src/action/components.rs

@@ -37,7 +37,7 @@ impl Default for MovementSettings {
     fn default() -> Self {
         Self {
             accel: 20.0,
-            gravity: 9.8,
+            gravity: 4.8,
         }
     }
 }
@@ -53,9 +53,9 @@ pub struct CatControllerSettings {
 impl Default for CatControllerSettings {
     fn default() -> Self {
         Self {
-            kp: 1200.0,
+            kp: 80.0,
             kd: 10.0,
-            ki: 50.0,
+            ki: 0.4,
         }
     }
 }

src/action/mod.rs

@@ -1,6 +1,6 @@
 use avian3d::prelude::{PhysicsPlugins, SubstepCount};
 use bevy::{
-    app::FixedUpdate,
+    app::Update,
     diagnostic::FrameTimeDiagnosticsPlugin,
     ecs::reflect::ReflectResource,
     prelude::{App, IntoSystemConfigs, Plugin, Resource},
@@ -29,10 +29,15 @@ impl Plugin for CyberActionPlugin {
             .register_type::<CyberLean>()
             .register_type::<CatControllerSettings>()
             .add_plugins((PhysicsPlugins::default(), FrameTimeDiagnosticsPlugin))
-            .insert_resource(SubstepCount(12))
+            .insert_resource(SubstepCount(24))
             .add_systems(
-                FixedUpdate,
+                Update,
-                (set_gravity, calculate_lean, apply_lean).chain(),
+                (
+                    gravity,
+                    #[cfg(feature = "inspector")]
+                    debug_bodies,
+                    (cyber_lean, suspension, falling_cat, input_forces).after(clear_forces),
+                ),
             );
     }
 }

src/action/systems.rs

@@ -2,15 +2,18 @@ use std::f32::consts::{FRAC_PI_3, FRAC_PI_4};
 
 use avian3d::{
     dynamics::solver::xpbd::AngularConstraint,
-    prelude::{ExternalTorque, FixedJoint, Gravity, LinearVelocity, RigidBodyQuery},
+    prelude::{
+        ColliderMassProperties, ExternalForce, ExternalTorque, Gravity, LinearVelocity,
+        PrismaticJoint, RigidBodyQuery,
+    },
 };
 #[cfg(feature = "inspector")]
-use bevy::prelude::Gizmos;
+use bevy::prelude::Entity;
 use bevy::prelude::{Quat, Query, Res, ResMut, Time, Transform, Vec3, With, Without};
 
 use super::{CatControllerSettings, CatControllerState, CyberLean, MovementSettings};
 use crate::{
-    bike::{CyberBikeBody, CyberFork, CyberSteering, CyberWheel},
+    bike::{CyberBikeBody, CyberFork, CyberSpring, CyberSteering, CyberWheel, WheelConfig},
     input::InputState,
 };
 
@@ -35,17 +38,47 @@ 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(
+pub(super) fn gravity(
     xform: Query<&Transform, With<CyberBikeBody>>,
+
     settings: Res<MovementSettings>,
     mut gravity: ResMut<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 suspension(
+    movment_settings: Res<MovementSettings>,
+    wheel_config: Res<WheelConfig>,
+    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 gravity = movment_settings.gravity;
+    let mag = -wheel_config.stiffness * mass * gravity;
+    for (mut force, spring, xform) in axels.iter_mut() {
+        let spring = mag * spring.0;
+        let spring = xform.translation + spring;
+        let _ = force.apply_force(spring);
+    }
 }
 
 /// The desired lean angle, given steering input and speed.
-pub(super) fn calculate_lean(
+pub(super) fn cyber_lean(
     bike_state: Query<(&LinearVelocity, &Transform), With<CyberBikeBody>>,
     wheels: Query<&Transform, With<CyberWheel>>,
     input: Res<InputState>,
@@ -63,7 +96,7 @@ 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_normal() {
+    if tan_theta.is_finite() && !tan_theta.is_subnormal() {
         lean.lean = tan_theta.atan().clamp(-FRAC_PI_4, FRAC_PI_4);
     } else {
         lean.lean = 0.0;
@@ -71,12 +104,11 @@ pub(super) fn calculate_lean(
 }
 
 /// PID-based controller for stabilizing attitude; keeps the cyberbike upright.
-pub(super) fn apply_lean(
+pub(super) fn falling_cat(
     mut bike_query: Query<(&Transform, &mut ExternalTorque, &mut CatControllerState)>,
     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();
@@ -93,53 +125,73 @@ 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_normal() {
+        if mag.is_finite() {
-            let tork = mag * *xform.back();
+            torque.apply_torque(*xform.back() * mag);
-            torque.apply_torque(tork);
-            #[cfg(feature = "inspector")]
-            gizmos.arrow(
-                xform.translation + Vec3::Y,
-                xform.translation + tork + Vec3::Y,
-                bevy::color::Color::WHITE,
-            );
         }
     }
 }
 
