From e666c972acf6da3697cb0a5e20f65d3ff2154c5d Mon Sep 17 00:00:00 2001
From: Joe Ardent <code@ardent.nebcorp.com>
Date: Sun, 5 Feb 2023 14:59:41 -0800
Subject: [PATCH] quasi-merge from rolling_wheels

---
 src/action.rs            | 143 -------------------
 src/action/components.rs | 123 +++++++++++++++++
 src/action/mod.rs        |  37 +++++
 src/action/systems.rs    | 183 +++++++++++++++++++++++++
 src/bike.rs              | 287 ---------------------------------------
 src/bike/body.rs         |  81 +++++++++++
 src/bike/components.rs   |  41 ++++++
 src/bike/mod.rs          |  26 ++++
 src/bike/wheels.rs       | 157 +++++++++++++++++++++
 src/camera.rs            |  34 +----
 src/glamor.rs            |  33 ++++-
 src/main.rs              |  19 +--
 12 files changed, 682 insertions(+), 482 deletions(-)
 delete mode 100644 src/action.rs
 create mode 100644 src/action/components.rs
 create mode 100644 src/action/mod.rs
 create mode 100644 src/action/systems.rs
 delete mode 100644 src/bike.rs
 create mode 100644 src/bike/body.rs
 create mode 100644 src/bike/components.rs
 create mode 100644 src/bike/mod.rs
 create mode 100644 src/bike/wheels.rs

diff --git a/src/action.rs b/src/action.rs
deleted file mode 100644
index 3819d67..0000000
--- a/src/action.rs
+++ /dev/null
@@ -1,143 +0,0 @@
-use bevy::{
-    diagnostic::{Diagnostics, FrameTimeDiagnosticsPlugin},
-    prelude::*,
-};
-use bevy_rapier3d::prelude::{
-    ExternalForce, Friction, NoUserData, RapierConfiguration, RapierPhysicsPlugin, Velocity,
-};
-
-use crate::{
-    bike::{CyberBikeBody, CyberBikeCollider, CyberBikeControl},
-    input::InputState,
-};
-
-#[derive(Resource)]
-pub struct MovementSettings {
-    pub accel: f32,
-    pub gravity: f32,
-    pub sensitivity: f32,
-}
-
-impl Default for MovementSettings {
-    fn default() -> Self {
-        Self {
-            sensitivity: 10.0,
-            accel: 20.0,
-            gravity: 9.8,
-        }
-    }
-}
-
-#[derive(Debug, Resource, Reflect)]
-#[reflect(Resource)]
-struct CatControllerSettings {
-    pub kp: f32,
-    pub kd: f32,
-    pub kws: f32,
-}
-
-impl Default for CatControllerSettings {
-    fn default() -> Self {
-        Self {
-            kp: 10.0,
-            kd: 4.0,
-            kws: 0.85,
-        }
-    }
-}
-
-fn zero_gravity(mut config: ResMut<RapierConfiguration>) {
-    config.gravity = Vec3::ZERO;
-}
-
-fn gravity(
-    mut query: Query<(&Transform, &mut ExternalForce), With<CyberBikeBody>>,
-    settings: Res<MovementSettings>,
-) {
-    let (_xform, mut forces) = query.single_mut();
-    let grav = Vec3::Y * -settings.gravity;
-    forces.force = grav;
-}
-
-fn falling_cat(
-    mut bike_query: Query<(&Transform, &mut ExternalForce, &mut CyberBikeControl)>,
-    _diagnostics: Res<Diagnostics>,
-    settings: Res<CatControllerSettings>,
-) {
-    let (xform, mut forces, mut control_vars) = bike_query.single_mut();
-    let up = Vec3::Y;
-    let bike_up = xform.up();
-
-    let torque = bike_up.cross(up).normalize_or_zero();
-    let cos = up.dot(bike_up);
-    let cos = if cos.is_finite() { cos } else { 1.0 };
-
-    let error = 1.0 - cos;
-
-    let derivative = error - control_vars.prev_error;
-    control_vars.prev_error = error;
-    // this integral term is not an integral, it's more like a weighted moving sum
-    let weighted_sum = control_vars.error_sum + error;
-    control_vars.error_sum = weighted_sum * 0.8;
-
-    let mag = (settings.kp * error) + (settings.kws * weighted_sum) + (settings.kd * derivative);
-
-    #[cfg(feature = "inspector")]
-    if let Some(count) = _diagnostics
-        .get(FrameTimeDiagnosticsPlugin::FRAME_COUNT)
-        .and_then(|d| d.smoothed())
-        .map(|x| x as u64)
-    {
-        if count % 30 == 0 {
-            dbg!(&control_vars, mag, cos, derivative);
-        }
-    }
-
-    forces.torque = torque * mag;
-}
-
-fn input_forces(
-    settings: Res<MovementSettings>,
-    input: Res<InputState>,
-    mut cquery: Query<&mut Friction, With<CyberBikeCollider>>,
-    mut bquery: Query<(&Transform, &mut ExternalForce), With<CyberBikeBody>>,
-) {
-    let (xform, mut forces) = bquery.single_mut();
-    let mut friction = cquery.single_mut();
-
-    // thrust
-    let thrust = xform.forward() * input.throttle * settings.accel;
-    forces.force += thrust;
-
-    // brake
-    friction.coefficient = if input.brake { 2.0 } else { 0.0 };
-
-    // steering
-    let torque = xform.down() * input.yaw * settings.sensitivity;
-    forces.torque += torque;
-}
-
-fn drag(mut query: Query<(&Velocity, &mut ExternalForce), With<CyberBikeBody>>) {
-    let (vels, mut forces) = query.single_mut();
-
-    if let Some(vel) = vels.linvel.try_normalize() {
-        let v2 = vels.linvel.length_squared();
-        forces.force -= vel * (v2 * 0.02);
-    }
-}
-
-pub struct CyberActionPlugin;
-impl Plugin for CyberActionPlugin {
-    fn build(&self, app: &mut App) {
-        app.init_resource::<MovementSettings>()
-            .init_resource::<CatControllerSettings>()
-            .register_type::<CatControllerSettings>()
-            .add_plugin(RapierPhysicsPlugin::<NoUserData>::default())
-            .add_plugin(FrameTimeDiagnosticsPlugin::default())
-            .add_startup_system(zero_gravity)
-            .add_system(gravity.before("cat"))
-            .add_system(falling_cat.label("cat"))
-            .add_system(input_forces.label("iforces").after("cat"))
