diff --git a/app/src/main/java/com/google/ar/core/examples/java/helloar/HelloArActivity.java b/app/src/main/java/com/google/ar/core/examples/java/helloar/HelloArActivity.java
index 306b916..f71114d 100644
--- a/app/src/main/java/com/google/ar/core/examples/java/helloar/HelloArActivity.java
+++ b/app/src/main/java/com/google/ar/core/examples/java/helloar/HelloArActivity.java
@@ -42,6 +42,7 @@
 import com.google.ar.core.examples.java.common.framework.model3D.Position3D;
 import com.google.ar.core.examples.java.common.framework.model3D.Quaternion3D;
 import com.google.ar.core.examples.java.common.framework.model3D.Universe;
+import com.google.ar.core.examples.java.common.framework.physics.Force3D;
 import com.google.ar.core.examples.java.common.framework.physics.Ground;
 import com.google.ar.core.examples.java.common.framework.physics.PhysicalSystem;
 import com.google.ar.core.examples.java.common.framework.physics.Solid3D;
@@ -379,70 +380,70 @@
       }
 
       // Visualize planes.
-//      Collection<Plane> updatedPlanes = frame.getUpdatedTrackables(Plane.class);
-//      for (Plane plane : updatedPlanes) {
-//        if (placedPlane == null) {
-//          placedPlane = plane;
-//          Appearance ap = new Appearance();
-//          ap.setTransparencyAttributes(new TransparencyAttributes(TransparencyAttributes.BLENDED, 0.5f));
-//          FloatBuffer vertices = plane.getPolygon();
-//          vertices.position(0);
-//          TriangleFanArray polygon = new TriangleFanArray(vertices.remaining() / 2, TriangleArray.COORDINATES, new int[]{vertices.remaining() / 2});
-//          for (int i = 0; i < vertices.remaining() / 2; i++) {
-//            polygon.setCoordinate(i, new float[]{vertices.get(i * 2), 0.0f, vertices.get(i * 2 + 1)});
-//          }
-//          polyObj = new Object3D("plane", new Shape3D(polygon, ap));
-//          Pose p = plane.getCenterPose();
-//          polyObj.apply(new Position3D(p.tx(), p.ty(), p.tz()), false);
-//          polyObj.apply(new Quaternion3D((double) p.qx(), (double) p.qy(), (double) p.qz(), (double) p.qw()), false);
-//          ground = new Ground(polyObj);
-//          universe.place(ground);
-//        } else if (plane.equals(placedPlane)) {
-//          Appearance ap = new Appearance();
-//          ap.setTransparencyAttributes(new TransparencyAttributes(TransparencyAttributes.BLENDED, 0.5f));
-//          FloatBuffer vertices = plane.getPolygon();
-//          vertices.position(0);
-//          TriangleFanArray polygon = new TriangleFanArray(vertices.remaining() / 2, TriangleArray.COORDINATES, new int[]{vertices.remaining() / 2});
-//          for (int i = 0; i < vertices.remaining() / 2; i++) {
-//            polygon.setCoordinate(i, new float[]{vertices.get(i * 2), 0.0f, vertices.get(i * 2 + 1)});
-//          }
-//          polyObj = new Object3D("plane", new Shape3D(polygon, ap));
-//          Pose p = plane.getCenterPose();
-//          polyObj.apply(new Position3D(p.tx(), p.ty(), p.tz()), false);
-//          polyObj.apply(new Quaternion3D((double) p.qx(), (double) p.qy(), (double) p.qz(), (double) p.qw()), false);
-//          universe.displace(ground);
-//          ground = new Ground(polyObj);
-//          universe.place(ground);
-//        }
-//      }
+      Collection<Plane> updatedPlanes = frame.getUpdatedTrackables(Plane.class);
+      for (Plane plane : updatedPlanes) {
+        if (placedPlane == null) {
+          placedPlane = plane;
+          Appearance ap = new Appearance();
+          ap.setTransparencyAttributes(new TransparencyAttributes(TransparencyAttributes.BLENDED, 0));
