diff --git a/docs/src/SUMMARY.md b/docs/src/SUMMARY.md
index 9606564..f111e4c 100644
--- a/docs/src/SUMMARY.md
+++ b/docs/src/SUMMARY.md
@@ -1,4 +1,5 @@
 # Summary
 
+- [Brain Dump](./brain_dump.md)
 - [2D Vehicle Physics](./2d_vehicle_physics.md)
 - [Multiplayer](./multiplayer.md)
diff --git a/docs/src/brain_dump.md b/docs/src/brain_dump.md
new file mode 100644
index 0000000..2d50b1c
--- /dev/null
+++ b/docs/src/brain_dump.md
@@ -0,0 +1,6 @@
+# Brain Dump
+
+Need to implement weight shift on car so front wheel steering has more effect when breaking.
+Otherwise the breaking force prevents the steering.
+
+Implement a CarDebugger node that displays force vectors.
diff --git a/godot/assets/police_car.png b/godot/assets/police_car.png
new file mode 100644
index 0000000..99d5373
Binary files /dev/null and b/godot/assets/police_car.png differ
diff --git a/godot/assets/police_car.png.import b/godot/assets/police_car.png.import
new file mode 100644
index 0000000..19bffc7
--- /dev/null
+++ b/godot/assets/police_car.png.import
@@ -0,0 +1,34 @@
+[remap]
+
+importer="texture"
+type="CompressedTexture2D"
+uid="uid://cds01w4trqeei"
+path="res://.godot/imported/police_car.png-f484def1c543f947419256a0decbc9b1.ctex"
+metadata={
+"vram_texture": false
+}
+
+[deps]
+
+source_file="res://assets/police_car.png"
+dest_files=["res://.godot/imported/police_car.png-f484def1c543f947419256a0decbc9b1.ctex"]
+
+[params]
+
+compress/mode=0
+compress/high_quality=false
+compress/lossy_quality=0.7
+compress/hdr_compression=1
+compress/normal_map=0
+compress/channel_pack=0
+mipmaps/generate=false
+mipmaps/limit=-1
+roughness/mode=0
+roughness/src_normal=""
+process/fix_alpha_border=true
+process/premult_alpha=false
+process/normal_map_invert_y=false
+process/hdr_as_srgb=false
+process/hdr_clamp_exposure=false
+process/size_limit=0
+detect_3d/compress_to=1
diff --git a/godot/camera_2d.gd b/godot/camera_2d.gd
new file mode 100644
index 0000000..e69de29
diff --git a/godot/camera_2d.gd.uid b/godot/camera_2d.gd.uid
new file mode 100644
index 0000000..6a93ac8
--- /dev/null
+++ b/godot/camera_2d.gd.uid
@@ -0,0 +1 @@
+uid://duwspluoy4xuu
diff --git a/godot/car.gd b/godot/car.gd
new file mode 100644
index 0000000..4787826
--- /dev/null
+++ b/godot/car.gd
@@ -0,0 +1,13 @@
+extends RigidBody2D
+
+@onready var cam = $Camera2D
+
+# zoom range: from close-in to far-out
+var min_zoom = Vector2(1.0, 1.0)
+var max_zoom = Vector2(0.2, 0.2)
+var max_speed = 5000.0  # max expected speed
+
+func _process(delta):
+	var speed = linear_velocity.length()
+	var t = clamp(speed / max_speed, 0.0, 1.0)
+	cam.zoom = min_zoom.lerp(max_zoom, t)
diff --git a/godot/car.gd.uid b/godot/car.gd.uid
new file mode 100644
index 0000000..c862e99
--- /dev/null
+++ b/godot/car.gd.uid
@@ -0,0 +1 @@
+uid://bic64vi6lpelp
diff --git a/godot/car.tscn b/godot/car.tscn
index 06bf369..7dbd2fb 100644
--- a/godot/car.tscn
+++ b/godot/car.tscn
@@ -1,17 +1,19 @@
 [gd_scene load_steps=3 format=3 uid="uid://ukvcgdjxtkqw"]
 
