diff --git a/assets/car_model.obj b/assets/car_model.obj
index 6cc73b2..9959ce7 100644
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diff --git a/game.h b/game.h
index f8c4500..8dd47ca 100644
--- a/game.h
+++ b/game.h
@@ -21,9 +21,7 @@
   COORDINATE SYSTEM AND ROTATIONS: The game itself (racing module) is
   independent of rendering and physics libraries, but out of convenient adopts
   their coordinate system (X right, Y up, Z forward) and rotations (Euler
-  angles, by Z, then by X, then Y). 
-
-
+  angles, by Z, then by X, then Y).
 */
 
 #ifndef _LCR_GAME_H
@@ -206,6 +204,7 @@ LCR_GameUnit physicsInterpolationParam = LCR_GAME_UNIT -
     LCR_GameUnit carTransform[6];
     LCR_racingGetCarTransform(carTransform,carTransform + 3,
       physicsInterpolationParam);
+
     LCR_rendererSetCarTransform(carTransform,carTransform + 3);
 
     while (time >= LCR_game.nextRenderFrameTime)
@@ -248,6 +247,11 @@ LCR_GameUnit physicsInterpolationParam = LCR_GAME_UNIT -
     else
       LCR_rendererCameraFollow();
 
+#if LCR_ANIMATE_CAR
+    LCR_rendererSetWheelState(LCR_racingGetWheelRotation(),
+      LCR_racingGetWheelSteer());
+#endif
+
     LCR_rendererDraw();
 
     if (LCR_game.debugDraw)
diff --git a/racing.h b/racing.h
index 1b0389b..90ea00c 100644
--- a/racing.h
+++ b/racing.h
@@ -22,10 +22,11 @@ typedef int32_t LCR_GameUnit;  ///< abstract game unit
 #define LCR_CAR_JOINTS 5
 #define LCR_CAR_CONNECTIONS 10
 
-#define LCR_GRAVITY 5
+#define LCR_GRAVITY (LCR_PHYSICS_UNIT / 100)
 #define LCR_CAR_FORWARD_FRICTION TPE_F / 14
 #define LCR_CAR_TURN_FRICTION (3 * TPE_F / 4)
 #define LCR_CAR_ELASTICITY (TPE_F / 100)
+#define LCR_CAR_ACCELERATION (LCR_PHYSICS_UNIT / 8)
 
 struct
 {
@@ -41,6 +42,8 @@ struct
 
   TPE_Vec3 carPositions[2]; ///* Current and previous position.
 
+  LCR_GameUnit wheelRotation;
+  LCR_GameUnit wheelSteer;
 } LCR_racing;
 
 TPE_Vec3 _LCR_TPE_vec3DividePlain(TPE_Vec3 v, TPE_Unit d)
@@ -53,12 +56,22 @@ TPE_Vec3 _LCR_TPE_vec3DividePlain(TPE_Vec3 v, TPE_Unit d)
 
 TPE_Vec3 _LCR_racingEnvironmentFunction(TPE_Vec3 point, TPE_Unit maxDist)
 {
+
   return TPE_envAABoxInside(point,TPE_vec3(0,0,0),TPE_vec3(
       LCR_PHYSICS_UNIT * LCR_MAP_SIZE_BLOCKS,
       (LCR_PHYSICS_UNIT * LCR_MAP_SIZE_BLOCKS) / 2,
       LCR_PHYSICS_UNIT * LCR_MAP_SIZE_BLOCKS));
 }
 
+LCR_GameUnit LCR_racingGetCarSpeed(void)
+{
+  return (TPE_vec3Len(TPE_vec3(
+    LCR_racing.carBody.joints[4].velocity[0],
+    LCR_racing.carBody.joints[4].velocity[1],
+    LCR_racing.carBody.joints[4].velocity[2])) * LCR_GAME_UNIT)
+    / LCR_PHYSICS_UNIT;
+}
+
 uint8_t _LCR_racingCollisionHandler(uint16_t b1, uint16_t j1, uint16_t b2,
   uint16_t j2, TPE_Vec3 p)
 {
@@ -75,8 +88,11 @@ uint8_t _LCR_racingCollisionHandler(uint16_t b1, uint16_t j1, uint16_t b2,
 */
 void LCR_racingRestart(void)
 {
+  TPE_bodyActivate(&(LCR_racing.carBody));
   LCR_racing.wheelCollisions = 0;
-  TPE_bodyDeactivate(&(LCR_racing.carBody));
+
+  LCR_racing.wheelRotation = 0;
+  LCR_racing.wheelSteer = 0;
 
