bike hierarchy is boned
This commit is contained in:
parent
a675f3e52f
commit
3777f120e7
6 changed files with 716 additions and 1079 deletions
1576
Cargo.lock
generated
1576
Cargo.lock
generated
File diff suppressed because it is too large
Load diff
|
@ -4,12 +4,14 @@ version = "0.1.0"
|
|||
edition = "2024"
|
||||
|
||||
[dependencies]
|
||||
bevy = { version = "0.15", features = ["bevy_dev_tools"] }
|
||||
bevy-inspector-egui = "0.29"
|
||||
bevy = { version = "0.16", features = ["bevy_dev_tools", "configurable_error_handler"] }
|
||||
|
||||
|
||||
[dependencies.avian3d]
|
||||
default-features = false
|
||||
version = "0.2"
|
||||
#version = "0.2"
|
||||
git = "https://github.com/Jondolf/avian"
|
||||
branch = "main"
|
||||
features = ["3d", "f32", "parry-f32", "debug-plugin", "default-collider", "collider-from-mesh"]
|
||||
|
||||
|
||||
|
|
88
src/bike.rs
88
src/bike.rs
|
@ -1,8 +1,16 @@
|
|||
use avian3d::{
|
||||
math::{Scalar, FRAC_PI_2},
|
||||
prelude::*,
|
||||
prelude::{
|
||||
AngularDamping, Collider, ColliderDensity, CollisionLayers, ExternalForce, ExternalTorque,
|
||||
LinearDamping, RayCaster, RigidBody, SleepingDisabled, SpatialQueryFilter,
|
||||
TransformInterpolation,
|
||||
},
|
||||
};
|
||||
use bevy::prelude::{
|
||||
children, AlphaMode, App, Assets, Capsule3d, Color, Commands, Component, Dir3, EntityCommands,
|
||||
Mesh, Mesh3d, MeshMaterial3d, Name, Plugin, Reflect, ResMut, SpawnRelated, Sphere,
|
||||
StandardMaterial, Startup, Transform, Vec3, Visibility,
|
||||
};
|
||||
use bevy::prelude::*;
|
||||
|
||||
use crate::physics::CatControllerState;
|
||||
|
||||
|
@ -24,7 +32,6 @@ pub enum CyberWheel {
|
|||
}
|
||||
|
||||
#[derive(Component, Clone, Copy, Debug, Reflect, Default)]
|
||||
#[reflect(Component)]
|
||||
pub struct WheelState {
|
||||
pub displacement: Scalar,
|
||||
pub force_normal: Scalar,
|
||||
|
@ -40,7 +47,6 @@ impl WheelState {
|
|||
}
|
||||
|
||||
#[derive(Component, Clone, Copy, Debug, Reflect)]
|
||||
#[reflect(Component)]
|
||||
#[require(WheelState)]
|
||||
pub struct WheelConfig {
|
||||
pub attach: Vec3,
|
||||
|
@ -82,41 +88,40 @@ fn spawn_bike(
|
|||
let body_collider =
|
||||
Collider::capsule_endpoints(0.5, Vec3::new(0.0, 0.0, -0.65), Vec3::new(0.0, 0.0, 0.8));
|
||||
|
||||
commands
|
||||
.spawn((xform, Visibility::default()))
|
||||
.insert((
|
||||
Name::new("body"),
|
||||
RigidBody::Dynamic,
|
||||
body_collider,
|
||||
CollisionLayers::from_bits(1, 1),
|
||||
SleepingDisabled,
|
||||
CyberBikeBody,
|
||||
CatControllerState::default(),
|
||||
ColliderDensity(1.2),
|
||||
AngularDamping(0.2),
|
||||
LinearDamping(0.1),
|
||||
ExternalForce::ZERO.with_persistence(false),
|
||||
ExternalTorque::ZERO.with_persistence(false),
|
||||
))
|
||||
.with_children(|builder| {
|
||||
let color = Color::srgb(0.7, 0.05, 0.7);
|
||||
let mut xform = Transform::default();
|
||||
xform.rotate_x(FRAC_PI_2);
|
||||
let pbr_bundle = (
|
||||
Mesh3d(meshes.add(Capsule3d::new(0.5, 1.45))),
|
||||
xform,
|
||||
MeshMaterial3d(materials.add(color)),
|
||||
);
|
||||
builder.spawn(pbr_bundle);
|
||||
