From ecfa9b586428f7afbeb6b8af5a0a41fc6cea795b Mon Sep 17 00:00:00 2001
From: Joe Ardent <code@ardent.nebcorp.com>
Date: Thu, 25 Jul 2024 15:49:10 -0700
Subject: [PATCH] ready to enable input

---
 src/action/components.rs |   6 +-
 src/action/mod.rs        |  16 +---
 src/action/systems.rs    | 152 ++++++-----------------------
 src/bike/body.rs         |   7 +-
 src/bike/components.rs   |  17 ++--
 src/bike/wheels.rs       | 202 +++++++++++++++++----------------------
 src/camera.rs            |  17 ++--
 src/lights.rs            |   8 +-
 src/planet.rs            |   6 +-
 src/ui.rs                |  17 ++--
 10 files changed, 165 insertions(+), 283 deletions(-)

diff --git a/src/action/components.rs b/src/action/components.rs
index fc38312..bb68eec 100644
--- a/src/action/components.rs
+++ b/src/action/components.rs
@@ -37,7 +37,7 @@ impl Default for MovementSettings {
     fn default() -> Self {
         Self {
             accel: 20.0,
-            gravity: 4.8,
+            gravity: 9.8,
         }
     }
 }
@@ -53,9 +53,9 @@ pub struct CatControllerSettings {
 impl Default for CatControllerSettings {
     fn default() -> Self {
         Self {
-            kp: 80.0,
+            kp: 1200.0,
             kd: 10.0,
-            ki: 0.4,
+            ki: 50.0,
         }
     }
 }
diff --git a/src/action/mod.rs b/src/action/mod.rs
index abad0bc..763ecd4 100644
--- a/src/action/mod.rs
+++ b/src/action/mod.rs
@@ -1,6 +1,6 @@
 use avian3d::prelude::{PhysicsPlugins, SubstepCount};
 use bevy::{
-    app::Update,
+    app::FixedUpdate,
     diagnostic::FrameTimeDiagnosticsPlugin,
     ecs::reflect::ReflectResource,
     prelude::{App, IntoSystemConfigs, Plugin, Resource},
@@ -29,18 +29,10 @@ impl Plugin for CyberActionPlugin {
             .register_type::<CyberLean>()
             .register_type::<CatControllerSettings>()
             .add_plugins((PhysicsPlugins::default(), FrameTimeDiagnosticsPlugin))
-            .insert_resource(SubstepCount(6))
+            .insert_resource(SubstepCount(12))
             .add_systems(
-                Update,
-                (
-                    set_gravity,
-                    clear_forces,
-                    calculate_lean,
-                    apply_lean,
-                    //#[cfg(feature = "inspector")]
-                    debug_bodies,
-                )
-                    .chain(),
+                FixedUpdate,
+                (set_gravity, calculate_lean, apply_lean).chain(),
             );
     }
 }
diff --git a/src/action/systems.rs b/src/action/systems.rs
index 5c57305..d382bfe 100644
--- a/src/action/systems.rs
+++ b/src/action/systems.rs
@@ -1,18 +1,16 @@
 use std::f32::consts::{FRAC_PI_3, FRAC_PI_4};
 
 use avian3d::{
-    collision::Collisions,
     dynamics::solver::xpbd::AngularConstraint,
-    prelude::{
-        ColliderMassProperties, Collision, ExternalForce, ExternalTorque, Gravity, LinearVelocity,
-        PrismaticJoint, RigidBodyQuery,
-    },
+    prelude::{ExternalTorque, FixedJoint, Gravity, LinearVelocity, RigidBodyQuery},
 };
-use bevy::prelude::{EventReader, Quat, Query, Res, ResMut, Time, Transform, Vec3, With, Without};
+#[cfg(feature = "inspector")]
+use bevy::prelude::Gizmos;
+use bevy::prelude::{Quat, Query, Res, ResMut, Time, Transform, Vec3, With, Without};
 
 use super::{CatControllerSettings, CatControllerState, CyberLean, MovementSettings};
 use crate::{
-    bike::{CyberBikeBody, CyberFork, CyberSpring, CyberSteering, CyberWheel, WheelConfig},
+    bike::{CyberBikeBody, CyberFork, CyberSteering, CyberWheel},
     input::InputState,
 };
 