   // TODO
 }
@@ -111,6 +127,7 @@ void LCR_racingInit(void)
 
   LCR_racing.carBody.friction = LCR_CAR_FORWARD_FRICTION;
   LCR_racing.carBody.elasticity = LCR_CAR_ELASTICITY;
+  LCR_racing.carBody.flags |= TPE_BODY_FLAG_ALWAYS_ACTIVE;
 
   LCR_racingRestart();
 }
@@ -144,7 +161,6 @@ void LCR_racingGetCarTransform(LCR_GameUnit position[3],
   rotation[0] = (v.x * LCR_GAME_UNIT) / TPE_F;
   rotation[1] = (v.y * LCR_GAME_UNIT) / TPE_F;
   rotation[2] = (v.z * LCR_GAME_UNIT) / TPE_F;
-
   // TODO: also smooth out rotation?
 }
 
@@ -166,48 +182,93 @@ int LCR_racingCarWheelTouchesGround(int wheel)
   return ((LCR_racing.wheelCollisions & (LCR_racing.wheelCollisions >> 4))
     >> wheel) & 0x01;
 }
+      
+LCR_GameUnit LCR_racingGetWheelRotation(void)
+{
+  return LCR_racing.wheelRotation;
+}
+
+LCR_GameUnit LCR_racingGetWheelSteer(void)
+{
+  return LCR_racing.wheelSteer;
+}
+
+void _LCR_racingWheelAccelerate(unsigned int wheel, TPE_Vec3 dir)
+{
+  LCR_racing.carBody.joints[wheel].velocity[0] +=
+    (dir.x * LCR_CAR_ACCELERATION) / TPE_F;
+  LCR_racing.carBody.joints[wheel].velocity[1] +=
+    (dir.y * LCR_CAR_ACCELERATION) / TPE_F;
+  LCR_racing.carBody.joints[wheel].velocity[2] +=
+    (dir.z * LCR_CAR_ACCELERATION) / TPE_F;
+}
 
 void LCR_racingStep(unsigned int input)
 {
   TPE_Vec3 carForw, carRight, carUp;
-  TPE_Vec3 vel = TPE_vec3(0,0,0);
+//  TPE_Vec3 vel = TPE_vec3(0,0,0);
+
+  carForw = TPE_vec3Normalized(TPE_vec3Plus(
+    TPE_vec3Minus(LCR_racing.carBody.joints[0].position,
+                  LCR_racing.carBody.joints[2].position),
+    TPE_vec3Minus(LCR_racing.carBody.joints[1].position,
+                  LCR_racing.carBody.joints[3].position)));
+
+  carRight = TPE_vec3Normalized(TPE_vec3Plus(
+    TPE_vec3Minus(LCR_racing.carBody.joints[0].position,
+                  LCR_racing.carBody.joints[1].position),
+    TPE_vec3Minus(LCR_racing.carBody.joints[2].position,
+                  LCR_racing.carBody.joints[3].position)));
+
+  carUp = TPE_vec3Cross(carForw,carRight);
 
   if (input)
   {
+    // TODO: magic constants
     if (input & LCR_RACING_INPUT_FORW)
-      vel.y = LCR_PHYSICS_UNIT / 8;
-    
+      LCR_racing.wheelRotation =
+        (LCR_racing.wheelRotation + 5) % LCR_GAME_UNIT;
+
     if (input & LCR_RACING_INPUT_BACK)
-      vel.z = LCR_PHYSICS_UNIT / 32;
+      LCR_racing.wheelRotation -= 4;
+
+      while (LCR_racing.wheelRotation < 0)
+        LCR_racing.wheelRotation += LCR_GAME_UNIT;
 
     if (input & LCR_RACING_INPUT_RIGHT)
-      vel.x = LCR_PHYSICS_UNIT / 32;
-    
-    if (input & LCR_RACING_INPUT_LEFT)
-      vel.x = -1 * LCR_PHYSICS_UNIT / 32;
+      LCR_racing.wheelSteer = TPE_min(
+        LCR_racing.wheelSteer + 64,LCR_GAME_UNIT / 2);
 