spawn_wheels(builder, meshes, materials, builder.parent_entity());
|
||||
});
|
||||
let mut body = commands.spawn((xform, Visibility::default()));
|
||||
body.insert((
|
||||
Name::new("body"),
|
||||
RigidBody::Dynamic,
|
||||
body_collider,
|
||||
CollisionLayers::from_bits(1, 1),
|
||||
SleepingDisabled,
|
||||
CyberBikeBody,
|
||||
CatControllerState::default(),
|
||||
ColliderDensity(1.2),
|
||||
AngularDamping(0.2),
|
||||
LinearDamping(0.1),
|
||||
ExternalForce::ZERO.with_persistence(false),
|
||||
ExternalTorque::ZERO.with_persistence(false),
|
||||
));
|
||||
|
||||
let color = Color::srgb(0.7, 0.05, 0.7);
|
||||
let mut xform = Transform::default();
|
||||
xform.rotate_x(FRAC_PI_2);
|
||||
let pbr_bundle = (
|
||||
Mesh3d(meshes.add(Capsule3d::new(0.5, 1.45))),
|
||||
xform,
|
||||
MeshMaterial3d(materials.add(color)),
|
||||
);
|
||||
|
||||
body.insert(children![pbr_bundle]);
|
||||
|
||||
spawn_wheels(&mut body, meshes, materials);
|
||||
}
|
||||
|
||||
fn spawn_wheels(
|
||||
commands: &mut ChildBuilder,
|
||||
commands: &mut EntityCommands,
|
||||
mut meshes: ResMut<Assets<Mesh>>,
|
||||
mut materials: ResMut<Assets<StandardMaterial>>,
|
||||
body: Entity,
|
||||
) {
|
||||
let mesh: Mesh = Sphere::new(WHEEL_RADIUS).into();
|
||||
|
||||
|
@ -127,7 +132,6 @@ fn spawn_wheels(
|
|||
commands,
|
||||
FRONT_ATTACH,
|
||||
Dir3::new_unchecked(front_rake),
|
||||
body,
|
||||
REST_DISTANCE,
|
||||
CyberWheel::Front,
|
||||
);
|
||||
|
@ -155,7 +159,6 @@ fn spawn_wheels(
|
|||
commands,
|
||||
REAR_ATTACH,
|
||||
Dir3::new_unchecked(rear_rake),
|
||||
body,
|
||||
REST_DISTANCE,
|
||||
CyberWheel::Rear,
|
||||
);
|
||||
|
@ -182,23 +185,22 @@ fn spawn_wheels(
|
|||
//-************************************************************************
|
||||
|
||||
fn wheel_caster(
|
||||
commands: &mut ChildBuilder,
|
||||
commands: &mut EntityCommands,
|
||||
origin: Vec3,
|
||||
direction: Dir3,
|
||||
parent: Entity,
|
||||
rest_dist: Scalar,
|
||||
wheel: CyberWheel,
|
||||
) {
|
||||
let caster = RayCaster::new(origin, direction)
|
||||
.with_max_distance(rest_dist)
|
||||
.with_max_hits(1)
|
||||
.with_query_filter(SpatialQueryFilter::from_excluded_entities([parent]));
|
||||
.with_query_filter(SpatialQueryFilter::from_excluded_entities([commands.id()]));
|
||||
|
||||
commands.spawn((caster, wheel));
|
||||
commands.insert(children![(caster, wheel)]);
|
||||
}
|
||||
|
||||
fn wheel_mesh(
|
||||
commands: &mut ChildBuilder,
|
||||
commands: &mut EntityCommands,
|
||||
meshes: &mut ResMut<Assets<Mesh>>,
|
||||
materials: &mut ResMut<Assets<StandardMaterial>>,
|
||||
position: Vec3,
|
||||
|
@ -220,7 +222,7 @@ fn wheel_mesh(
|
|||
CyberWheel::Rear => "rear tire",
|
||||
};
|
||||
|
||||
commands.spawn((
|
||||
commands.insert(children![(
|
||||
Name::new(name),
|
||||
config,
|
||||
Mesh3d(meshes.add(tire_mesh)),
|
||||
|
@ -231,7 +233,7 @@ fn wheel_mesh(
|
|||
CollisionLayers::NONE,
|
||||
TransformInterpolation,
|
||||
wheel,
|
||||
));
|
||||
)]);
|
||||
}
|
||||
|
||||
pub struct CyberBikePlugin;
|
||||
|
|
|
@ -1,4 +1,10 @@
|
|||