-[ext_resource type="Texture2D" uid="uid://cl4nm8ajleyjy" path="res://assets/police_car_white.png" id="1_7822p"]
+[ext_resource type="Texture2D" uid="uid://cds01w4trqeei" path="res://assets/police_car.png" id="1_7822p"]
 
 [sub_resource type="RectangleShape2D" id="RectangleShape2D_37kl0"]
-size = Vector2(194, 493)
+size = Vector2(631, 1429)
 
 [node name="Car" type="Car"]
 mass = 1300.0
 inertia = 5e+07
 
 [node name="CollisionShape2D" type="CollisionShape2D" parent="."]
+position = Vector2(0.5, -0.5)
+scale = Vector2(0.5, 0.5)
 shape = SubResource("RectangleShape2D_37kl0")
 
 [node name="Sprite2D" type="Sprite2D" parent="."]
-scale = Vector2(0.265446, 0.265446)
+scale = Vector2(0.5, 0.5)
 texture = ExtResource("1_7822p")
diff --git a/godot/game.tscn b/godot/game.tscn
index f73713e..f26440b 100644
--- a/godot/game.tscn
+++ b/godot/game.tscn
@@ -1,30 +1,34 @@
-[gd_scene load_steps=5 format=4 uid="uid://7713s03g7nxw"]
+[gd_scene load_steps=5 format=3 uid="uid://7713s03g7nxw"]
 
 [ext_resource type="PackedScene" uid="uid://ukvcgdjxtkqw" path="res://car.tscn" id="1_80nbo"]
-[ext_resource type="Texture2D" uid="uid://dd3nv8l28i3qg" path="res://atlases/test.png" id="1_e2o6t"]
-
-[sub_resource type="TileSetAtlasSource" id="TileSetAtlasSource_feb5d"]
-texture = ExtResource("1_e2o6t")
-texture_region_size = Vector2i(256, 256)
-0:0/0 = 0
-1:0/0 = 0
-
-[sub_resource type="TileSet" id="TileSet_fc0e3"]
-tile_size = Vector2i(256, 256)
-sources/6 = SubResource("TileSetAtlasSource_feb5d")
+[ext_resource type="PackedScene" uid="uid://drkq82mmv8ofa" path="res://test_track.tscn" id="1_e2o6t"]
+[ext_resource type="Script" uid="uid://bic64vi6lpelp" path="res://car.gd" id="4_7jktm"]
+[ext_resource type="Texture2D" uid="uid://bxwhirvk4jjpl" path="res://assets/textures/curb_1.png" id="4_fc0e3"]
 
 [node name="Node2D" type="Node2D"]
 
-[node name="Camera2D" type="Camera2D" parent="."]
-position = Vector2(0, -1)
-zoom = Vector2(0.077, 0.077)
+[node name="Node2D" parent="." instance=ExtResource("1_e2o6t")]
+position = Vector2(1024, -7680)
+rotation = 1.57079
 
-[node name="Roads" type="TileMapLayer" parent="."]
-tile_map_data = PackedByteArray("AAD+/wAAAwAAAAAAAAD+////AwAAAAAAAAD9/wAAAgAAAAAAAFD9////AgAAAAAAAFD9/wEAAgAAAAAAAFD+/wIAAgAAAAAAAAD//wIAAgAAAAAAAAAAAAIAAgAAAAAAAAABAAIAAgAAAAAAAAD+/wEAAwAAAAAAAAD//wEAAwAAAAAAAAA=")
-tile_set = SubResource("TileSet_fc0e3")
+[node name="Node2D2" parent="." instance=ExtResource("1_e2o6t")]
+position = Vector2(1024, -17920)
+rotation = 1.57079
 
-[node name="Roads2" type="TileMapLayer" parent="."]
-tile_map_data = PackedByteArray("AAD+/wAABgAAAAAAAAD+////BgAAAAAAAAD9/wAABgABAAAAAAD9////BgABAAAAAAD9/wEABgABAAAAAAD+/wIABgABAAAAAAD//wIABgABAAAAAAAAAAIABgABAAAAAAABAAIABgABAAAAAAD+/wEABgAAAAAAAAD//wEABgAAAAAAAAA=")
-tile_set = SubResource("TileSet_fc0e3")
+[node name="Node2D3" parent="." instance=ExtResource("1_e2o6t")]
+position = Vector2(1024, -28160)
+rotation = 1.57079
+
+[node name="Curb1" type="Sprite2D" parent="."]
+position = Vector2(-1024, 1022.44)
+rotation = 1.57079
+scale = Vector2(1.99747, 0.147406)
+texture = ExtResource("4_fc0e3")
 