+          FloatBuffer vertices = plane.getPolygon();
+          vertices.position(0);
+          TriangleFanArray polygon = new TriangleFanArray(vertices.remaining() / 2, TriangleArray.COORDINATES, new int[]{vertices.remaining() / 2});
+          for (int i = 0; i < vertices.remaining() / 2; i++) {
+            polygon.setCoordinate(i, new float[]{vertices.get(i * 2), 0.0f, vertices.get(i * 2 + 1)});
+          }
+          polyObj = new Object3D("plane", new Shape3D(polygon, ap));
+          Pose p = plane.getCenterPose();
+          polyObj.apply(new Position3D(p.tx(), p.ty(), p.tz()), false);
+          polyObj.apply(new Quaternion3D((double) p.qx(), (double) p.qy(), (double) p.qz(), (double) p.qw()), false);
+          ground = new Ground(polyObj);
+          universe.place(ground);
+        } else if (plane.equals(placedPlane)) {
+          Appearance ap = new Appearance();
+          ap.setTransparencyAttributes(new TransparencyAttributes(TransparencyAttributes.BLENDED, 0));
+          FloatBuffer vertices = plane.getPolygon();
+          vertices.position(0);
+          TriangleFanArray polygon = new TriangleFanArray(vertices.remaining() / 2, TriangleArray.COORDINATES, new int[]{vertices.remaining() / 2});
+          for (int i = 0; i < vertices.remaining() / 2; i++) {
+            polygon.setCoordinate(i, new float[]{vertices.get(i * 2), 0.0f, vertices.get(i * 2 + 1)});
+          }
+          polyObj = new Object3D("plane", new Shape3D(polygon, ap));
+          Pose p = plane.getCenterPose();
+          polyObj.apply(new Position3D(p.tx(), p.ty(), p.tz()), false);
+          polyObj.apply(new Quaternion3D((double) p.qx(), (double) p.qy(), (double) p.qz(), (double) p.qw()), false);
+          universe.displace(ground);
+          ground = new Ground(polyObj);
+          universe.place(ground);
+        }
+      }
 
 /////////////////////////////////////////////////////////////////////////////////////
 // 以下は複数検出面に対応したコードだが、検出面が2個以上になるとちゃんと動かない?
 //
-      Collection<Plane> updatedPlanes = frame.getUpdatedTrackables(Plane.class);
-      if (updatedPlanes != null && updatedPlanes.size() > 0) {
-        if (ground != null) universe.displace(ground);
-        ArrayList<Object3D> polygons = new ArrayList<>();
-        for (Plane plane : updatedPlanes) {
-            if (plane.getSubsumedBy() == null) {
-                Appearance ap = new Appearance();
-                ap.setTransparencyAttributes(new TransparencyAttributes(TransparencyAttributes.BLENDED, 0.5f));
-                FloatBuffer vertices = plane.getPolygon();
-                vertices.position(0);
-                TriangleFanArray polygon = new TriangleFanArray(vertices.remaining() / 2, TriangleArray.COORDINATES, new int[]{vertices.remaining() / 2});
-                for (int j = 0; j < vertices.remaining() / 2; j++) {
-                    polygon.setCoordinate(j, new float[]{vertices.get(j * 2), 0.0f, vertices.get(j * 2 + 1)});
-                }
-                Object3D polyObj = new Object3D("plane" + (polygons.size() + 1), new Shape3D(polygon, ap));
-                Pose p = plane.getCenterPose();
-                polyObj.apply(new Position3D(p.tx(), p.ty(), p.tz()), false);
-                polyObj.apply(new Quaternion3D((double) p.qx(), (double) p.qy(), (double) p.qz(), (double) p.qw()), false);
-                polygons.add(polyObj);
-            }
-        }
-        ground = new Ground(new Object3D("ground", polygons.toArray(new Object3D[]{})));
-        universe.place(ground);
-      }