-            .add_system(drag.label("drag").after("iforces"));
-    }
-}
diff --git a/src/action/components.rs b/src/action/components.rs
new file mode 100644
index 0000000..34cf983
--- /dev/null
+++ b/src/action/components.rs
@@ -0,0 +1,123 @@
+use std::time::Instant;
+
+use bevy::{
+    prelude::{Component, ReflectResource, Resource, Vec3},
+    reflect::Reflect,
+};
+
+#[derive(Debug, Resource)]
+pub(crate) struct ActionDebugInstant(pub Instant);
+
+impl Default for ActionDebugInstant {
+    fn default() -> Self {
+        ActionDebugInstant(Instant::now())
+    }
+}
+
+#[derive(Debug, Component)]
+pub(super) struct Tunneling {
+    pub frames: usize,
+    pub dir: Vec3,
+}
+
+impl Default for Tunneling {
+    fn default() -> Self {
+        Tunneling {
+            frames: 15,
+            dir: Vec3::ZERO,
+        }
+    }
+}
+
+#[derive(Debug, Resource, Reflect)]
+#[reflect(Resource)]
+pub struct MovementSettings {
+    pub accel: f32,
+    pub gravity: f32,
+    pub sensitivity: f32,
+}
+
+impl Default for MovementSettings {
+    fn default() -> Self {
+        Self {
+            sensitivity: 6.0,
+            accel: 40.0,
+            gravity: 9.8,
+        }
+    }
+}
+
+#[derive(Debug, Resource, Reflect)]
+#[reflect(Resource)]
+pub struct CatControllerSettings {
+    pub kp: f32,
+    pub kd: f32,
+    pub ki: f32,
+}
+
+impl Default for CatControllerSettings {
+    fn default() -> Self {
+        Self {
+            kp: 40.0,
+            kd: 5.0,
+            ki: 0.1,
+        }
+    }
+}
+
+#[derive(Component, Debug, Clone, Copy)]
+pub struct CatControllerState {
+    pub roll_integral: f32,
+    pub roll_prev: f32,
+    pub pitch_integral: f32,
+    pub pitch_prev: f32,
+    decay_factor: f32,
+    roll_limit: f32,
+    pitch_limit: f32,
+}
+
+impl Default for CatControllerState {
+    fn default() -> Self {
+        Self {
+            roll_integral: Default::default(),
+            roll_prev: Default::default(),
+            pitch_integral: Default::default(),
+            pitch_prev: Default::default(),
+            decay_factor: 0.99,
+            roll_limit: 1.5,
+            pitch_limit: 0.8,
+        }
+    }
+}
+
+impl CatControllerState {
+    pub fn decay(&mut self) {
+        if self.roll_integral.abs() > 0.001 {
+            self.roll_integral *= self.decay_factor;
+        }
+        if self.pitch_integral.abs() > 0.001 {
+            self.pitch_integral *= self.decay_factor;
+        }
+    }
+
+    pub fn update_roll(&mut self, error: f32, dt: f32) -> (f32, f32) {
+        let lim = self.roll_limit;
+        self.roll_integral = (self.roll_integral + (error * dt)).min(lim).max(-lim);
+        let derivative = (error - self.roll_prev) / dt;
+        self.roll_prev = error;
+        (derivative, self.roll_integral)
+    }
+
+    pub fn update_pitch(&mut self, error: f32, dt: f32) -> (f32, f32) {
+        let lim = self.pitch_limit;
+        self.pitch_integral = (self.pitch_integral + (error * dt)).min(lim).max(-lim);
+        let derivative = (error - self.pitch_prev) / dt;
+        self.pitch_prev = error;
+        (derivative, self.pitch_integral)
+    }
+
+    pub fn set_integral_limits(&mut self, roll: f32, pitch: f32) {
+        self.roll_limit = roll;
+        self.pitch_limit = pitch;
+    }
+}
diff --git a/src/action/mod.rs b/src/action/mod.rs
new file mode 100644
index 0000000..3591d35
--- /dev/null
+++ b/src/action/mod.rs
@@ -0,0 +1,37 @@
+use bevy::{
+    diagnostic::FrameTimeDiagnosticsPlugin,
+    prelude::{App, IntoSystemDescriptor, Plugin},
+};
+use bevy_rapier3d::prelude::{NoUserData, RapierPhysicsPlugin};
+
+mod components;
+mod systems;
+
+pub use components::*;
+use systems::*;
+
+pub struct CyberActionPlugin;
+impl Plugin for CyberActionPlugin {
+    fn build(&self, app: &mut App) {
+        app.init_resource::<MovementSettings>()
+            .register_type::<MovementSettings>()
+            .init_resource::<CatControllerSettings>()
+            .init_resource::<ActionDebugInstant>()
+            .register_type::<CatControllerSettings>()
+            .add_plugin(RapierPhysicsPlugin::<NoUserData>::default())
+            .add_plugin(FrameTimeDiagnosticsPlugin::default())
+            .add_startup_system(zero_gravity)
+            .add_system(surface_fix.label("surface_fix"))
+            .add_system(gravity.before("cat"))
+            .add_system(falling_cat.label("cat"))
+            .add_system(input_forces.label("iforces").after("cat"))
+            .add_system(
+                tunnel_out
+                    .label("tunnel")
+                    .before("surface_fix")
+                    .after("drag"),
+            )
+            .add_system(surface_fix.label("surface_fix").after("cat"))
+            .add_system(drag.label("drag").after("iforces"));
+    }
+}
diff --git a/src/action/systems.rs b/src/action/systems.rs
new file mode 100644
index 0000000..02bc9e1
--- /dev/null
+++ b/src/action/systems.rs
@@ -0,0 +1,183 @@
+use std::f32::consts::PI;
+#[cfg(feature = "inspector")]
+use std::time::Instant;
+
+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, Velocity,
+    },
+    rapier::prelude::JointAxis,
+};
+
+#[cfg(feature = "inspector")]
+use super::ActionDebugInstant;
+use super::{CatControllerSettings, CatControllerState, MovementSettings, Tunneling};
+use crate::{
+    bike::{CyberBikeBody, CyberSteering, CyberWheel, BIKE_WHEEL_COLLISION_GROUP},
+    input::InputState,
+};
+
+/// Disable gravity in Rapier.