 /// Apply forces to the cyberbike as a result of input.
-pub(super) fn apply_inputs(
+pub(super) fn input_forces(
     settings: Res<MovementSettings>,
     input: Res<InputState>,
     time: Res<Time>,
-    fork: Query<(&FixedJoint, &CyberFork), With<CyberSteering>>,
+    fork: Query<&PrismaticJoint, With<CyberFork>>,
-    mut hub: Query<(RigidBodyQuery, &Transform), With<CyberSteering>>,
+    mut axle: Query<(RigidBodyQuery, &Transform), With<CyberSteering>>,
-    mut braking_query: Query<(&Transform, &mut ExternalTorque), With<CyberWheel>>,
+    mut braking_query: Query<&mut ExternalTorque, With<CyberWheel>>,
-    mut body_query: Query<RigidBodyQuery, (With<CyberBikeBody>, Without<CyberSteering>)>,
+    mut body_query: Query<
+        (
+            RigidBodyQuery,
+            &Transform,
+            &ColliderMassProperties,
+            &mut ExternalForce,
+        ),
+        (With<CyberBikeBody>, Without<CyberSteering>),
+    >,
 ) {
-    let Ok(mut bike) = body_query.get_single_mut() else {
+    let Ok((mut bike, xform, mass, mut forces)) = body_query.get_single_mut() else {
         bevy::log::debug!("no bike body found");
         return;
     };
     let dt = time.delta_seconds();
 
-    // brake + thrust
+    // thrust
-    for (xform, mut motor) in braking_query.iter_mut() {
+    let thrust = xform.forward() * input.throttle * settings.accel;
-        let factor = input.throttle * settings.accel;
+    let point = xform.translation + *xform.back();
 
-        let target = dt * factor;
+    let _ = *forces.apply_force_at_point(dt * thrust, point, mass.center_of_mass.0);
-        let torque = target * *xform.right();
+
+    // 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;
         motor.apply_torque(torque);
     }
 
     // steering
     let _angle = yaw_to_angle(input.yaw);
-    let (mut axle, xform) = hub.single_mut();
+    let (mut axle, xform) = axle.single_mut();
 
     let cur_rot = xform.rotation;
-    let (fork, CyberFork(axis)) = fork.single();
+    let fork = fork.single();
-    let new = Quat::from_axis_angle(*axis, _angle);
+    let axis = fork.free_axis.normalize();
+    let new = Quat::from_axis_angle(axis, _angle);
     let diff = (new - cur_rot).to_scaled_axis();
-    let mut lagrange = 1.0;
+    let mut compliance = 1.0;
 
-    fork.align_orientation(&mut axle, &mut bike, diff, &mut lagrange, 0.0, dt);
+    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);
+    }
 }

src/bike/body.rs

@@ -1,12 +1,11 @@
 use avian3d::prelude::*;
 use bevy::{
-    core::Name,
     prelude::{AssetServer, BuildChildren, Commands, Quat, Res, SpatialBundle, Transform, Vec3},
     scene::SceneBundle,
 };
 
-use super::{spawn_wheels, CyberBikeBody, Meshterial, WheelConfig};
+use super::{spawn_wheels, CyberBikeBody, Meshterial, WheelConfig, BIKE_BODY_COLLISION_GROUP};
-use crate::{action::CatControllerState, planet::PLANET_RADIUS, ColliderGroups};
+use crate::{action::CatControllerState, planet::PLANET_RADIUS};
 
 pub(super) fn spawn_cyberbike(
     mut commands: Commands,
@@ -33,8 +32,8 @@ pub(super) fn spawn_cyberbike(
         ..Default::default()
     };
 
-    let bike_collision_group =
+    let (membership, filter) = BIKE_BODY_COLLISION_GROUP;
-        CollisionLayers::new(ColliderGroups::BikeBody, ColliderGroups::Planet);
+    let bike_collision_group = CollisionLayers::new(membership, filter);
 
     let scene = asset_server.load("cb-no-y_up.glb#Scene0");
 