@@ -39,7 +37,6 @@ fn rotate_point(pt: &Vec3, rot: &Quat) -> Vec3 {
 /// The gravity vector points from the cyberbike to the center of the planet.
 pub(super) fn set_gravity(
     xform: Query<&Transform, With<CyberBikeBody>>,
-
     settings: Res<MovementSettings>,
     mut gravity: ResMut<Gravity>,
 ) {
@@ -47,42 +44,6 @@ pub(super) fn set_gravity(
     *gravity = Gravity(xform.translation.normalize() * -settings.gravity);
 }
 
-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)>,
-) {
-    let mass = if let Ok(mass) = mass.get_single() {
-        mass.mass.0
-    } else {
-        1.0
-    };
-    let dt = time.delta_seconds();
-    let gravity = movment_settings.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;
-        bevy::log::info!("suspension force: {spring:?}");
-        let _ = force.apply_force(spring);
-    }
-}
-
 /// The desired lean angle, given steering input and speed.
 pub(super) fn calculate_lean(
     bike_state: Query<(&LinearVelocity, &Transform), With<CyberBikeBody>>,
@@ -102,7 +63,7 @@ pub(super) fn calculate_lean(
     let v2_r = v_squared / radius;
     let tan_theta = (v2_r / gravity).clamp(-FRAC_PI_3, FRAC_PI_3);
 
-    if tan_theta.is_finite() && !tan_theta.is_subnormal() {
+    if tan_theta.is_normal() {
         lean.lean = tan_theta.atan().clamp(-FRAC_PI_4, FRAC_PI_4);
     } else {
         lean.lean = 0.0;
@@ -115,6 +76,7 @@ pub(super) fn apply_lean(
     time: Res<Time>,
     settings: Res<CatControllerSettings>,
     lean: Res<CyberLean>,
+    #[cfg(feature = "inspector")] mut gizmos: Gizmos,
 ) {
     let (xform, mut torque, mut control_vars) = bike_query.single_mut();
     let world_up = xform.translation.normalize();
@@ -131,8 +93,15 @@ pub(super) fn apply_lean(
         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() {
-            torque.apply_torque(*xform.back() * mag);
+        if mag.is_normal() {
+            let tork = mag * *xform.back();
+            torque.apply_torque(tork);
+            #[cfg(feature = "inspector")]
+            gizmos.arrow(
+                xform.translation + Vec3::Y,
+                xform.translation + tork + Vec3::Y,
+                bevy::color::Color::WHITE,
+            );
         }
     }
 }
@@ -142,94 +111,35 @@ pub(super) fn apply_inputs(
     settings: Res<MovementSettings>,
     input: Res<InputState>,
     time: Res<Time>,
-    fork: Query<&PrismaticJoint, With<CyberFork>>,
-    mut axle: Query<(RigidBodyQuery, &Transform), With<CyberSteering>>,
-    mut braking_query: Query<&mut ExternalTorque, With<CyberWheel>>,
-    mut body_query: Query<
-        (
-            RigidBodyQuery,
-            &Transform,
-            &ColliderMassProperties,
-            &mut ExternalForce,
-        ),
-        (With<CyberBikeBody>, Without<CyberSteering>),
-    >,
+    fork: Query<(&FixedJoint, &CyberFork), With<CyberSteering>>,
+    mut hub: Query<(RigidBodyQuery, &Transform), With<CyberSteering>>,
+    mut braking_query: Query<(&Transform, &mut ExternalTorque), With<CyberWheel>>,
+    mut body_query: Query<RigidBodyQuery, (With<CyberBikeBody>, Without<CyberSteering>)>,
 ) {
-    let Ok((mut bike, xform, mass, mut forces)) = body_query.get_single_mut() else {
+    let Ok(mut bike) = body_query.get_single_mut() else {
         bevy::log::debug!("no bike body found");
         return;
     };
     let dt = time.delta_seconds();
 
-    // thrust
-    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);
-
     // brake + thrust
-    for mut motor in braking_query.iter_mut() {
-        let factor = if input.brake {
-            500.00
-        } else {
-            input.throttle * settings.accel
-        };
-        let speed = if input.brake { 0.0 } else { -70.0 };
-        let target = dt * factor * speed;
-        let torque = target * Vec3::X;
+    for (xform, mut motor) in braking_query.iter_mut() {
+        let factor = input.throttle * settings.accel;
+
+        let target = dt * factor;
+        let torque = target * *xform.right();
         motor.apply_torque(torque);
     }
 