-    TPE_bodyAccelerate(&(LCR_racing.carBody),vel);
+    if (input & LCR_RACING_INPUT_LEFT)
+      LCR_racing.wheelSteer = TPE_max(
+        LCR_racing.wheelSteer - 64,-1 * LCR_GAME_UNIT / 2);
+
+    if ((LCR_racing.wheelCollisions & 0x03) == 0x03) // back wheels on gr.?
+    {
+      if (input & LCR_RACING_INPUT_FORW)
+      {
+        _LCR_racingWheelAccelerate(0,carForw);
+        _LCR_racingWheelAccelerate(1,carForw);
+      }
+      else if (input & LCR_RACING_INPUT_BACK)
+      {
+        _LCR_racingWheelAccelerate(0,TPE_vec3TimesPlain(carForw,-1));
+        _LCR_racingWheelAccelerate(1,TPE_vec3TimesPlain(carForw,-1));
+      }
+    }
   }
 
-  TPE_bodyApplyGravity(&(LCR_racing.carBody),LCR_GRAVITY);
+  if ((!(input & LCR_RACING_INPUT_LEFT)) &&
+    (!(input & LCR_RACING_INPUT_RIGHT)))
+    LCR_racing.wheelSteer /= 2;
+
+
+  if ((LCR_racing.wheelCollisions & 0x0f) != 0x0f) // EXPERIMENTAL: don't apply gravity with all wheels on ground
+    TPE_bodyApplyGravity(&(LCR_racing.carBody),LCR_GRAVITY);
 
   LCR_racing.wheelCollisions <<= 4;
   TPE_worldStep(&(LCR_racing.physicsWorld));
 
-  carForw = TPE_vec3Normalized(TPE_vec3Plus(
-    TPE_vec3Minus(LCR_racing.carBody.joints[2].position,
-                  LCR_racing.carBody.joints[0].position),
-    TPE_vec3Minus(LCR_racing.carBody.joints[3].position,
-                  LCR_racing.carBody.joints[1].position)));
-
-  carRight = TPE_vec3Normalized(TPE_vec3Plus(
-    TPE_vec3Minus(LCR_racing.carBody.joints[1].position,
-                  LCR_racing.carBody.joints[0].position),
-    TPE_vec3Minus(LCR_racing.carBody.joints[3].position,
-                  LCR_racing.carBody.joints[2].position)));
-
-  carUp = TPE_vec3Cross(carForw,carRight);
-
   if (TPE_vec3Dot(carUp,TPE_vec3Minus(LCR_racing.carBody.joints[4].position,
       LCR_racing.carBody.joints[0].position)) < 0)
   {
diff --git a/renderer.h b/renderer.h
index 8212702..fca8474 100644
--- a/renderer.h
+++ b/renderer.h
@@ -74,7 +74,7 @@ struct
 
 #if LCR_ANIMATE_CAR
   S3L_Unit wheelRotation;
-  S3L_Unit wheelTurn;
+  S3L_Unit wheelSteer;
   S3L_Unit wheelRotationCenters[4];
   S3L_Unit animatedCarVerts[LCR_CAR_VERTEX_COUNT * 3];
 #endif
@@ -828,7 +828,7 @@ LCR_renderer.ghostModel->transform.translation.x -= LCR_GAME_UNIT / 4;
   LCR_renderer.wheelRotationCenters[3] /= count[1];
 
   LCR_renderer.wheelRotation = 0;
-  LCR_renderer.wheelTurn = 0;
+  LCR_renderer.wheelSteer = 0;
 #endif
 
   S3L_sceneInit(
@@ -1280,8 +1280,8 @@ void _LCR_rendererAnimateCar(void)
   {
     if (LCR_carVertexTypes[i] > 0)
     {
-      S3L_Unit s = S3L_sin(-1 * LCR_renderer.wheelRotation),
-               c = S3L_cos(-1 * LCR_renderer.wheelRotation);
+      S3L_Unit s = S3L_sin(LCR_renderer.wheelRotation),
+               c = S3L_cos(LCR_renderer.wheelRotation);
 
       S3L_Unit v[2], tmp; 
 
@@ -1302,19 +1302,19 @@ void _LCR_rendererAnimateCar(void)
       LCR_renderer.animatedCarVerts[index + 1] =
         v[1] + LCR_renderer.wheelRotationCenters[offset + 1];
 
