diff --git a/src/main.rs b/src/main.rs
index b01c73f..b1ba1a3 100644
--- a/src/main.rs
+++ b/src/main.rs
@@ -5,6 +5,7 @@ mod engine;
 use engine::*;
 
 mod camera;
+mod drone;
 mod rendering;
 
 mod graphics_util;
@@ -23,7 +24,7 @@ async fn main() {
 
     // Physics Initialization
     world.register_free_collider(
-        ColliderBuilder::cuboid(50.0, 5.0, 50.0)
+        ColliderBuilder::cuboid(250.0, 5.0, 250.0)
             .restitution(0.5)
             .build(),
         None,
@@ -35,7 +36,9 @@ async fn main() {
     let drone_rb_handle = world.register_body(
         RigidBodyBuilder::dynamic()
             .translation(vector![0.0, 10.0, 0.0])
-            .rotation(vector![0.1, 0.0, 0.0])
+            .rotation(vector![0.6, 0.0, 0.0])
+            .linear_damping(0.1)
+            .angular_damping(0.1)
             .build(),
     );
     world.register_collider(
@@ -46,13 +49,14 @@ async fn main() {
         None,
     );
     let motor_positions = [
-        vector![5.0, 0.0, 5.0],
-        vector![-5.0, 0.0, 5.0],
-        vector![-5.0, 0.0, -5.0],
-        vector![5.0, 0.0, -5.0],
+        point![5.0, 3.0, 5.0],
+        point![-5.0, 3.0, 5.0],
+        point![-5.0, 3.0, -5.0],
+        point![5.0, 3.0, -5.0],
     ];
 
     let mut tick = 0;
+
     loop {
         renderer.update_camera();
         if mq::is_key_pressed(mq::KeyCode::L) {
@@ -74,23 +78,18 @@ async fn main() {
         }
 
         // Physics Simulation
-        world.step();
-
         {
             let drone_rb = world.bodies.get_mut(drone_rb_handle).unwrap();
             drone_rb.reset_forces(true);
             drone_rb.reset_torques(true);
             for (i, pos) in motor_positions.iter().enumerate() {
                 // Thrust is applied upward at motor position
-                let force = nalgebra::Vector3::new(0.0, drone_rb.mass() * 2.5, 0.0);
+                let mut force = nalgebra::Vector3::new(0.0, drone_rb.mass() * 2.8, 0.0);
 
                 // drone_rb.reset_forces(true);
 
-                drone_rb.add_force_at_point(
-                    drone_rb.rotation().transform_vector(&force),
-                    point![pos.x, pos.y, pos.z],
-                    true,
-                );
+                force = drone_rb.rotation().transform_vector(&force);
+                drone_rb.add_force_at_point(force, drone_rb.position().transform_point(&pos), true);
                 // drone_rb.apply_force_at_point(force, *pos, true);
 
                 // let torque = if i % 2 == 0 {
@@ -103,6 +102,8 @@ async fn main() {
             }
         }
 
+        world.step();
+
         renderer.draw(&mut world);
 
         if tick >= 30 {