+pub(super) fn zero_gravity(mut config: ResMut<RapierConfiguration>) {
+    config.gravity = Vec3::ZERO;
+}
+
+/// The gravity vector points from the cyberbike to the center of the planet.
+pub(super) fn gravity(
+    mut query: Query<(&Transform, &mut ExternalForce, &ReadMassProperties), With<CyberBikeBody>>,
+    settings: Res<MovementSettings>,
+) {
+    let (xform, mut forces, mprops) = query.single_mut();
+    let grav = xform.translation.normalize() * -settings.gravity * mprops.0.mass;
+    forces.force = grav;
+    forces.torque = Vec3::ZERO;
+}
+
+/// PID-based controller for stabilizing attitude; keeps the cyberbike upright.
+pub(super) fn falling_cat(
+    mut bike_query: Query<(&Transform, &mut ExternalForce, &mut CatControllerState)>,
+    time: Res<Time>,
+    settings: Res<CatControllerSettings>,
+    #[cfg(feature = "inspector")] mut debug_instant: ResMut<ActionDebugInstant>,
+) {
+    let (xform, mut forces, mut control_vars) = bike_query.single_mut();
+    let wup = xform.translation.normalize();
+    let bike_up = xform.up();
+
+    let wright = xform.forward().cross(wup).normalize();
+
+    let roll_error = wright.dot(bike_up);
+    let pitch_error = wup.dot(xform.back());
+
+    // only try to correct roll if we're not totally vertical
+    if pitch_error.abs() < 0.8 {
+        let (derivative, integral) = control_vars.update_roll(roll_error, time.delta_seconds());
+        let mag =
+            (settings.kp * roll_error) + (settings.ki * integral) + (settings.kd * derivative);
+        if mag.is_finite() {
+            forces.torque += xform.back() * mag;
+        }
+    }
+
+    // we can do pitch correction any time, it's not coupled to roll
+    let (derivative, integral) = control_vars.update_pitch(pitch_error, time.delta_seconds());
+    let mag = (settings.kp * pitch_error) + (settings.ki * integral) + (settings.kd * derivative);
+    if mag.is_finite() {
+        forces.torque += wright * mag * 0.25;
+    }
+
+    #[cfg(feature = "inspector")]
+    {
+        let now = Instant::now();
+        if (now - debug_instant.0).as_millis() > 500 {
+            dbg!(roll_error, pitch_error, &control_vars, mag);
+            debug_instant.0 = now;
+        }
+    }
+    control_vars.decay();
+}
+
+/// Apply forces to the cyberbike as a result of input.
+pub(super) fn input_forces(
+    settings: Res<MovementSettings>,
+    input: Res<InputState>,
+    mut braking_query: Query<&mut MultibodyJoint, With<CyberWheel>>,
+    mut body_query: Query<
+        (&Transform, &mut ExternalForce),
+        (With<CyberBikeBody>, Without<CyberSteering>),
+    >,
+    mut steering_query: Query<&mut Transform, With<CyberSteering>>,
+) {
+    let (xform, mut forces) = body_query.single_mut();
+
+    // thrust
+    let thrust = xform.forward() * input.throttle * settings.accel;
+    let point = xform.translation + xform.back();
+    let force = ExternalForce::at_point(thrust, point, xform.translation);
+    *forces += force;
+
+    // brake
+    for mut motor in braking_query.iter_mut() {
+        let factor = if input.brake { settings.accel } else { 0.0 };
+        motor.data.set_motor_velocity(JointAxis::X, 0.0, factor);
+    }
+
+    // steering
+    let angle = input.yaw * (PI / 2.0);
+    let mut steering = steering_query.single_mut();
+    steering.rotation = Quat::from_axis_angle(Vec3::Y, angle + 90.0f32.to_radians());
+    //dbg!(steering.rotation);
+}
+
+/// Don't let the wheels get stuck underneat the planet
+pub(super) fn surface_fix(
+    mut commands: Commands,
+    mut wheel_query: Query<
+        (Entity, &Transform, &mut CollisionGroups),
+        (With<CyberWheel>, Without<Tunneling>),
+    >,
+    context: Res<RapierContext>,
+) {
+    // assume the body is not below the planet surface
+    for (entity, xform, mut cgroups) in wheel_query.iter_mut() {
+        let ray_dir = xform.translation.normalize();
+        if let Some(hit) = context.cast_ray_and_get_normal(
+            xform.translation,
+            ray_dir,
+            10.0,
+            false,
+            QueryFilter::only_fixed(),
+        ) {
+            cgroups.memberships = Group::NONE;
+            cgroups.filters = Group::NONE;
+            commands.entity(entity).insert(Tunneling {
+                frames: 6,
+                dir: -hit.1.normal,
+            });
+        }
+    }
+}
+
+pub(super) fn tunnel_out(
+    mut commands: Commands,
+    mut wheel_query: Query<
+        (
+            Entity,
+            &mut Tunneling,
+            &mut ExternalForce,
+            &mut CollisionGroups,
+        ),
+        With<CyberWheel>,
+    >,
+    mprops: Query<&ReadMassProperties, With<CyberBikeBody>>,
+    settings: Res<MovementSettings>,
+) {
+    let mprops = mprops.single();
+    for (entity, mut tunneling, mut force, mut cgroups) in wheel_query.iter_mut() {
+        if tunneling.frames == 0 {
+            commands.entity(entity).remove::<Tunneling>();
+            force.force = Vec3::ZERO;
+            (cgroups.memberships, cgroups.filters) = BIKE_WHEEL_COLLISION_GROUP;
+            continue;
+        }
+        tunneling.frames -= 1;
+        force.force = tunneling.dir * settings.gravity * 1.5 * mprops.0.mass;
+        //#[cfg(feature = "inspector")]
+        dbg!(&tunneling);
+    }
+}
+
+/// General velocity-based drag-force calculation; does not take orientation
+/// into account.
