nebkor/avian3d-sandbox
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use force to lean instead of torque

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This commit is contained in:
Joe Ardent 2025-04-06 15:20:00 -07:00
parent 60fbbf4637
commit 0b2086ec5f
1 changed files with 21 additions and 9 deletions

30
src/physics.rs
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@ -18,9 +18,9 @@ pub struct CatControllerSettings {
impl Default for CatControllerSettings {
fn default() -> Self {
Self {
kp: 25.0,
kd: 3.0,
ki: 1.1,
kp: 15.0,
kd: 1.5,
ki: 0.5,
}
}
}
@ -105,13 +105,21 @@ mod systems {
}
pub(super) fn apply_lean(
mut bike_query: Query<(&Transform, &mut ExternalTorque, &mut CatControllerState)>,
mut bike_query: Query<(&Transform, &mut ExternalForce, &mut CatControllerState)>,
wheels: Query<&WheelState>,
time: Res<Time>,
settings: Res<CatControllerSettings>,
lean: Res<CyberLean>,
mut gizmos: Gizmos,
) {
let (xform, mut torque, mut control_vars) = bike_query.single_mut();
let (xform, mut force, mut control_vars) = bike_query.single_mut();
let mut factor = 1.0;
for wheel in wheels.iter() {
if wheel.contact_point.is_none() {
factor -= 0.25;
}
}
let world_up = Vec3::Y; //xform.translation.normalize();
let rot = Quat::from_axis_angle(*xform.back(), lean.lean);
@ -142,11 +150,15 @@ mod systems {
let mag =
(settings.kp * roll_error) + (settings.ki * integral) + (settings.kd * derivative);
if mag.is_finite() {
let tork = mag * *xform.back();
torque.apply_torque(tork);
let lean_force = factor * mag * *xform.left();
force.apply_force_at_point(
lean_force,
xform.translation + *xform.up(),
xform.translation,
);
gizmos.arrow(
xform.translation + Vec3::Y,
xform.translation + mag * *xform.right() + Vec3::Y,
xform.translation + *xform.up(),
xform.translation + *xform.up() + lean_force,
Color::WHITE,
);
}