+//      Collection<Plane> updatedPlanes = frame.getUpdatedTrackables(Plane.class);
+//      if (updatedPlanes != null && updatedPlanes.size() > 0) {
+//        if (ground != null) universe.displace(ground);
+//        ArrayList<Object3D> polygons = new ArrayList<>();
+//        for (Plane plane : updatedPlanes) {
+//            if (plane.getSubsumedBy() == null) {
+//                Appearance ap = new Appearance();
+//                ap.setTransparencyAttributes(new TransparencyAttributes(TransparencyAttributes.BLENDED, 0.5f));
+//                FloatBuffer vertices = plane.getPolygon();
+//                vertices.position(0);
+//                TriangleFanArray polygon = new TriangleFanArray(vertices.remaining() / 2, TriangleArray.COORDINATES, new int[]{vertices.remaining() / 2});
+//                for (int j = 0; j < vertices.remaining() / 2; j++) {
+//                    polygon.setCoordinate(j, new float[]{vertices.get(j * 2), 0.0f, vertices.get(j * 2 + 1)});
+//                }
+//                Object3D polyObj = new Object3D("plane" + (polygons.size() + 1), new Shape3D(polygon, ap));
+//                Pose p = plane.getCenterPose();
+//                polyObj.apply(new Position3D(p.tx(), p.ty(), p.tz()), false);
+//                polyObj.apply(new Quaternion3D((double) p.qx(), (double) p.qy(), (double) p.qz(), (double) p.qw()), false);
+//                polygons.add(polyObj);
+//            }
+//        }
+//        ground = new Ground(new Object3D("ground", polygons.toArray(new Object3D[]{})));
+//        universe.place(ground);
+//      }
 /////////////////////////////////////////////////////////////////////////////////////
 
 
@@ -523,28 +524,31 @@
           Material m = new Material();
           ap.setMaterial(m);
           Object3D andy = new Object3D("andy", new Sphere(0.05f, ap));
-//            andy.setPosition(new Position3D(px, py + 0.2, pz));
             float viewPoint[] = camera.getDisplayOrientedPose().getTranslation();
             andy.setPosition(new Position3D(viewPoint[0], viewPoint[1], viewPoint[2]));
             OvergroundActor andyObj = new OvergroundActor(andy, null) {
               public void onIntersect(CollisionResult cr, long interval) {
                 // めり込んだら（めり込んだ面の法線方向に）押し戻す
                 Vector3d back = (Vector3d) cr.normal.clone();
-                back.scale(cr.length * 2.0);
+                back.scale(cr.length);
                 body.apply(new Position3D(body.getPosition3D().add(back)), false);
 
                 // 速度の面の法線方向の成分を 0 にする
                 Vector3d v = (Vector3d) ((Solid3D)body).getVelocity().getVector3d().clone();
                 double d = v.dot(cr.normal);
-                v.scaleAdd(-d * 1.5, cr.normal, v);
+                v.scaleAdd(-d * 1.35, cr.normal, v);
+                //摩擦
+                double u = 0.8;
+                v.x = v.x * u;
+                v.z = v.z * u;
                 body.apply(new Velocity3D(v), false);
               }
             };
             float viewLine[] = camera.getDisplayOrientedPose().getZAxis();
-            andyObj.setVelocity(new Velocity3D(-viewLine[0], -viewLine[1], -1.7 * viewLine[2]));
-//            Solid3D andyObj = new Solid3D(andy);
+            //オブジェクトを飛ばす強さ
+            double power = 1.7;
+            andyObj.setVelocity(new Velocity3D(-viewLine[0] * power, -viewLine[1], -viewLine[2] * power));
             universe.place(andyObj);
-//            physicalSystem.add(andyObj);
 //          } catch (IOException e) {
 //            e.printStackTrace();
 //          } catch (ModelFileFormatException e) {