     // steering
     let _angle = yaw_to_angle(input.yaw);
-    let (mut axle, xform) = axle.single_mut();
+    let (mut axle, xform) = hub.single_mut();
 
     let cur_rot = xform.rotation;
-    let fork = fork.single();
-    let axis = fork.free_axis.normalize();
-    let new = Quat::from_axis_angle(axis, _angle);
+    let (fork, CyberFork(axis)) = fork.single();
+    let new = Quat::from_axis_angle(*axis, _angle);
     let diff = (new - cur_rot).to_scaled_axis();
-    let mut compliance = 1.0;
+    let mut lagrange = 1.0;
 
-    fork.align_orientation(&mut axle, &mut bike, diff, &mut compliance, 1.0, dt);
+    fork.align_orientation(&mut axle, &mut bike, diff, &mut lagrange, 0.0, dt);
 }
-
-//#[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 954beec..5a999f6 100644
--- a/src/bike/body.rs
+++ b/src/bike/body.rs
@@ -1,5 +1,6 @@
 use avian3d::prelude::*;
 use bevy::{
+    core::Name,
     prelude::{AssetServer, BuildChildren, Commands, Quat, Res, SpatialBundle, Transform, Vec3},
     scene::SceneBundle,
 };
@@ -42,6 +43,7 @@ pub(super) fn spawn_cyberbike(
     let bike = commands
         .spawn(SpatialBundle::from_transform(xform))
         .insert((
+            Name::new("bike body"),
             RigidBody::Dynamic,
             body_collider,
             bike_collision_group,
@@ -50,13 +52,12 @@ pub(super) fn spawn_cyberbike(
             SleepingDisabled,
             CyberBikeBody,
             CatControllerState::default(),
-            ColliderDensity(0.06),
+            ColliderDensity(20.0),
             LinearDamping(0.1),
             AngularDamping(2.0),
             LinearVelocity::ZERO,
             AngularVelocity::ZERO,
-            ExternalForce::ZERO,
-            ExternalTorque::ZERO,
+            ExternalTorque::ZERO.with_persistence(false),
         ))
         .with_children(|rider| {
             rider.spawn(SceneBundle {
diff --git a/src/bike/components.rs b/src/bike/components.rs
index d817c34..f40b396 100644
--- a/src/bike/components.rs
+++ b/src/bike/components.rs
@@ -14,10 +14,7 @@ pub struct CyberSteering;
 pub struct CyberWheel;
 
 #[derive(Clone, Debug, Component)]
-pub struct CyberSpring(pub Vec3);
-
-#[derive(Clone, Debug, Component)]
-pub struct CyberFork;
+pub struct CyberFork(pub Vec3);
 
 #[derive(Resource, Reflect)]
 #[reflect(Resource)]
@@ -40,15 +37,15 @@ impl Default for WheelConfig {
         Self {
             front_forward: 0.8,
             rear_back: 1.0,
-            y: -0.1,
+            y: -0.5,
             limits: [-0.5, 0.1],
             stiffness: 3.0,
             damping: 8.0,
-            radius: 0.25,
-            thickness: 0.11,
-            friction: 1.2,
-            restitution: 0.95,
-            density: 0.05,
+            radius: 0.40,
+            thickness: 0.15,
+            friction: 0.9,
+            restitution: 0.5,
+            density: 30.0,
         }
     }
 }
diff --git a/src/bike/wheels.rs b/src/bike/wheels.rs
index 1dac3ce..e5caf83 100644
--- a/src/bike/wheels.rs
+++ b/src/bike/wheels.rs
@@ -1,7 +1,7 @@
 use avian3d::prelude::*;
-use bevy::prelude::{Torus as Tire, *};
+use bevy::prelude::*;
 
-use super::{CyberFork, CyberSpring, CyberSteering, CyberWheel, Meshterial, WheelConfig};
+use super::{CyberFork, CyberSteering, CyberWheel, Meshterial, WheelConfig};
 use crate::ColliderGroups;
 
 pub fn spawn_wheels(
@@ -11,21 +11,11 @@ pub fn spawn_wheels(
     conf: &WheelConfig,
     meshterials: &mut Meshterial,
 ) {
-    let wheels_collision_group =
-        CollisionLayers::new(ColliderGroups::Wheels, ColliderGroups::Planet);
     let wheel_y = conf.y;
-    let not_sleeping = SleepingDisabled;
-    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
 
-    let friction = Friction {
-        dynamic_coefficient: conf.friction,
-        static_coefficient: conf.friction,
-        combine_rule: CoefficientCombine::Average,
-    };
-
     let mut wheel_poses = Vec::with_capacity(2);
 