+pub(super) fn drag(mut query: Query<(&Velocity, &mut ExternalForce), With<CyberBikeBody>>) {
+    let (vels, mut forces) = query.single_mut();
+
+    if let Some(vel) = vels.linvel.try_normalize() {
+        let v2 = vels.linvel.length_squared();
+        forces.force -= vel * (v2 * 0.02);
+    }
+}
diff --git a/src/bike.rs b/src/bike.rs
deleted file mode 100644
index 373462b..0000000
--- a/src/bike.rs
+++ /dev/null
@@ -1,287 +0,0 @@
-use std::fmt::Debug;
-
-use bevy::prelude::{shape::UVSphere as Tire, *};
-use bevy_rapier3d::{
-    geometry::Group,
-    prelude::{
-        Ccd, Collider, ColliderMassProperties, CollisionGroups, Damping, ExternalForce, Friction,
-        ImpulseJoint, PrismaticJointBuilder, Restitution, RigidBody, Sleeping,
-        TransformInterpolation, Velocity,
-    },
-};
-
-use crate::planet::PLANET_RADIUS;
-
-pub(crate) const SPAWN_ALTITUDE: f32 = PLANET_RADIUS * 0.2;
-
-type Meshterial<'a> = (
-    ResMut<'a, Assets<Mesh>>,
-    ResMut<'a, Assets<StandardMaterial>>,
-);
-
-#[derive(Component)]
-pub struct CyberBikeBody;
-
-#[derive(Component)]
-pub struct CyberBikeCollider;
-
-#[derive(Component, Debug)]
-pub struct CyberBikeModel;
-
-#[derive(Debug, Component)]
-pub struct CyberWheel;
-
-#[derive(Component, Debug, Default, Clone, Copy)]
-pub struct CyberBikeControl {
-    pub error_sum: f32,
-    pub prev_error: f32,
-}
-
-#[derive(Resource, Reflect)]
-#[reflect(Resource)]
-pub struct WheelConfig {
-    pub front_forward: f32,
-    pub front_stance: f32,
-    pub rear_back: f32,
-    pub y: f32,
-    pub limits: [f32; 2],
-    pub stiffness: f32,
-    pub damping: f32,
-    pub radius: f32,
-}
-
-impl Default for WheelConfig {
-    fn default() -> Self {
-        Self {
-            front_forward: 0.9,
-            front_stance: 0.65,
-            rear_back: 1.1,
-            y: -1.5,
-            limits: [-1.0, 1.0],
-            stiffness: 100.0,
-            damping: 1.0,
-            radius: 0.3,
-        }
-    }
-}
-
-const BIKE_BODY_COLLISION_GROUP: (Group, Group) = (Group::GROUP_1, Group::GROUP_1);
-const BIKE_WHEEL_COLLISION_GROUP: (Group, Group) = (Group::GROUP_10, Group::GROUP_10);
-
-fn spawn_cyberbike(
-    mut commands: Commands,
-    asset_server: Res<AssetServer>,
-    wheel_conf: Res<WheelConfig>,
-    mut meshterials: Meshterial,
-) {
-    let xform = Transform::from_translation(Vec3::Y * SPAWN_ALTITUDE);
-    //.with_rotation(Quat::from_axis_angle(Vec3::Z, -89.0f32.to_radians()));
-
-    let damping = Damping {
-        angular_damping: 0.5,
-        linear_damping: 0.1,
-    };
-    let not_sleeping = Sleeping::disabled();
-    let ccd = Ccd { enabled: true };
-
-    let bcollider_shape =
-        Collider::capsule(Vec3::new(0.0, 0.0, -1.0), Vec3::new(0.0, 0.0, 1.0), 0.50);
-
-    let friction = Friction {
-        coefficient: 0.0,
-        ..Default::default()
-    };
-
-    let restitution = Restitution {
-        coefficient: 0.0,
-        ..Default::default()
-    };
-
-    let mass_properties = ColliderMassProperties::Density(0.2);
-
-    let (membership, filter) = BIKE_BODY_COLLISION_GROUP;
-    let bike_collision_group = CollisionGroups::new(membership, filter);
-
-    let scene = asset_server.load("cb-no-y_up.glb#Scene0");
-
-    let spatialbundle = SpatialBundle {
-        transform: xform,
-        ..Default::default()
-    };
-
-    let bike = commands
-        .spawn(RigidBody::Dynamic)
-        .insert(spatialbundle)
-        .insert((
-            bcollider_shape,
-            bike_collision_group,
-            mass_properties,
-            damping,
-            restitution,
-            friction,
-            not_sleeping,
-            ccd,
-        ))
-        .insert(TransformInterpolation {
-            start: None,
-            end: None,
-        })
-        .insert(Velocity::zero())
-        .insert(ExternalForce::default())
-        .insert(CyberBikeCollider)
-        .with_children(|rider| {
-            rider.spawn(SceneBundle {
-                scene,
-                ..Default::default()
-            });
-        })
-        .insert(CyberBikeModel)
-        .insert(CyberBikeBody)
-        .insert(CyberBikeControl::default())
-        .id();
-
-    spawn_tires(&mut commands, &xform, bike, &wheel_conf, &mut meshterials);
-}
-
-fn re_tire(
-    mut commands: Commands,
-    wheel_conf: ResMut<WheelConfig>,
-    mut meshterials: Meshterial,
-    bquery: Query<(Entity, &Transform), With<CyberBikeBody>>,
-    wheels: Query<Entity, With<CyberWheel>>,
-) {
-    // we fuck with values in the egui inspector
-    let (bike, xform) = bquery.single();
-    if wheel_conf.is_changed() {
-        for wheel in wheels.iter() {
-            commands.entity(wheel).despawn_recursive();