use bevy::{prelude::*, utils::HashSet};
|
||||
use bevy::{
|
||||
platform::collections::HashSet,
|
||||
prelude::{
|
||||
App, ButtonInput, Camera3d, Commands, Component, KeyCode, Plugin, Quat, Query, Res, ResMut,
|
||||
Resource, Result, Startup, Transform, Update, Vec, Vec3, With, Without,
|
||||
},
|
||||
};
|
||||
|
||||
use crate::bike::CyberBikeBody;
|
||||
|
||||
|
@ -65,8 +71,8 @@ fn follow_bike(
|
|||
mut camera: Query<&mut Transform, (With<CyberCameras>, Without<CyberBikeBody>)>,
|
||||
bike: Query<&Transform, (With<CyberBikeBody>, Without<CyberCameras>)>,
|
||||
offset: Res<DebugCamOffset>,
|
||||
) {
|
||||
let bike_xform = *bike.single();
|
||||
) -> Result {
|
||||
let bike_xform = *bike.single()?;
|
||||
let up = Vec3::Y;
|
||||
|
||||
let mut ncx = Transform::from_translation(bike_xform.translation);
|
||||
|
@ -75,8 +81,10 @@ fn follow_bike(
|
|||
ncx.translation += ncx.up() * offset.alt;
|
||||
ncx.look_at(bike_xform.translation, up);
|
||||
|
||||
let mut cam_xform = camera.single_mut();
|
||||
let mut cam_xform = camera.single_mut()?;
|
||||
*cam_xform = ncx;
|
||||
|
||||
Ok(())
|
||||
}
|
||||
|
||||
pub struct CamPlug;
|
||||
|
|
49
src/main.rs
49
src/main.rs
|
@ -3,15 +3,15 @@ use avian3d::prelude::{
|
|||
};
|
||||
use bevy::{
|
||||
color::{palettes::css::SILVER, Alpha},
|
||||
ecs::error::{warn, GLOBAL_ERROR_HANDLER},
|
||||
pbr::MeshMaterial3d,
|
||||
prelude::{
|
||||
default, App, AppGizmoBuilder, Assets, BuildChildren, ButtonInput, ChildBuild, Color,
|
||||
Commands, DefaultPlugins, Entity, GizmoConfig, KeyCode, Mesh, Mesh3d, Meshable, Plane3d,
|
||||
PointLight, Query, Res, ResMut, Srgba, StandardMaterial, Startup, Transform, Update, Vec3,
|
||||
Visibility, Window,
|
||||
children, default, App, AppGizmoBuilder, Assets, ButtonInput, Color, Commands,
|
||||
DefaultPlugins, Entity, GizmoConfig, KeyCode, Mesh, Mesh3d, Meshable, Plane3d, PointLight,
|
||||
Query, Res, ResMut, SpawnRelated, Srgba, StandardMaterial, Startup, Transform, Update,
|
||||
Vec3, Visibility, Window,
|
||||
},
|
||||
};
|
||||
use bevy_inspector_egui::quick::WorldInspectorPlugin;
|
||||
|
||||
mod bike;
|
||||
mod camera;
|
||||
|
@ -24,6 +24,10 @@ use input::CyberInputPlugin;
|
|||
use physics::CyberPhysicsPlugin;
|
||||
|
||||
fn main() {
|
||||
GLOBAL_ERROR_HANDLER
|
||||
.set(warn)
|
||||
.expect("The error handler can only be set once, globally.");
|
||||
// initialize Bevy App here
|
||||
let mut app = App::new();
|
||||
app.add_plugins((
|
||||
DefaultPlugins,
|
||||
|
@ -31,7 +35,6 @@ fn main() {
|
|||
CyberBikePlugin,
|
||||
CyberInputPlugin,
|
||||
CyberPhysicsPlugin,
|
||||
WorldInspectorPlugin::new(),
|
||||
))
|
||||
.insert_gizmo_config(
|
||||
PhysicsGizmos {
|
||||
|
@ -56,25 +59,21 @@ fn ground_and_light(
|
|||
mut materials: ResMut<Assets<StandardMaterial>>,
|
||||
) {
|
||||
let spatial_bundle = (Transform::default(), Visibility::default());
|
||||
commands
|
||||
.spawn((
|
||||
spatial_bundle,
|
||||
RigidBody::Static,
|
||||
Collider::cuboid(500.0, 5., 500.0),
|
||||
CollisionMargin(0.1),
|
||||
ColliderDensity(1000.0),
|
||||
CollisionLayers::ALL,