@@ -43,7 +42,6 @@ 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,
@@ -52,12 +50,13 @@ pub(super) fn spawn_cyberbike(
             SleepingDisabled,
             CyberBikeBody,
             CatControllerState::default(),
-            ColliderDensity(20.0),
+            ColliderDensity(0.6),
             LinearDamping(0.1),
             AngularDamping(2.0),
             LinearVelocity::ZERO,
             AngularVelocity::ZERO,
-            ExternalTorque::ZERO.with_persistence(false),
+            ExternalForce::ZERO,
+            ExternalTorque::ZERO,
         ))
         .with_children(|rider| {
             rider.spawn(SceneBundle {
@@ -67,7 +66,5 @@ pub(super) fn spawn_cyberbike(
         })
         .id();
 
-    bevy::log::info!("bike body: {bike:?}");
-
     spawn_wheels(&mut commands, bike, &xform, &wheel_conf, &mut meshterials);
 }

src/bike/components.rs

@@ -14,7 +14,10 @@ pub struct CyberSteering;
 pub struct CyberWheel;
 
 #[derive(Clone, Debug, Component)]
-pub struct CyberFork(pub Vec3);
+pub struct CyberSpring(pub Vec3);
+
+#[derive(Clone, Debug, Component)]
+pub struct CyberFork;
 
 #[derive(Resource, Reflect)]
 #[reflect(Resource)]
@@ -37,15 +40,15 @@ impl Default for WheelConfig {
         Self {
             front_forward: 0.8,
             rear_back: 1.0,
-            y: -0.5,
+            y: -0.1,
             limits: [-0.5, 0.1],
             stiffness: 3.0,
             damping: 8.0,
-            radius: 0.40,
+            radius: 0.25,
-            thickness: 0.15,
+            thickness: 0.11,
-            friction: 0.9,
+            friction: 1.2,
-            restitution: 0.5,
+            restitution: 0.95,
-            density: 30.0,
+            density: 0.05,
         }
     }
 }

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) = (1, 1);
+pub const BIKE_BODY_COLLISION_GROUP: (u32, u32) = (0b01, 0b01);
-pub const BIKE_WHEEL_COLLISION_GROUP: (u32, u32) = (2, 2);
+pub const BIKE_WHEEL_COLLISION_GROUP: (u32, u32) = (0b10, 0b10);
 
 type Meshterial<'a> = (
     ResMut<'a, Assets<Mesh>>,

src/bike/wheels.rs

@@ -1,8 +1,10 @@
 use avian3d::prelude::*;
-use bevy::prelude::*;
+use bevy::prelude::{Torus as Tire, *};
 
-use super::{CyberFork, CyberSteering, CyberWheel, Meshterial, WheelConfig};
+use super::{
-use crate::ColliderGroups;
+    CyberFork, CyberSpring, CyberSteering, CyberWheel, Meshterial, WheelConfig,
+    BIKE_WHEEL_COLLISION_GROUP,
+};
 
 pub fn spawn_wheels(
     commands: &mut Commands,
@@ -11,11 +13,21 @@ 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 wheel_y = conf.y;
-
+    let not_sleeping = SleepingDisabled;
+    let ccd = SweptCcd::NON_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
@@ -34,34 +46,107 @@ pub fn spawn_wheels(
         wheel_poses.push((offset, None));
     }
 
-    let (mesh, collider) = gen_tire(conf);
     for (offset, steering) in wheel_poses {
-        let hub = wheels_helper(
+        let (mesh, collider) = gen_tires(conf);
-            commands,
-            meshes,
-            materials,
-            offset + xform.translation,
-            mesh.clone(),
-            collider.clone(),
-            conf,
-        );
 
-        let fork = commands
+        let material = StandardMaterial {
-            .spawn(FixedJoint::new(hub, bike).with_local_anchor_2(offset))
+            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),
+                AngularVelocity::ZERO,
+                ExternalTorque::ZERO,
+            ))
+            .insert(SpatialBundle::from_transform(
+                xform.with_translation(xform.translation + offset),
+            ))
             .id();
-        if let Some(steering) = steering {
+
-            let axis = CyberFork(rake_vec);
+        let spring = CyberSpring(suspension_axis);
-            commands.entity(fork).insert((steering, axis));
+        let axel = if let Some(steering) = steering {
-            commands.entity(hub).insert(steering);
+            commands.spawn((
+                RigidBody::Dynamic,
+                ExternalForce::ZERO,
+                steering,
+                spring,
+                Collider::sphere(0.1),
+                ColliderDensity(0.1),
+                CollisionLayers::from_bits(0, 0),
+            ))
+        } else {
+            commands.spawn((
+                RigidBody::Dynamic,
+                ExternalForce::ZERO,
+                spring,
+                Collider::sphere(0.1),
+                ColliderDensity(0.1),
+                CollisionLayers::from_bits(0, 0),
+            ))
         }
+        .insert(SpatialBundle::from_transform(
+            xform.with_translation(xform.translation + offset),
+        ))
+        .id();
+        let axel_joint = RevoluteJoint::new(axel, wheel).with_aligned_axis(Vec3::NEG_X);
+        commands.spawn(axel_joint);
+
+        // suspension and steering:
+        if steering.is_some() {
+            let joint = PrismaticJoint::new(axel, 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)
+                .with_free_axis(suspension_axis)
+                .with_local_anchor_2(offset)
+                .with_limits(limits[0], limits[1]);
+            commands.spawn(joint);
+        };
     }
 }
 
