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