     // front
@@ -44,105 +34,34 @@ pub fn spawn_wheels(
         wheel_poses.push((offset, None));
     }
 
+    let (mesh, collider) = gen_tire(conf);
     for (offset, steering) in wheel_poses {
-        let (mesh, collider) = gen_tires(conf);
+        let hub = wheels_helper(
+            commands,
+            meshes,
+            materials,
+            offset + xform.translation,
+            mesh.clone(),
+            collider.clone(),
+            conf,
+        );
 
-        let material = StandardMaterial {
-            base_color: Color::linear_rgba(0.01, 0.01, 0.01, 1.0),
-            alpha_mode: AlphaMode::Opaque,
-            perceptual_roughness: 0.5,
-            ..Default::default()
-        };
-
-        let pbr_bundle = PbrBundle {
-            material: materials.add(material),
-            mesh: meshes.add(mesh),
-            ..Default::default()
-        };
-
-        let suspension_axis = if steering.is_some() {
-            rake_vec
-        } else {
-            Vec3::Y
-        };
-
-        let wheel = commands
-            .spawn(pbr_bundle)
-            .insert((
-                collider,
-                ccd,
-                not_sleeping,
-                wheels_collision_group,
-                friction,
-                CyberWheel,
-                ExternalForce::default(),
-                Restitution::new(conf.restitution),
-                SpatialBundle::default(),
-                RigidBody::Dynamic,
-                ColliderDensity(0.1),
-                CollisionMargin(0.1),
-                AngularVelocity::ZERO,
-                ExternalTorque::ZERO,
-            ))
-            .insert(SpatialBundle::from_transform(
-                xform.with_translation(xform.translation + offset),
-            ))
+        let fork = commands
+            .spawn(FixedJoint::new(hub, bike).with_local_anchor_2(offset))
             .id();
-
-        let spring = CyberSpring(suspension_axis);
-        let axle = if let Some(steering) = steering {
-            commands.spawn((
-                RigidBody::Dynamic,
-                ExternalForce::ZERO,
-                steering,
-                spring,
-                MassPropertiesBundle::new_computed(&Collider::sphere(0.1), 0.1),
-            ))
-        } else {
-            commands.spawn((
-                RigidBody::Dynamic,
-                ExternalForce::ZERO,
-                spring,
-                MassPropertiesBundle::new_computed(&Collider::sphere(0.1), 0.1),
-            ))
+        if let Some(steering) = steering {
+            let axis = CyberFork(rake_vec);
+            commands.entity(fork).insert((steering, axis));
+            commands.entity(hub).insert(steering);
         }
-        .insert(SpatialBundle::from_transform(
-            xform.with_translation(xform.translation + offset),
-        ))
-        .id();
-        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(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(axle, bike)
-                .with_free_axis(suspension_axis)
-                .with_local_anchor_2(offset)
-                .with_limits(limits[0], limits[1]);
-            commands.spawn(joint);
-        };
     }
 }
 
-// do mesh shit
-fn gen_tires(conf: &WheelConfig) -> (Mesh, Collider) {
-    let wheel_rad = conf.radius;
-    let tire_thickness = conf.thickness;
-    let tire = Tire {
-        minor_radius: tire_thickness,
-        major_radius: wheel_rad,
-    };
-
-    let mut mesh = Mesh::from(tire);
-    let tire_verts = mesh
+fn gen_tire(conf: &WheelConfig) -> (Mesh, Collider) {
+    let outer_radius = conf.radius;
+    let inner_radius = conf.radius - conf.thickness;
+    let mut tire_mesh: Mesh = Torus::new(inner_radius, outer_radius).into();
+    let tire_verts = tire_mesh
         .attribute(Mesh::ATTRIBUTE_POSITION)
         .unwrap()
         .as_float3()
@@ -156,15 +75,70 @@ fn gen_tires(conf: &WheelConfig) -> (Mesh, Collider) {
             p.to_array()
         })
         .collect::<Vec<[f32; 3]>>();
-    mesh.remove_attribute(Mesh::ATTRIBUTE_POSITION);
-    mesh.insert_attribute(Mesh::ATTRIBUTE_POSITION, tire_verts);
+    tire_mesh.remove_attribute(Mesh::ATTRIBUTE_POSITION);
+    tire_mesh.insert_attribute(Mesh::ATTRIBUTE_POSITION, tire_verts);
 
-    let mut idxs = Vec::new();
-    let indices = mesh.indices().unwrap().iter().collect::<Vec<_>>();
-    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::trimesh_from_mesh(&mesh).unwrap();
+    let collider = Collider::convex_hull_from_mesh(&tire_mesh).unwrap();
 