-fn gen_tire(conf: &WheelConfig) -> (Mesh, Collider) {
+// do mesh shit
-    let outer_radius = conf.radius;
+fn gen_tires(conf: &WheelConfig) -> (Mesh, Collider) {
-    let inner_radius = conf.radius - conf.thickness;
+    let wheel_rad = conf.radius;
-    let mut tire_mesh: Mesh = Torus::new(inner_radius, outer_radius).into();
+    let tire_thickness = conf.thickness;
-    let tire_verts = tire_mesh
+    let tire = Tire {
+        minor_radius: tire_thickness,
+        major_radius: wheel_rad,
+    };
+
+    let mut mesh = Mesh::from(tire);
+    let tire_verts = mesh
         .attribute(Mesh::ATTRIBUTE_POSITION)
         .unwrap()
         .as_float3()
@@ -75,70 +160,15 @@ fn gen_tire(conf: &WheelConfig) -> (Mesh, Collider) {
             p.to_array()
         })
         .collect::<Vec<[f32; 3]>>();
-    tire_mesh.remove_attribute(Mesh::ATTRIBUTE_POSITION);
+    mesh.remove_attribute(Mesh::ATTRIBUTE_POSITION);
-    tire_mesh.insert_attribute(Mesh::ATTRIBUTE_POSITION, tire_verts);
+    mesh.insert_attribute(Mesh::ATTRIBUTE_POSITION, tire_verts);
 
-    let collider = Collider::convex_hull_from_mesh(&tire_mesh).unwrap();
+    let mut idxs = Vec::new();
-
+    let indices = mesh.indices().unwrap().iter().collect::<Vec<_>>();
-    (tire_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();
 
-fn wheels_helper(
+    (mesh, wheel_collider)
-    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
 }

src/camera.rs

@@ -1,6 +1,6 @@
 use bevy::prelude::*;
 
-use crate::{bike::CyberBikeBody, input::InputState, ui::setup_ui};
+use crate::{bike::CyberBikeBody, input::InputState};
 
 // 85 degrees in radians
 const MAX_PITCH: f32 = 1.48353;
@@ -38,25 +38,22 @@ impl CyberCameras {
     }
 }
 
-fn setup_cybercams(mut commands: Commands, asset_server: Res<AssetServer>) {
+fn setup_cybercams(mut commands: Commands) {
     let hero_projection = PerspectiveProjection {
         fov: std::f32::consts::FRAC_PI_3,
         ..Default::default()
     };
 
-    let id = commands
+    commands
         .spawn(Camera3dBundle {
             projection: bevy::render::camera::Projection::Perspective(hero_projection),
             ..Default::default()
         })
-        .insert(CyberCameras::Hero)
+        .insert(CyberCameras::Hero);
-        .id();
 
     commands
         .spawn(Camera3dBundle::default())
         .insert(CyberCameras::Debug);
-
-    setup_ui(commands, asset_server, id);
 }
 
 fn follow_cyberbike(
@@ -87,7 +84,7 @@ fn follow_cyberbike(
                 cam_xform.rotate(Quat::from_axis_angle(*axis, angle));
             }
             CyberCameras::Debug => {
-                let mut ncx = Transform::from_translation(bike_xform.translation);
+                let mut ncx = bike_xform.to_owned();
                 ncx.rotate(Quat::from_axis_angle(up, offset.rot.to_radians()));
                 ncx.translation += ncx.forward() * offset.dist;
                 ncx.translation += ncx.up() * offset.alt;
@@ -100,15 +97,12 @@ fn follow_cyberbike(
 
 fn update_active_camera(
     state: Res<State<CyberCameras>>,
-    mut cameras: Query<(Entity, &mut Camera, &CyberCameras)>,
+    mut query: Query<(&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
-    cameras.iter_mut().for_each(|(ent, mut cam, cyber)| {
+    query.iter_mut().for_each(|(mut cam, cyber)| {
-        if cyber.eq(state.get()) {
+        if cyber.eq(&state.get()) {
             cam.is_active = true;
-            *target = TargetCamera(ent);
         } else {
             cam.is_active = false;
         }

src/glamor.rs

@@ -2,7 +2,6 @@ use avian3d::debug_render::PhysicsGizmos;
 use bevy::{
     color::Srgba,
     gizmos::AppGizmoBuilder,
-    math::Vec3,
     prelude::{App, Color, GizmoConfig, Plugin},
 };
 