 [node name="Car" parent="." instance=ExtResource("1_80nbo")]
+script = ExtResource("4_7jktm")
+
+[node name="Camera2D" type="Camera2D" parent="Car"]
+position = Vector2(0, -1)
+scale = Vector2(0.1, 0.1)
+zoom = Vector2(0.36, 0.36)
diff --git a/godot/test_track.tscn b/godot/test_track.tscn
new file mode 100644
index 0000000..fe6ab4a
--- /dev/null
+++ b/godot/test_track.tscn
@@ -0,0 +1,166 @@
+[gd_scene load_steps=3 format=3 uid="uid://drkq82mmv8ofa"]
+
+[ext_resource type="Texture2D" uid="uid://boku1251l3foe" path="res://assets/textures/sidewalk.png" id="1_dd2be"]
+[ext_resource type="Texture2D" uid="uid://dtfhvbp4vov3l" path="res://assets/textures/road_1.png" id="2_t3gmr"]
+
+[node name="Node2D" type="Node2D"]
+
+[node name="Sidewalk2" type="Sprite2D" parent="."]
+position = Vector2(0, -512)
+texture = ExtResource("1_dd2be")
+
+[node name="Road1" type="Sprite2D" parent="."]
+position = Vector2(0, 512)
+texture = ExtResource("2_t3gmr")
+
+[node name="Road2" type="Sprite2D" parent="."]
+position = Vector2(0, 1536)
+texture = ExtResource("2_t3gmr")
+
+[node name="Sidewalk" type="Sprite2D" parent="."]
+position = Vector2(0, 2560)
+texture = ExtResource("1_dd2be")
+
+[node name="Sidewalk2" type="Sprite2D" parent="Sidewalk"]
+position = Vector2(1024, -3072)
+texture = ExtResource("1_dd2be")
+
+[node name="Road1" type="Sprite2D" parent="Sidewalk"]
+position = Vector2(1024, -2048)
+texture = ExtResource("2_t3gmr")
+
+[node name="Road2" type="Sprite2D" parent="Sidewalk"]
+position = Vector2(1024, -1024)
+texture = ExtResource("2_t3gmr")
+
+[node name="Sidewalk" type="Sprite2D" parent="Sidewalk"]
+position = Vector2(1024, 0)
+texture = ExtResource("1_dd2be")
+
+[node name="Sidewalk2" type="Sprite2D" parent="Sidewalk/Sidewalk"]
+position = Vector2(1024, -3072)
+texture = ExtResource("1_dd2be")
+
+[node name="Road1" type="Sprite2D" parent="Sidewalk/Sidewalk"]
+position = Vector2(1024, -2048)
+texture = ExtResource("2_t3gmr")
+
+[node name="Road2" type="Sprite2D" parent="Sidewalk/Sidewalk"]
+position = Vector2(1024, -1024)
+texture = ExtResource("2_t3gmr")
+
+[node name="Sidewalk" type="Sprite2D" parent="Sidewalk/Sidewalk"]
+position = Vector2(1024, 0)
+texture = ExtResource("1_dd2be")
+
+[node name="Sidewalk2" type="Sprite2D" parent="Sidewalk/Sidewalk/Sidewalk"]
+position = Vector2(1024, -3072)
+texture = ExtResource("1_dd2be")
+
+[node name="Road1" type="Sprite2D" parent="Sidewalk/Sidewalk/Sidewalk"]
+position = Vector2(1024, -2048)
+texture = ExtResource("2_t3gmr")
+
+[node name="Road2" type="Sprite2D" parent="Sidewalk/Sidewalk/Sidewalk"]
+position = Vector2(1024, -1024)
+texture = ExtResource("2_t3gmr")
+