-    (mesh, wheel_collider)
+    (tire_mesh, collider)
+}
+
+fn wheels_helper(
+    commands: &mut Commands,
+    meshes: &mut ResMut<Assets<Mesh>>,
+    materials: &mut ResMut<Assets<StandardMaterial>>,
+    position: Vec3,
+    tire_mesh: Mesh,
+    collider: Collider,
+    conf: &WheelConfig,
+) -> Entity {
+    let wheel_material = &StandardMaterial {
+        base_color: Color::srgb(0.01, 0.01, 0.01),
+        alpha_mode: AlphaMode::Opaque,
+        perceptual_roughness: 0.5,
+        ..Default::default()
+    };
+
+    let xform = Transform::from_translation(position);
+    let hub_mesh: Mesh = Sphere::new(0.1).into();
+
+    let hub = commands
+        .spawn((
+            Name::new("hub"),
+            RigidBody::Dynamic,
+            MassPropertiesBundle::new_computed(&Collider::sphere(0.1), 200.0),
+            PbrBundle {
+                mesh: meshes.add(hub_mesh),
+                material: materials.add(wheel_material.clone()),
+                transform: xform,
+                ..Default::default()
+            },
+        ))
+        .id();
+
+    let tire = commands
+        .spawn((
+            Name::new("tire"),
+            PbrBundle {
+                mesh: meshes.add(tire_mesh),
+                material: materials.add(wheel_material.clone()),
+                transform: xform,
+                ..Default::default()
+            },
+            CyberWheel,
+            RigidBody::Dynamic,
+            collider,
+            Friction::new(conf.friction),
+            Restitution::new(conf.restitution),
+            ColliderDensity(conf.density),
+            CollisionLayers::new(ColliderGroups::Wheels, ColliderGroups::Planet),
+            ExternalTorque::ZERO.with_persistence(false),
+            CollisionMargin(0.05),
+            SweptCcd::NON_LINEAR,
+        ))
+        .id();
+
+    // connect hubs and tires to make wheels
+    commands.spawn(RevoluteJoint::new(hub, tire).with_aligned_axis(Vec3::X));
+    hub
 }
diff --git a/src/camera.rs b/src/camera.rs
index b3e85fd..af637c7 100644
--- a/src/camera.rs
+++ b/src/camera.rs
@@ -1,6 +1,6 @@
 use bevy::prelude::*;
 
-use crate::{bike::CyberBikeBody, input::InputState};
+use crate::{bike::CyberBikeBody, input::InputState, ui::setup_ui};
 
 // 85 degrees in radians
 const MAX_PITCH: f32 = 1.48353;
@@ -38,7 +38,7 @@ impl CyberCameras {
     }
 }
 
-fn setup_cybercams(mut commands: Commands) {
+fn setup_cybercams(mut commands: Commands, asset_server: Res<AssetServer>) {
     let hero_projection = PerspectiveProjection {
         fov: std::f32::consts::FRAC_PI_3,
         ..Default::default()
@@ -55,6 +55,8 @@ fn setup_cybercams(mut commands: Commands) {
     commands
         .spawn(Camera3dBundle::default())
         .insert(CyberCameras::Debug);
+
+    setup_ui(commands, asset_server, id);
 }
 
 fn follow_cyberbike(
@@ -85,7 +87,7 @@ fn follow_cyberbike(
                 cam_xform.rotate(Quat::from_axis_angle(*axis, angle));
             }
             CyberCameras::Debug => {
-                let mut ncx = bike_xform.to_owned();
+                let mut ncx = Transform::from_translation(bike_xform.translation);
                 ncx.rotate(Quat::from_axis_angle(up, offset.rot.to_radians()));
                 ncx.translation += ncx.forward() * offset.dist;
                 ncx.translation += ncx.up() * offset.alt;
@@ -98,12 +100,15 @@ fn follow_cyberbike(
 
 fn update_active_camera(
     state: Res<State<CyberCameras>>,
-    mut query: Query<(&mut Camera, &CyberCameras)>,
+    mut cameras: Query<(Entity, &mut Camera, &CyberCameras)>,
+    mut target: Query<&mut TargetCamera>,
 ) {
+    let mut target = target.single_mut();
     // find the camera with the current state, set it as the ActiveCamera
-    query.iter_mut().for_each(|(mut cam, cyber)| {
-        if cyber.eq(&state.get()) {
+    cameras.iter_mut().for_each(|(ent, mut cam, cyber)| {
+        if cyber.eq(state.get()) {
             cam.is_active = true;
+            *target = TargetCamera(ent);
         } else {
             cam.is_active = false;
         }
diff --git a/src/lights.rs b/src/lights.rs
index 9ececfe..0505d33 100644
--- a/src/lights.rs
+++ b/src/lights.rs
@@ -2,7 +2,7 @@ use bevy::{pbr::CascadeShadowConfigBuilder, prelude::*};
 
 use crate::planet::PLANET_RADIUS;
 