-        }
-        spawn_tires(&mut commands, xform, bike, &wheel_conf, &mut meshterials);
-    }
-}
-
-fn spawn_tires(
-    commands: &mut Commands,
-    xform: &Transform,
-    bike: Entity,
-    conf: &WheelConfig,
-    meshterials: &mut Meshterial,
-) {
-    // re-set the collision group
-    let (membership, filter) = BIKE_WHEEL_COLLISION_GROUP;
-    let wheels_collision_group = CollisionGroups::new(membership, filter);
-    let wheel_y = conf.y;
-    let wheel_rad = conf.radius;
-    let stiffness = conf.stiffness;
-    let not_sleeping = Sleeping::disabled();
-    let ccd = Ccd { enabled: true };
-    let limits = conf.limits;
-    let (meshes, materials) = meshterials;
-
-    let tire = Tire {
-        radius: wheel_rad,
-        ..Default::default()
-    };
-    let material = StandardMaterial {
-        base_color: Color::Rgba {
-            red: 0.01,
-            green: 0.01,
-            blue: 0.01,
-            alpha: 1.0,
-        },
-        alpha_mode: AlphaMode::Opaque,
-        perceptual_roughness: 0.5,
-        ..Default::default()
-    };
-
-    let pbr_bundle = PbrBundle {
-        material: materials.add(material),
-        mesh: meshes.add(Mesh::from(tire)),
-        ..Default::default()
-    };
-
-    let mut wheel_poses = Vec::with_capacity(3);
-
-    // left front
-    {
-        let wheel_x = -conf.front_stance;
-        let wheel_z = -conf.front_forward;
-        let offset = Vec3::new(wheel_x, wheel_y, wheel_z);
-        wheel_poses.push(offset);
-    }
-
-    // right front
-    {
-        let wheel_x = conf.front_stance;
-        let wheel_z = -conf.front_forward;
-        let offset = Vec3::new(wheel_x, wheel_y, wheel_z);
-        wheel_poses.push(offset);
-    }
-
-    // rear
-    {
-        let wheel_x = 0.0;
-        let wheel_z = conf.rear_back;
-        let offset = Vec3::new(wheel_x, wheel_y, wheel_z);
-        wheel_poses.push(offset);
-    }
-
-    for offset in wheel_poses {
-        let trans = xform.translation + offset;
-        let wheel_pos_in_world = Transform::from_rotation(xform.rotation).with_translation(trans);
-        let wheel_damping = Damping {
-            linear_damping: 0.8,
-            ..Default::default()
-        };
-        let wheel_collider = Collider::ball(wheel_rad);
-        let mass_props = ColliderMassProperties::Density(0.001);
-
-        let damping = conf.damping;
-        let prismatic = PrismaticJointBuilder::new(Vec3::Y)
-            .local_anchor1(offset)
-            .limits(limits)
-            .motor_position(0.0, stiffness, damping);
-        let joint = ImpulseJoint::new(bike, prismatic);
-
-        let spatial_bundle = SpatialBundle {
-            transform: wheel_pos_in_world,
-            ..Default::default()
-        };
-
-        let txform = wheel_pos_in_world.with_rotation(Quat::from_axis_angle(
-            wheel_pos_in_world.forward(),
-            90.0f32.to_radians(),
-        ));
-        let tire_spundle = SpatialBundle {
-            transform: txform,
-            ..Default::default()
-        };
-
-        commands
-            .spawn(RigidBody::Dynamic)
-            .insert(spatial_bundle)
-            .insert((
-                wheel_collider,
-                mass_props,
-                wheel_damping,
-                ccd,
-                not_sleeping,
-                joint,
-                wheels_collision_group,
-            ))
-            .with_children(|wheel| {
-                wheel.spawn(tire_spundle).insert(pbr_bundle.clone());
-            })
-            .insert(CyberWheel);
-    }
-}
-
-pub struct CyberBikePlugin;
-impl Plugin for CyberBikePlugin {
-    fn build(&self, app: &mut App) {
-        app.insert_resource(WheelConfig::default())
-            .register_type::<WheelConfig>()
-            .add_startup_system_to_stage(StartupStage::PostStartup, spawn_cyberbike)
-            .add_system(re_tire);
-    }
-}
diff --git a/src/bike/body.rs b/src/bike/body.rs
new file mode 100644
index 0000000..efe38b7
--- /dev/null
+++ b/src/bike/body.rs
@@ -0,0 +1,81 @@
+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_tires, CyberBikeBody, Meshterial, WheelConfig, BIKE_BODY_COLLISION_GROUP};
+use crate::{action::CatControllerState, planet::PLANET_RADIUS};
+
+pub(super) fn spawn_cyberbike(
+    mut commands: Commands,
+    asset_server: Res<AssetServer>,
+    wheel_conf: Res<WheelConfig>,
+    mut meshterials: Meshterial,
+) {
+    let altitude = 40.0;
+
+    let xform = Transform::from_translation(Vec3::X * 10.0 + Vec3::Y * altitude);
+
+    let damping = Damping {
+        angular_damping: 2.0,
+        linear_damping: 0.1,
+    };
+
+    let friction = Friction {
+        coefficient: 0.3,
+        ..Default::default()