+[node name="Sidewalk" type="Sprite2D" parent="Sidewalk/Sidewalk/Sidewalk"]
+position = Vector2(1024, 0)
+texture = ExtResource("1_dd2be")
+
+[node name="Sidewalk2" type="Sprite2D" parent="Sidewalk/Sidewalk/Sidewalk/Sidewalk"]
+position = Vector2(1024, -3072)
+texture = ExtResource("1_dd2be")
+
+[node name="Road1" type="Sprite2D" parent="Sidewalk/Sidewalk/Sidewalk/Sidewalk"]
+position = Vector2(1024, -2048)
+texture = ExtResource("2_t3gmr")
+
+[node name="Road2" type="Sprite2D" parent="Sidewalk/Sidewalk/Sidewalk/Sidewalk"]
+position = Vector2(1024, -1024)
+texture = ExtResource("2_t3gmr")
+
+[node name="Sidewalk" type="Sprite2D" parent="Sidewalk/Sidewalk/Sidewalk/Sidewalk"]
+position = Vector2(1024, 0)
+texture = ExtResource("1_dd2be")
+
+[node name="Sidewalk2" type="Sprite2D" parent="Sidewalk/Sidewalk/Sidewalk/Sidewalk/Sidewalk"]
+position = Vector2(1024, -3072)
+texture = ExtResource("1_dd2be")
+
+[node name="Road1" type="Sprite2D" parent="Sidewalk/Sidewalk/Sidewalk/Sidewalk/Sidewalk"]
+position = Vector2(1024, -2048)
+texture = ExtResource("2_t3gmr")
+
+[node name="Road2" type="Sprite2D" parent="Sidewalk/Sidewalk/Sidewalk/Sidewalk/Sidewalk"]
+position = Vector2(1024, -1024)
+texture = ExtResource("2_t3gmr")
+
+[node name="Sidewalk" type="Sprite2D" parent="Sidewalk/Sidewalk/Sidewalk/Sidewalk/Sidewalk"]
+position = Vector2(1024, 0)
+texture = ExtResource("1_dd2be")
+
+[node name="Sidewalk2" type="Sprite2D" parent="Sidewalk/Sidewalk/Sidewalk/Sidewalk/Sidewalk/Sidewalk"]
+position = Vector2(1024, -3072)
+texture = ExtResource("1_dd2be")
+
+[node name="Road1" type="Sprite2D" parent="Sidewalk/Sidewalk/Sidewalk/Sidewalk/Sidewalk/Sidewalk"]
+position = Vector2(1024, -2048)
+texture = ExtResource("2_t3gmr")
+
+[node name="Road2" type="Sprite2D" parent="Sidewalk/Sidewalk/Sidewalk/Sidewalk/Sidewalk/Sidewalk"]
+position = Vector2(1024, -1024)
+texture = ExtResource("2_t3gmr")
+
+[node name="Sidewalk" type="Sprite2D" parent="Sidewalk/Sidewalk/Sidewalk/Sidewalk/Sidewalk/Sidewalk"]
+position = Vector2(1024, 0)
+texture = ExtResource("1_dd2be")
+
+[node name="Sidewalk2" type="Sprite2D" parent="Sidewalk/Sidewalk/Sidewalk/Sidewalk/Sidewalk/Sidewalk/Sidewalk"]
+position = Vector2(1024, -3072)
+texture = ExtResource("1_dd2be")
+
+[node name="Road1" type="Sprite2D" parent="Sidewalk/Sidewalk/Sidewalk/Sidewalk/Sidewalk/Sidewalk/Sidewalk"]
+position = Vector2(1024, -2048)
+texture = ExtResource("2_t3gmr")
+
+[node name="Road2" type="Sprite2D" parent="Sidewalk/Sidewalk/Sidewalk/Sidewalk/Sidewalk/Sidewalk/Sidewalk"]
+position = Vector2(1024, -1024)
+texture = ExtResource("2_t3gmr")
+
+[node name="Sidewalk" type="Sprite2D" parent="Sidewalk/Sidewalk/Sidewalk/Sidewalk/Sidewalk/Sidewalk/Sidewalk"]