|
||||
Friction::new(0.9),
|
||||
))
|
||||
.with_children(|p| {
|
||||
let bundle = (
|
||||
Mesh3d(meshes.add(Plane3d::default().mesh().size(500.0, 500.0))),
|
||||
MeshMaterial3d(materials.add(Color::from(SILVER).with_alpha(0.7))),
|
||||
Transform::from_xyz(0.0, 2.5, 0.0),
|
||||
Visibility::Visible,
|
||||
);
|
||||
p.spawn(bundle);
|
||||
});
|
||||
commands.spawn((
|
||||
spatial_bundle,
|
||||
RigidBody::Static,
|
||||
Collider::cuboid(500.0, 5., 500.0),
|
||||
CollisionMargin(0.1),
|
||||
ColliderDensity(1000.0),
|
||||
CollisionLayers::ALL,
|
||||
Friction::new(0.9),
|
||||
children![(
|
||||
Mesh3d(meshes.add(Plane3d::default().mesh().size(500.0, 500.0))),
|
||||
MeshMaterial3d(materials.add(Color::from(SILVER).with_alpha(0.7))),
|
||||
Transform::from_xyz(0.0, 2.5, 0.0),
|
||||
Visibility::Visible,
|
||||
)],
|
||||
));
|
||||
|
||||
commands.spawn((
|
||||
PointLight {
|
||||
|
|
|
@ -1,16 +1,16 @@
|
|||
use avian3d::{math::Scalar, prelude::*};
|
||||
use bevy::prelude::*;
|
||||
use bevy::prelude::{
|
||||
App, Component, FixedUpdate, IntoScheduleConfigs, Plugin, ResMut, Resource, Startup, Update,
|
||||
};
|
||||
|
||||
const DRAG_COEFF: Scalar = 0.00001;
|
||||
|
||||
#[derive(Resource, Default, Debug, Reflect)]
|
||||
#[reflect(Resource)]
|
||||
#[derive(Resource, Default, Debug)]
|
||||
struct CyberLean {
|
||||
pub lean: f32,
|
||||
}
|
||||
|
||||
#[derive(Debug, Resource, Reflect)]
|
||||
#[reflect(Resource)]
|
||||
#[derive(Debug, Resource)]
|
||||
pub struct CatControllerSettings {
|
||||
pub kp: f32,
|
||||
pub kd: f32,
|
||||
|
@ -27,7 +27,7 @@ impl Default for CatControllerSettings {
|
|||
}
|
||||
}
|
||||
|
||||
#[derive(Component, Debug, Clone, Copy, Reflect)]
|
||||
#[derive(Component, Debug, Clone, Copy)]
|
||||
pub struct CatControllerState {
|
||||
pub roll_integral: f32,
|
||||
pub roll_prev: f32,
|
||||
|
@ -58,7 +58,13 @@ mod systems {
|
|||
use std::f32::consts::{FRAC_PI_3, FRAC_PI_4};
|
||||
|
||||
use avian3d::prelude::*;
|
||||
use bevy::prelude::*;
|
||||
use bevy::{
|
||||
ecs::error::BevyError,
|
||||
prelude::{
|
||||
ButtonInput, Color, Gizmos, GlobalTransform, KeyCode, Quat, Query, Res, ResMut, Result,
|
||||
Time, Transform, Vec, Vec3, With, Without,
|
||||
},
|
||||
};
|
||||
|
||||
use super::{CatControllerSettings, CatControllerState, CyberLean, DRAG_COEFF};
|
||||
use crate::{
|
||||
|
@ -83,12 +89,12 @@ mod systems {
|
|||
input: Res<InputState>,
|
||||
gravity: Res<Gravity>,
|
||||
mut lean: ResMut<CyberLean>,
|
||||
) {
|
||||
) -> Result {
|
||||
let mut wheels = wheels.iter();
|
||||
let w1 = wheels.next().unwrap();
|
||||
let w2 = wheels.next().unwrap();
|
||||
let w1 = wheels.next().ok_or(BevyError::from("oops"))?;
|
||||
let w2 = wheels.next().ok_or(BevyError::from("oops"))?;
|
||||
let base = (w1.translation() - w2.translation()).length().abs();
|
||||
let (velocity, xform) = bike_state.single();
|
||||
let (velocity, xform) = bike_state.single()?;
|
||||
let vel = velocity.dot(*xform.forward());
|
||||
let v_squared = vel.powi(2);
|
||||
let steering_angle = yaw_to_angle(input.yaw);
|
||||