+    };
+
+    let restitution = Restitution {
+        coefficient: 0.0,
+        ..Default::default()
+    };
+
+    let mass_properties = ColliderMassProperties::Density(0.9);
+
+    let (membership, filter) = BIKE_BODY_COLLISION_GROUP;
+    let bike_collision_group = CollisionGroups::new(membership, filter);
+
+    let scene = asset_server.load("cb-no-y_up.glb#Scene0");
+
+    let spatialbundle = SpatialBundle {
+        transform: xform,
+        ..Default::default()
+    };
+
+    let bike = commands
+        .spawn(RigidBody::Dynamic)
+        .insert(spatialbundle)
+        .insert((
+            Collider::capsule(Vec3::new(0.0, 0.0, -1.0), Vec3::new(0.0, 0.0, 1.0), 0.50),
+            bike_collision_group,
+            mass_properties,
+            damping,
+            restitution,
+            friction,
+            Sleeping::disabled(),
+            Ccd { enabled: true },
+            ReadMassProperties::default(),
+        ))
+        .insert(TransformInterpolation {
+            start: None,
+            end: None,
+        })
+        .insert(Velocity::zero())
+        .insert(ExternalForce::default())
+        .with_children(|rider| {
+            rider.spawn(SceneBundle {
+                scene,
+                ..Default::default()
+            });
+        })
+        .insert(CyberBikeBody)
+        .insert(CatControllerState::default())
+        .id();
+
+    spawn_tires(&mut commands, bike, xform, &wheel_conf, &mut meshterials);
+}
diff --git a/src/bike/components.rs b/src/bike/components.rs
new file mode 100644
index 0000000..f116016
--- /dev/null
+++ b/src/bike/components.rs
@@ -0,0 +1,41 @@
+use bevy::{
+    prelude::{Component, ReflectResource, Resource},
+    reflect::Reflect,
+};
+
+#[derive(Component)]
+pub struct CyberBikeBody;
+
+#[derive(Component)]
+pub struct CyberSteering;
+
+#[derive(Debug, Component)]
+pub struct CyberWheel;
+
+#[derive(Resource, Reflect)]
+#[reflect(Resource)]
+pub struct WheelConfig {
+    pub front_forward: f32,
+    pub front_stance: f32,
+    pub rear_back: f32,
+    pub y: f32,
+    pub limits: [f32; 2],
+    pub stiffness: f32,
+    pub damping: f32,
+    pub radius: f32,
+}
+
+impl Default for WheelConfig {
+    fn default() -> Self {
+        Self {
+            front_forward: 0.9,
+            front_stance: 0.65,
+            rear_back: 1.1,
+            y: -0.45,
+            limits: [-0.7, 0.1],
+            stiffness: 90.0,
+            damping: 8.0,
+            radius: 0.3,
+        }
+    }
+}
diff --git a/src/bike/mod.rs b/src/bike/mod.rs
new file mode 100644
index 0000000..9765aa2
--- /dev/null
+++ b/src/bike/mod.rs
@@ -0,0 +1,26 @@
+mod body;
+mod components;
+mod wheels;
+
+use bevy::prelude::{App, Assets, Mesh, Plugin, ResMut, StandardMaterial, StartupStage};
+use bevy_rapier3d::prelude::Group;
+
+pub(crate) use self::components::*;
+use self::{body::spawn_cyberbike, wheels::spawn_tires};
+
+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);
+
+type Meshterial<'a> = (
+    ResMut<'a, Assets<Mesh>>,
+    ResMut<'a, Assets<StandardMaterial>>,
+);
+
+pub struct CyberBikePlugin;
+impl Plugin for CyberBikePlugin {
+    fn build(&self, app: &mut App) {
+        app.insert_resource(WheelConfig::default())
+            .register_type::<WheelConfig>()
+            .add_startup_system_to_stage(StartupStage::PostStartup, spawn_cyberbike);
+    }
+}
diff --git a/src/bike/wheels.rs b/src/bike/wheels.rs
new file mode 100644
index 0000000..487cd75
--- /dev/null
+++ b/src/bike/wheels.rs
@@ -0,0 +1,157 @@
+use bevy::prelude::{
+    shape::Capsule as Tire, AlphaMode, BuildChildren, Color, Commands, Entity, Mesh, PbrBundle,
+    Quat, SpatialBundle, StandardMaterial, Transform, Vec3,
+};
+use bevy_rapier3d::prelude::{
+    Ccd, CoefficientCombineRule, Collider, ColliderMassProperties, CollisionGroups, Damping,
+    ExternalForce, Friction, LockedAxes, MultibodyJoint, PrismaticJointBuilder, Restitution,
+    RevoluteJointBuilder, RigidBody, Sleeping, TransformInterpolation,
+};
+
+use super::{CyberSteering, CyberWheel, Meshterial, WheelConfig, BIKE_WHEEL_COLLISION_GROUP};
+
+pub fn spawn_tires(
+    commands: &mut Commands,
+    bike: Entity,
+    xform: Transform,
+    conf: &WheelConfig,
+    meshterials: &mut Meshterial,
+) {
+    let (membership, filter) = BIKE_WHEEL_COLLISION_GROUP;
+    let wheels_collision_group = CollisionGroups::new(membership, filter);
+    let wheel_y = conf.y;
+    let wheel_rad = conf.radius;
+    let stiffness = conf.stiffness;
+    let not_sleeping = Sleeping::disabled();
+    let ccd = Ccd { enabled: true };
+    let limits = conf.limits;
+    let (meshes, materials) = meshterials;
+
+    let tire = Tire {
+        radius: wheel_rad,
