ec7f 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -1,3 +1,4 @@
+use avian3d::prelude::PhysicsLayer;
 use bevy::{
     prelude::{Query, Vec3, Window, With},
     window::PrimaryWindow,
@@ -12,6 +13,13 @@ pub mod lights;
 pub mod planet;
 pub mod ui;
 
+#[derive(PhysicsLayer)]
+pub enum ColliderGroups {
+    BikeBody,
+    Wheels,
+    Planet,
+}
+
 pub fn disable_mouse_trap(mut window: Query<&mut Window, With<PrimaryWindow>>) {
     let mut window = window.get_single_mut().unwrap();
     window.cursor.grab_mode = bevy::window::CursorGrabMode::None;
diff --git a/src/lights.rs b/src/lights.rs
index d68464a..9ececfe 100644
--- a/src/lights.rs
+++ b/src/lights.rs
@@ -32,7 +32,7 @@ fn spawn_static_lights(
 
     commands.insert_resource(AmbientLight {
         color: Color::WHITE,
-        brightness: 0.2,
+        brightness: 10_000.0,
     });
 
     let _cascade_shadow_config = CascadeShadowConfigBuilder {
diff --git a/src/planet.rs b/src/planet.rs
index a8a6d9a..8ca064e 100644
--- a/src/planet.rs
+++ b/src/planet.rs
@@ -41,7 +41,7 @@ fn spawn_planet(
             RigidBody::Static,
             pcollide,
             CyberPlanet,
-            CollisionLayers::new(u32::MAX, u32::MAX),
+            CollisionLayers::new(LayerMask::ALL, LayerMask::ALL),
             CollisionMargin(0.2),
         ));
 }
diff --git a/src/ui.rs b/src/ui.rs
index a7be79d..13e8729 100644
--- a/src/ui.rs
+++ b/src/ui.rs
@@ -3,8 +3,9 @@ use bevy::{
     app::{Startup, Update},
     prelude::{
         AlignSelf, App, AssetServer, Color, Commands, Component, Plugin, Query, Res, Style, Text,
-        TextBundle, TextSection, TextStyle, Transform, With,
+        TextBundle, TextSection, TextStyle, With,
     },
+    ui::TargetCamera,
 };
 
 use crate::bike::CyberBikeBody;
@@ -34,16 +35,16 @@ fn setup_ui(mut commands: Commands, asset_server: Res<AssetServer>) {
             },
             ..Default::default()
         })
-        .insert(UpText);
+        .insert((UpText, TargetCamera));
 }
 
 fn update_ui(
-    state_query: Query<(&LinearVelocity, &Transform), With<CyberBikeBody>>,
+    state_query: Query<&LinearVelocity, With<CyberBikeBody>>,
     mut text_query: Query<&mut Text, With<UpText>>,
 ) {
     let mut text = text_query.single_mut();
-    let (velocity, xform) = state_query.single();
-    let speed = velocity.dot(*xform.forward());
+    let velocity = state_query.single();
+    let speed = velocity.0.length();
     text.sections[0].value = format!("spd: {:.2}", speed);
 }