+position = Vector2(1024, 0)
+texture = ExtResource("1_dd2be")
+
+[node name="Sidewalk2" type="Sprite2D" parent="Sidewalk/Sidewalk/Sidewalk/Sidewalk/Sidewalk/Sidewalk/Sidewalk/Sidewalk"]
+position = Vector2(1024, -3072)
+texture = ExtResource("1_dd2be")
+
+[node name="Road1" type="Sprite2D" parent="Sidewalk/Sidewalk/Sidewalk/Sidewalk/Sidewalk/Sidewalk/Sidewalk/Sidewalk"]
+position = Vector2(1024, -2048)
+texture = ExtResource("2_t3gmr")
+
+[node name="Road2" type="Sprite2D" parent="Sidewalk/Sidewalk/Sidewalk/Sidewalk/Sidewalk/Sidewalk/Sidewalk/Sidewalk"]
+position = Vector2(1024, -1024)
+texture = ExtResource("2_t3gmr")
+
+[node name="Sidewalk" type="Sprite2D" parent="Sidewalk/Sidewalk/Sidewalk/Sidewalk/Sidewalk/Sidewalk/Sidewalk/Sidewalk"]
+position = Vector2(1024, 0)
+texture = ExtResource("1_dd2be")
+
+[node name="Sidewalk2" type="Sprite2D" parent="Sidewalk/Sidewalk/Sidewalk/Sidewalk/Sidewalk/Sidewalk/Sidewalk/Sidewalk/Sidewalk"]
+position = Vector2(1024, -3072)
+texture = ExtResource("1_dd2be")
+
+[node name="Road1" type="Sprite2D" parent="Sidewalk/Sidewalk/Sidewalk/Sidewalk/Sidewalk/Sidewalk/Sidewalk/Sidewalk/Sidewalk"]
+position = Vector2(1024, -2048)
+texture = ExtResource("2_t3gmr")
+
+[node name="Road2" type="Sprite2D" parent="Sidewalk/Sidewalk/Sidewalk/Sidewalk/Sidewalk/Sidewalk/Sidewalk/Sidewalk/Sidewalk"]
+position = Vector2(1024, -1024)
+texture = ExtResource("2_t3gmr")
+
+[node name="Sidewalk" type="Sprite2D" parent="Sidewalk/Sidewalk/Sidewalk/Sidewalk/Sidewalk/Sidewalk/Sidewalk/Sidewalk/Sidewalk"]
+position = Vector2(1024, 0)
+texture = ExtResource("1_dd2be")
diff --git a/radio/Vinyl Voltage FM/Backin' Through the Town.mp3 b/radio/Vinyl Voltage FM/Backin' Through the Town.mp3
deleted file mode 100644
index ebad0ac..0000000
Binary files a/radio/Vinyl Voltage FM/Backin' Through the Town.mp3 and /dev/null differ
diff --git a/radio/foo/Left on Red - variant.mp3 b/radio/foo/Left on Red - variant.mp3
deleted file mode 100644
index 25dc5a9..0000000
Binary files a/radio/foo/Left on Red - variant.mp3 and /dev/null differ
diff --git a/radio/foo/Left on Red.mp3 b/radio/foo/Left on Red.mp3
deleted file mode 100644
index 857dc3a..0000000
Binary files a/radio/foo/Left on Red.mp3 and /dev/null differ
diff --git a/rust/crates/grand-theft-arena/src/car.rs b/rust/crates/grand-theft-arena/src/car.rs
index 6d568ed..4875efc 100644
--- a/rust/crates/grand-theft-arena/src/car.rs
+++ b/rust/crates/grand-theft-arena/src/car.rs
@@ -1,4 +1,6 @@
-//! Implements a vehicle model based on the bicycle model.
+//! Implements a vehicle dynamics model
+//!
+//! Roughly based on the bicycle model.
 