+        ..Default::default()
+    };
+    let material = StandardMaterial {
+        base_color: Color::Rgba {
+            red: 0.01,
+            green: 0.01,
+            blue: 0.01,
+            alpha: 1.0,
+        },
+        alpha_mode: AlphaMode::Opaque,
+        perceptual_roughness: 0.5,
+        ..Default::default()
+    };
+
+    let pbr_bundle = PbrBundle {
+        material: materials.add(material),
+        mesh: meshes.add(Mesh::from(tire)),
+        ..Default::default()
+    };
+
+    let friction = Friction {
+        coefficient: 1.0,
+        combine_rule: CoefficientCombineRule::Min,
+    };
+
+    let restitution = Restitution {
+        coefficient: 0.8,
+        combine_rule: CoefficientCombineRule::Average,
+    };
+
+    let mut wheel_poses = Vec::with_capacity(2);
+
+    // front
+    {
+        let wheel_x = 0.0;
+        let wheel_z = -conf.front_forward;
+        let offset = Vec3::new(wheel_x, wheel_y, wheel_z);
+        wheel_poses.push((offset, Some(CyberSteering)));
+    }
+
+    // rear
+    {
+        let wheel_x = 0.0;
+        let wheel_z = conf.rear_back;
+        let offset = Vec3::new(wheel_x, wheel_y, wheel_z);
+        wheel_poses.push((offset, None));
+    }
+
+    for (offset, steering) in wheel_poses {
+        let wheel_damping = Damping {
+            linear_damping: 0.8,
+            ..Default::default()
+        };
+        let wheel_collider = Collider::capsule(-Vec3::Y, Vec3::Y, 0.3);
+        let mass_props = ColliderMassProperties::Density(0.1);
+
+        let damping = conf.damping;
+        let prismatic = PrismaticJointBuilder::new(Vec3::Y)
+            .local_anchor1(offset)
+            .limits(limits)
+            .motor_position(limits[0], stiffness, damping);
+
+        let fork = commands
+            .spawn(SpatialBundle {
+                transform: Transform::from_translation(offset),
+                ..Default::default()
+            })
+            .set_parent(bike)
+            .id();
+
+        let suspension = MultibodyJoint::new(fork, prismatic);
+        let sentity = commands
+            .spawn(RigidBody::Dynamic)
+            .insert(suspension)
+            .insert(SpatialBundle {
+                transform: Transform::from_translation(offset),
+                ..Default::default()
+            })
+            .set_parent(bike)
+            .id();
+
+        if let Some(steering) = steering {
+            commands.entity(sentity).insert(steering);
+        }
+
+        let revolute = RevoluteJointBuilder::new(Vec3::Y);
+        let axel = MultibodyJoint::new(sentity, revolute);
+        let wheel_bundle = (
+            wheel_collider,
+            mass_props,
+            wheel_damping,
+            ccd,
+            wheels_collision_group,
+            friction,
+            restitution,
+            CyberWheel,
+            ExternalForce::default(),
+            not_sleeping,
+            //axel,
+        );
+
+        let _wentity = commands
+            .spawn(RigidBody::Dynamic)
+            .insert(SpatialBundle {
+                // transform: Transform::from_rotation(xform.rotation)
+                //     .with_translation(xform.translation)
+                transform: Transform::from_rotation(Quat::from_axis_angle(
+                    Vec3::Z,
+                    90.0f32.to_radians(),
+                )),
+                ..Default::default()
+            })
+            .insert(wheel_bundle)
+            .with_children(|wheel| {
+                wheel
+                    .spawn(SpatialBundle::default())
+                    .insert(pbr_bundle.clone())
+                    .insert(TransformInterpolation {
+                        start: None,
+                        end: None,
+                    });
+            })
+            .set_parent(sentity)
+            .id();
+    }
+}
diff --git a/src/camera.rs b/src/camera.rs
index 9748650..7af057e 100644
--- a/src/camera.rs
+++ b/src/camera.rs
@@ -1,6 +1,6 @@
 use bevy::prelude::*;
 
-use crate::{bike::CyberBikeModel, input::InputState};
+use crate::{bike::CyberBikeBody, input::InputState};
 
 // 85 degrees in radians
 const MAX_PITCH: f32 = 1.48353;
@@ -57,7 +57,7 @@ fn setup_cybercams(mut commands: Commands) {
 fn follow_cyberbike(
     mut query: ParamSet<(
         // 0: the bike
-        Query<&Transform, With<CyberBikeModel>>,
+        Query<&Transform, With<CyberBikeBody>>,
         // 1: the cameras
         Query<(&mut Transform, &CyberCameras)>,
     )>,
@@ -70,8 +70,8 @@ fn follow_cyberbike(
     for (mut cam_xform, cam_type) in query.p1().iter_mut() {
         match *cam_type {
             CyberCameras::Hero => {
-                let look_at = bike_xform.translation + (bike_xform.forward() * 200.0);