@@ -21,8 +20,6 @@ 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(),

src/lib.rs

@@ -1,4 +1,3 @@
-use avian3d::prelude::PhysicsLayer;
 use bevy::{
     prelude::{Query, Vec3, Window, With},
     window::PrimaryWindow,
@@ -13,13 +12,6 @@ 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;

src/lights.rs

@@ -2,7 +2,7 @@ use bevy::{pbr::CascadeShadowConfigBuilder, prelude::*};
 
 use crate::planet::PLANET_RADIUS;
 
-pub const LIGHT_RANGE: f32 = 900.0;
+pub const LIGHT_RANGE: f32 = 90.0;
 
 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_000_000.0,
+        intensity: 1_00.0,
         range: LIGHT_RANGE,
         color: PINK,
         radius: 1.0,
@@ -22,7 +22,7 @@ fn spawn_static_lights(
     };
 
     let blue_light = PointLight {
-        intensity: 1_000_000.0,
+        intensity: 1_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: 8_000.0,
+        brightness: 0.2,
     });
 
     let _cascade_shadow_config = CascadeShadowConfigBuilder {

src/planet.rs

@@ -25,9 +25,8 @@ fn spawn_planet(
     let pcollide = (
         shape,
         Friction {
-            static_coefficient: 0.8,
+            static_coefficient: 1.2,
-            dynamic_coefficient: 0.5,
+            ..Default::default()
-            combine_rule: CoefficientCombine::Average,
         },
         Restitution::new(0.8),
     );
@@ -42,7 +41,7 @@ fn spawn_planet(
             RigidBody::Static,
             pcollide,
             CyberPlanet,
-            CollisionLayers::new(LayerMask::ALL, LayerMask::ALL),
+            CollisionLayers::new(u32::MAX, u32::MAX),
             CollisionMargin(0.2),
         ));
 }
@@ -137,6 +136,7 @@ fn gen_planet(radius: f32) -> (Mesh, Collider) {
         }
     }
 
+    dbg!(&colors.len());
     mesh.insert_attribute(Mesh::ATTRIBUTE_COLOR, colors);
 
     (mesh, collider)

src/ui.rs

@@ -1,11 +1,10 @@
 use avian3d::prelude::LinearVelocity;
 use bevy::{
-    app::Update,
+    app::{Startup, Update},
     prelude::{
-        AlignSelf, App, AssetServer, Color, Commands, Component, Entity, Plugin, Query, Res, Style,
+        AlignSelf, App, AssetServer, Color, Commands, Component, Plugin, Query, Res, Style, Text,
-        Text, TextBundle, TextSection, TextStyle, With,
+        TextBundle, TextSection, TextStyle, Transform, With,
     },
-    ui::TargetCamera,
 };
 
 use crate::bike::CyberBikeBody;
@@ -13,11 +12,7 @@ use crate::bike::CyberBikeBody;
 #[derive(Component)]
 struct UpText;
 
-pub(crate) fn setup_ui(
+fn setup_ui(mut commands: Commands, asset_server: Res<AssetServer>) {
-    mut commands: Commands,
-    asset_server: Res<AssetServer>,
-    target_camera: Entity,
-) {
     commands
         .spawn(TextBundle {
             style: Style {
@@ -39,16 +34,16 @@ pub(crate) fn setup_ui(
             },
             ..Default::default()
         })
-        .insert((UpText, TargetCamera(target_camera)));
+        .insert(UpText);
 }
 
 fn update_ui(
-    state_query: Query<&LinearVelocity, With<CyberBikeBody>>,
+    state_query: Query<(&LinearVelocity, &Transform), With<CyberBikeBody>>,
     mut text_query: Query<&mut Text, With<UpText>>,
 ) {
     let mut text = text_query.single_mut();
-    let velocity = state_query.single();
+    let (velocity, xform) = state_query.single();
-    let speed = velocity.0.length();
+    let speed = velocity.dot(*xform.forward());
     text.sections[0].value = format!("spd: {:.2}", speed);
 }
 
@@ -56,6 +51,7 @@ pub struct CyberUIPlugin;
 
 impl Plugin for CyberUIPlugin {
     fn build(&self, app: &mut App) {
-        app.add_systems(Update, update_ui);
+        app.add_systems(Startup, setup_ui)
+            .add_systems(Update, update_ui);
     }
 }