 use godot::classes::IRigidBody2D;
 use godot::classes::RigidBody2D;
@@ -6,6 +8,11 @@ use godot::global::deg_to_rad;
 use godot::prelude::*;
 use std::f32::consts::PI;
 
+// Touch and feel value
+const NEGLIGIBLE_SPEED_THRESHOLD: f32 = 10.0;
+const NEGLIGIBLE_SPEED_THRESHOLD_SQUARED: f32 = NEGLIGIBLE_SPEED_THRESHOLD * NEGLIGIBLE_SPEED_THRESHOLD;
+const CORNER_TAPER_SPEED_THRESHOLD: f32 = 800.0;
+
 #[derive(GodotClass)]
 #[class(base=RigidBody2D)]
 struct Car {
@@ -43,26 +50,26 @@ impl Wheel {
 #[godot_api]
 impl IRigidBody2D for Car {
     fn init(base: Base<RigidBody2D>) -> Self {
-        let engine_force = 4000000.0;
+        let engine_force = 2_000_000.0;
         let brake_force = 2.5 * engine_force;
-        let max_cornering_force = 7000000.0;
+        let max_cornering_force = 3_000_000.0;
 
         Self {
             base,
             engine_force,
             brake_force,
-            air_drag_coefficient: 0.05,
-            mechanical_drag: 2000.0,
+            air_drag_coefficient: 0.02,
+            mechanical_drag: 15000.0,
             max_steering_angle: deg_to_rad(32.0) as f32,
             max_cornering_force,
 
             front_wheel: Wheel {
-                y_distance: 200.0,
+                y_distance: -200.0,
                 has_grip: true,
             },
 
             rear_wheel: Wheel {
-                y_distance: -200.0,
+                y_distance: 200.0,
                 has_grip: true,
             },
         }
@@ -70,7 +77,18 @@ impl IRigidBody2D for Car {
 
     fn physics_process(&mut self, _delta: f64) {
         // self.base_mut().set_mass(1300.0);
-        // self.base_mut().set_inertia(260000000000.0);
+        // self.base_mut().set_inertia(260000000.0);
+
+        let speed_is_negligible = self.speed_is_negligible();
+        let angular_speed_is_negligible = self.angular_speed_is_negligible();
+
+        if speed_is_negligible {
+            self.base_mut().set_linear_velocity(Vector2::default());
+        }
+
+        if angular_speed_is_negligible {
+            self.base_mut().set_angular_velocity(0.0);
+        }
 
         let input = Input::singleton();
         let move_forward = input.is_action_pressed("move_forward");
@@ -89,8 +107,8 @@ impl IRigidBody2D for Car {
         let rear_wheel_velocity = self.wheel_velocity(&self.rear_wheel);
 
         let front_wheel_angle = match (turn_left, turn_right) {
-            (true, false) => self.steering_angle(),
-            (false, true) => -self.steering_angle(),
+            (true, false) => -self.steering_angle(),
+            (false, true) => self.steering_angle(),
             (true, true) | (false, false) => 0.0,
         };
 
@@ -118,20 +136,36 @@ impl IRigidBody2D for Car {
         // front wheel drive
         self.base_mut().apply_force_ex(thrust_force).position(front_wheel_position).done();
 
-        let front_slip_angle = front_wheels_direction.angle_to(front_wheel_velocity);
-        let rear_slip_angle = rear_wheels_direction.angle_to(rear_wheel_velocity);
-
-        let speed_is_negligible = self.speed_is_negligible();
-
-        if speed_is_negligible {
-            self.base_mut().set_linear_velocity(Vector2::default());
-        }
+        let speed = self.speed();
 
         // Cornering forces
-        if !speed_is_negligible {
-            self.apply_cornering_force(front_wheel_position, front_slip_angle);
-            self.apply_cornering_force(rear_wheel_position, rear_slip_angle);
-        };
+        if front_wheel_velocity.length_squared() > NEGLIGIBLE_SPEED_THRESHOLD_SQUARED {
+            let front_slip_angle = front_wheels_direction.angle_to(front_wheel_velocity);
+            let f_corner = self.cornering_force(front_slip_angle);
+            let f = if speed < CORNER_TAPER_SPEED_THRESHOLD {
+                // Taper at low speeds to prevent simulation instability
+                f_corner * speed / CORNER_TAPER_SPEED_THRESHOLD
+            } else {
+                f_corner
+            };
+            self.base_mut().apply_force_ex(f).position(front_wheel_position).done();
+        }
+        if rear_wheel_velocity.length_squared() > NEGLIGIBLE_SPEED_THRESHOLD_SQUARED {
+            let rear_slip_angle = rear_wheels_direction.angle_to(rear_wheel_velocity);
+            let f_corner = self.cornering_force(rear_slip_angle);
+            let f = if speed < CORNER_TAPER_SPEED_THRESHOLD {
+                // Taper at low speeds to prevent simulation instability
+                f_corner * speed / CORNER_TAPER_SPEED_THRESHOLD
+            } else {
+                f_corner
+            };
+
+            // Put more force on the rear wheel to correct heading.
+            // This is contrary to the physics though - on a normal car there is more grip on the front wheels afaict.
+            let f = f * 2.0;
+
+            self.base_mut().apply_force_ex(f).position(rear_wheel_position).done();
+        }
 