-                let cam_pos = bike_xform.translation + (bike_xform.back() * 1.05) + (up * 1.08);
+                let look_at = bike_xform.translation + (bike_xform.forward() * 500.0);
+                let cam_pos = bike_xform.translation + (bike_xform.back() * 0.1) + (up * 0.8);
 
                 cam_xform.translation = cam_pos;
                 cam_xform.look_at(look_at, up);
@@ -119,32 +119,6 @@ fn cycle_cam_state(mut state: ResMut<State<CyberCameras>>, mut keys: ResMut<Inpu
 pub struct CyberCamPlugin;
 
 impl Plugin for CyberCamPlugin {
-    #[cfg(feature = "inspector")]
-    fn build(&self, app: &mut bevy::prelude::App) {
-        use bevy_rapier3d::render::{DebugRenderMode, DebugRenderStyle, RapierDebugRenderPlugin};
-        let style = DebugRenderStyle {
-            collider_dynamic_color: Color::RED.as_rgba_f32(),
-            multibody_joint_anchor_color: Color::GREEN.as_rgba_f32(),
-            ..Default::default()
-        };
-        let mode = DebugRenderMode::COLLIDER_SHAPES
-            | DebugRenderMode::CONTACTS
-            | DebugRenderMode::SOLVER_CONTACTS
-            | DebugRenderMode::JOINTS
-            | DebugRenderMode::RIGID_BODY_AXES;
-
-        let rplugin = RapierDebugRenderPlugin {
-            style,
-            always_on_top: true,
-            enabled: true,
-            mode,
-        };
-
-        app.add_plugin(rplugin);
-        common(app);
-    }
-
-    #[cfg(not(feature = "inspector"))]
     fn build(&self, app: &mut bevy::prelude::App) {
         common(app);
     }
diff --git a/src/glamor.rs b/src/glamor.rs
index bd4d46d..64c09b7 100644
--- a/src/glamor.rs
+++ b/src/glamor.rs
@@ -9,7 +9,7 @@ use crate::{lights::AnimateCyberLightWireframe, planet::CyberPlanet};
 
 pub const BISEXY_COLOR: Color = Color::hsla(292.0, 0.9, 0.60, 1.1);
 
-fn wireframe_planet(
+fn _wireframe_planet(
     mut commands: Commands,
     mut meshes: ResMut<Assets<Mesh>>,
     mut polylines: ResMut<Assets<Polyline>>,
@@ -57,7 +57,7 @@ fn wireframe_planet(
     });
 }
 
-fn wireframify_lights(mut lights: Query<&mut AnimateCyberLightWireframe>) {
+fn _wireframify_lights(mut lights: Query<&mut AnimateCyberLightWireframe>) {
     let chance = 0.005;
 
     let rng = &mut thread_rng();
@@ -74,9 +74,30 @@ fn wireframify_lights(mut lights: Query<&mut AnimateCyberLightWireframe>) {
 pub struct CyberGlamorPlugin;
 impl Plugin for CyberGlamorPlugin {
     fn build(&self, app: &mut App) {
-        app.insert_resource(ClearColor(Color::rgb(0.408, 0.6236, 0.925)))
-            .add_startup_system_to_stage(StartupStage::PostStartup, wireframe_planet)
-            .add_system(wireframify_lights)
-            .add_plugin(PolylinePlugin);
+        app.insert_resource(ClearColor(Color::rgb(0.408, 0.6236, 0.925)));
+
+        {
+            use bevy_rapier3d::render::{
+                DebugRenderMode, DebugRenderStyle, RapierDebugRenderPlugin,
+            };
+            let style = DebugRenderStyle {
+                multibody_joint_anchor_color: Color::GREEN.as_rgba_f32(),
+                ..Default::default()
+            };
+            let mode = DebugRenderMode::CONTACTS
+                | DebugRenderMode::SOLVER_CONTACTS
+                | DebugRenderMode::COLLIDER_SHAPES
+                | DebugRenderMode::JOINTS
+                | DebugRenderMode::RIGID_BODY_AXES;
+
+            let rplugin = RapierDebugRenderPlugin {
+                style,
+                always_on_top: true,
+                enabled: true,
+                mode,
+            };
+
+            app.add_plugin(rplugin);
+        }
     }
 }
diff --git a/src/main.rs b/src/main.rs
index e9c6965..a1f889d 100644
--- a/src/main.rs
+++ b/src/main.rs
@@ -1,20 +1,8 @@
 use bevy::prelude::*;
 use cyber_rider::{
-    action::{CyberActionPlugin, MovementSettings},
-    bike::CyberBikePlugin,
-    camera::CyberCamPlugin,
-    disable_mouse_trap,
-    glamor::CyberGlamorPlugin,
-    input::CyberInputPlugin,
-    lights::CyberSpaceLightsPlugin,
-    planet::CyberPlanetPlugin,
-    ui::CyberUIPlugin,
-};
-
-const MOVEMENT_SETTINGS: MovementSettings = MovementSettings {
-    sensitivity: 8.0, // steering
-    accel: 30.0,      // thrust
-    gravity: 9.0,
+    action::CyberActionPlugin, bike::CyberBikePlugin, camera::CyberCamPlugin, disable_mouse_trap,
+    glamor::CyberGlamorPlugin, input::CyberInputPlugin, lights::CyberSpaceLightsPlugin,
+    planet::CyberPlanetPlugin, ui::CyberUIPlugin,
 };
 
 fn main() {
@@ -28,7 +16,6 @@ fn main() {
             },
             ..Default::default()
         }))
-        .insert_resource(MOVEMENT_SETTINGS)
         .add_plugin(CyberPlanetPlugin)
         .add_plugin(CyberGlamorPlugin)
         .add_plugin(CyberInputPlugin)