-      if (LCR_carVertexTypes[i] > 1)
+      if (LCR_carVertexTypes[i] == 1)
       {
         /* Turn front wheels; this is not real turning but just a fake by
            skewing in Z and X directions. */
         LCR_renderer.animatedCarVerts[index] = LCR_carVertices[index];
 
         LCR_renderer.animatedCarVerts[index + 2] -=
-          (LCR_renderer.animatedCarVerts[index] * LCR_renderer.wheelTurn)
+          (LCR_renderer.animatedCarVerts[index] * LCR_renderer.wheelSteer)
           / (8 * S3L_F);
 
         LCR_renderer.animatedCarVerts[index] +=
           ((LCR_renderer.animatedCarVerts[index + 2] -
-          LCR_renderer.wheelRotationCenters[0]) * LCR_renderer.wheelTurn)
+          LCR_renderer.wheelRotationCenters[2]) * LCR_renderer.wheelSteer)
           / (2 * S3L_F);
       }
     }
@@ -1353,8 +1353,19 @@ void LCR_rendererCameraFollow(void)
       LCR_renderer.carModel->transform.translation.z +
       LCR_SETTING_CAMERA_MAX_DISTANCE * LCR_RENDERER_UNIT / 4);
 
-  S3L_lookAt(LCR_renderer.carModel->transform.translation,
-    &(LCR_renderer.scene.camera.transform));
+  /* Hotfix for a Gimbal lock kinda issue, don't do lookAt when completely
+    above the car, rather shift the camera a bit (needs some tuning). */
+  if (S3L_abs(LCR_renderer.scene.camera.transform.translation.x -
+      LCR_renderer.carModel->transform.translation.x) > 8 &&
+    S3L_abs(LCR_renderer.scene.camera.transform.translation.z -
+      LCR_renderer.carModel->transform.translation.z) > 8)
+      S3L_lookAt(LCR_renderer.carModel->transform.translation,
+        &(LCR_renderer.scene.camera.transform));
+  else
+  {
+    LCR_renderer.scene.camera.transform.translation.x += 4;
+    LCR_renderer.scene.camera.transform.translation.z -= 8;
+  }
 
 #if LCR_SETTING_SMOOTH_ANIMATIONS
   // now average with previous transform to smooth the animation out:
@@ -1368,10 +1379,18 @@ void LCR_rendererCameraFollow(void)
   transPrev.rotation.x -= LCR_renderer.scene.camera.transform.rotation.x;
   transPrev.rotation.y -= LCR_renderer.scene.camera.transform.rotation.y;
 
-  if (S3L_abs(transPrev.rotation.x) < S3L_F / 4)
-    LCR_renderer.scene.camera.transform.rotation.x += transPrev.rotation.x / 2;
+  if (S3L_abs(transPrev.rotation.y) < S3L_F / 5)
+    LCR_renderer.scene.camera.transform.rotation.y += transPrev.rotation.y / 2;
 
-  LCR_renderer.scene.camera.transform.rotation.y += transPrev.rotation.y / 2;
+  LCR_renderer.scene.camera.transform.rotation.x += transPrev.rotation.x / 2;
+#endif
+}
+
+void LCR_rendererSetWheelState(LCR_GameUnit rotation, LCR_GameUnit steer)
+{
+#if LCR_ANIMATE_CAR
+  LCR_renderer.wheelRotation = rotation;
+  LCR_renderer.wheelSteer = steer;
 #endif
 }
 
@@ -1379,19 +1398,16 @@ void LCR_rendererDraw(void)
 {
   LCR_renderer.previousTriID = -1;
   S3L_newFrame();
+  
+#if LCR_ANIMATE_CAR  
+  _LCR_rendererAnimateCar();
+#endif
 
   _LCR_rendererLoadMapChunks(); // TODO: call only once in a while?
 
   LCR_rendererDrawSky(1,
     LCR_renderer.scene.camera.transform.rotation.y,
     -4 * LCR_renderer.scene.camera.transform.rotation.x);
- 
-#if LCR_ANIMATE_CAR 
-LCR_renderer.wheelRotation += 5;
-LCR_renderer.wheelTurn = S3L_sin(LCR_renderer.frame * 4);
-
-  _LCR_rendererAnimateCar();
-#endif
 
   LCR_drawLevelFloor();
   LCR_rendererDrawLOD();