         // Air drag
         self.apply_air_drag();
@@ -142,15 +176,16 @@ impl IRigidBody2D for Car {
 }
 
 impl Car {
-    fn apply_cornering_force(&mut self, wheel_position: Vector2, slip_angle: f32) {
+    fn cornering_force(&mut self, slip_angle: f32) -> Vector2 {
+        debug_assert!(slip_angle.is_finite());
         let right = self.right();
 
         let a = slip_angle.abs();
         let a = if a > PI / 2.0 { PI - a } else { a };
-        let f = cornering_force(self.max_cornering_force, a);
+        let f = cornering_force_curve(self.max_cornering_force, a);
+        debug_assert!(f >= 0.0);
 
-        let force_vector = -slip_angle.sign() * right * f;
-        self.base_mut().apply_force_ex(force_vector).position(wheel_position).done();
+        -slip_angle.sign() * right * f
     }
 
     /// Returns normal vector in the direction the car is facing.
@@ -179,16 +214,29 @@ impl Car {
         self.base().get_linear_velocity().length()
     }
 
-    /// Returns true if current speed is low enough that lateral friction on wheels etc should not be calculated.
-    fn speed_is_negligible(&self) -> bool {
-        // Touch and feel value
-        const THRESHOLD: f32 = 10.0;
+    /// Returns current angular speed.
+    // TODO: in what unit?
+    fn angular_speed(&self) -> f32 {
+        self.base().get_angular_velocity()
+    }
 
-        self.speed() < THRESHOLD
+    /// Returns true if current speed is low enough that the car should just be stopped.
+    fn speed_is_negligible(&self) -> bool {
+        self.speed() < NEGLIGIBLE_SPEED_THRESHOLD
+    }
+
+    /// Returns true if current angular speed is low enough that the car should just be stopped.
+    fn angular_speed_is_negligible(&self) -> bool {
+        // Touch and feel value
+        const THRESHOLD: f32 = 0.1;
+
+        self.angular_speed().abs() < THRESHOLD
     }
 
     /// Returns steering angle, which is reduced from the max steering angle, the faster the car goes.
     fn steering_angle(&self) -> f32 {
+        return self.max_steering_angle;
+
         // Steering angle as function of speed s.
         // f(0) = 1
         // f(s) -> 0 as s -> infinity
@@ -222,7 +270,7 @@ impl Car {
         let vel = self.base().get_linear_velocity();
         if let Some(direction) = vel.try_normalized() {
             // TODO: Note in book that powf is non-deterministic.
-            let f = self.mechanical_drag * vel.length().powf(0.8);
+            let f = self.mechanical_drag * vel.length().powf(0.4);
             let f_vec = -direction * f;
             self.base_mut().apply_force(f_vec);
         }
@@ -234,7 +282,8 @@ impl Car {
 /// Takes positive slip angle in [0; pi/2]
 ///
 /// Returns a non-negative value.
-fn cornering_force(peak: f32, slip_angle: f32) -> f32 {
+fn cornering_force_curve(peak: f32, slip_angle: f32) -> f32 {
+    debug_assert!(slip_angle.is_finite());
     debug_assert!(slip_angle >= 0.0);
     debug_assert!(slip_angle <= PI / 2.0);
 
@@ -258,7 +307,6 @@ fn cornering_force(peak: f32, slip_angle: f32) -> f32 {
         peak - c * peak * (slip_angle - peak_angle) / deg_to_rad(90.0) as f32
     };
 
-    // dbg!(rad_to_deg(slip_angle as f64), peak, magnitude);
     debug_assert!(magnitude >= 0.0);
     debug_assert!(peak >= magnitude);