-pub const LIGHT_RANGE: f32 = 90.0;
+pub const LIGHT_RANGE: f32 = 900.0;
 
 static BLUE: Color = Color::linear_rgb(0.0, 0.0, 1.0);
 static PINK: Color = Color::linear_rgb(199.0 / 255.0, 21.0 / 255.0, 113.0 / 255.0);
@@ -13,7 +13,7 @@ fn spawn_static_lights(
     mut materials: ResMut<Assets<StandardMaterial>>,
 ) {
     let pink_light = PointLight {
-        intensity: 1_00.0,
+        intensity: 1_000_000.0,
         range: LIGHT_RANGE,
         color: PINK,
         radius: 1.0,
@@ -22,7 +22,7 @@ fn spawn_static_lights(
     };
 
     let blue_light = PointLight {
-        intensity: 1_000.0,
+        intensity: 1_000_000.0,
         range: LIGHT_RANGE,
         color: BLUE,
         radius: 1.0,
@@ -32,7 +32,7 @@ fn spawn_static_lights(
 
     commands.insert_resource(AmbientLight {
         color: Color::WHITE,
-        brightness: 10_000.0,
+        brightness: 8_000.0,
     });
 
     let _cascade_shadow_config = CascadeShadowConfigBuilder {
diff --git a/src/planet.rs b/src/planet.rs
index 8ca064e..3bb10c8 100644
--- a/src/planet.rs
+++ b/src/planet.rs
@@ -25,8 +25,9 @@ fn spawn_planet(
     let pcollide = (
         shape,
         Friction {
-            static_coefficient: 1.2,
-            ..Default::default()
+            static_coefficient: 0.8,
+            dynamic_coefficient: 0.5,
+            combine_rule: CoefficientCombine::Average,
         },
         Restitution::new(0.8),
     );
@@ -136,7 +137,6 @@ fn gen_planet(radius: f32) -> (Mesh, Collider) {
         }
     }
 
-    dbg!(&colors.len());
     mesh.insert_attribute(Mesh::ATTRIBUTE_COLOR, colors);
 
     (mesh, collider)
diff --git a/src/ui.rs b/src/ui.rs
index 262bfec..ea0c841 100644
--- a/src/ui.rs
+++ b/src/ui.rs
@@ -1,9 +1,9 @@
 use avian3d::prelude::LinearVelocity;
 use bevy::{
-    app::{Startup, Update},
+    app::Update,
     prelude::{
-        AlignSelf, App, AssetServer, Color, Commands, Component, Plugin, Query, Res, Style, Text,
-        TextBundle, TextSection, TextStyle, With,
+        AlignSelf, App, AssetServer, Color, Commands, Component, Entity, Plugin, Query, Res, Style,
+        Text, TextBundle, TextSection, TextStyle, With,
     },
     ui::TargetCamera,
 };
@@ -13,7 +13,11 @@ use crate::bike::CyberBikeBody;
 #[derive(Component)]
 struct UpText;
 
-fn setup_ui(mut commands: Commands, asset_server: Res<AssetServer>) {
+pub(crate) fn setup_ui(
+    mut commands: Commands,
+    asset_server: Res<AssetServer>,
+    target_camera: Entity,
+) {
     commands
         .spawn(TextBundle {
             style: Style {
@@ -35,7 +39,7 @@ fn setup_ui(mut commands: Commands, asset_server: Res<AssetServer>) {
             },
             ..Default::default()
         })
-        .insert(UpText);
+        .insert((UpText, TargetCamera(target_camera)));
 }
 
 fn update_ui(
@@ -52,7 +56,6 @@ pub struct CyberUIPlugin;
 
 impl Plugin for CyberUIPlugin {
     fn build(&self, app: &mut App) {
-        app.add_systems(Startup, setup_ui)
-            .add_systems(Update, update_ui);
+        app.add_systems(Update, update_ui);
     }
 }