|
@ -102,6 +108,7 @@ mod systems {
|
|||
} else {
|
||||
//lean.lean = 0.0;
|
||||
}
|
||||
Ok(())
|
||||
}
|
||||
|
||||
pub(super) fn apply_lean(
|
||||
|
@ -111,8 +118,8 @@ mod systems {
|
|||
settings: Res<CatControllerSettings>,
|
||||
lean: Res<CyberLean>,
|
||||
mut gizmos: Gizmos,
|
||||
) {
|
||||
let (xform, mut force, mut control_vars) = bike_query.single_mut();
|
||||
) -> Result {
|
||||
let (xform, mut force, mut control_vars) = bike_query.single_mut()?;
|
||||
|
||||
let mut factor = 1.0;
|
||||
for wheel in wheels.iter() {
|
||||
|
@ -163,6 +170,7 @@ mod systems {
|
|||
);
|
||||
}
|
||||
}
|
||||
Ok(())
|
||||
}
|
||||
|
||||
fn yaw_to_angle(yaw: f32) -> f32 {
|
||||
|
@ -183,7 +191,7 @@ mod systems {
|
|||
caster_query: Query<(&RayCaster, &RayHits, &CyberWheel)>,
|
||||
time: Res<Time>,
|
||||
mut gizmos: Gizmos,
|
||||
) {
|
||||
) -> Result {
|
||||
let dt = time.delta().as_secs_f32();
|
||||
|
||||
let mut front_caster = &RayCaster::default();
|
||||
|
@ -205,7 +213,7 @@ mod systems {
|
|||
}
|
||||
}
|
||||
|
||||
let (bike_xform, mut bike_forces) = bike_body_query.single_mut();
|
||||
let (bike_xform, mut bike_forces) = bike_body_query.single_mut()?;
|
||||
|
||||
for (mut xform, mut state, config, wheel) in wheel_mesh_query.iter_mut() {
|
||||
let (caster, hits) = match wheel {
|
||||
|
@ -247,6 +255,7 @@ mod systems {
|
|||
state.reset();
|
||||
}
|
||||
}
|
||||
Ok(())
|
||||
}
|
||||
|
||||
pub(super) fn steering(
|
||||
|
@ -263,12 +272,8 @@ mod systems {
|
|||
time: Res<Time>,
|
||||
input: Res<InputState>,
|
||||
mut gizmos: Gizmos,
|
||||
) {
|
||||
let Ok((bike_xform, bike_vel, mut bike_force, bike_body)) = bike_query.get_single_mut()
|
||||
else {
|
||||
bevy::log::warn!("No entity for bike_query.");
|
||||
return;
|
||||
};
|
||||
) -> Result {
|
||||
let (bike_xform, bike_vel, mut bike_force, bike_body) = bike_query.single_mut()?;
|
||||
let bike_vel = bike_vel.0;
|
||||
|
||||
let dt = time.delta().as_secs_f32();
|
||||
|
@ -326,6 +331,8 @@ mod systems {
|
|||
);
|
||||
}
|
||||
}
|
||||
|
||||
Ok(())
|
||||
}
|
||||
|
||||
pub(super) fn drag(
|
||||
|
@ -335,8 +342,8 @@ mod systems {
|
|||
>,
|
||||
mut gizmos: Gizmos,
|
||||
time: Res<Time>,
|
||||
) {
|
||||
let (xform, vel, mut force) = bike_query.single_mut();
|
||||
) -> Result {
|
||||
let (xform, vel, mut force) = bike_query.single_mut()?;
|
||||
|
||||
let dt = time.delta_secs();
|
||||
|
||||
|
@ -359,6 +366,8 @@ mod systems {
|
|||
xform.translation + drag * 10.,
|
||||
Color::linear_rgb(1.0, 0.0, 0.0),
|
||||
);
|
||||
|
||||
Ok(())
|
||||
}
|
||||
|
||||
pub(super) fn tweak(
|
||||
|
@ -406,10 +415,7 @@ pub struct CyberPhysicsPlugin;
|
|||
impl Plugin for CyberPhysicsPlugin {
|
||||
fn build(&self, app: &mut App) {
|
||||
app.init_resource::<CatControllerSettings>()
|
||||
.register_type::<CatControllerSettings>()
|
||||
.register_type::<CatControllerState>()
|
||||
.init_resource::<CyberLean>()
|
||||
.register_type::<CyberLean>()
|
||||
.add_plugins((PhysicsPlugins::default(), PhysicsDebugPlugin::default()))
|
||||
.insert_resource(SubstepCount(12))
|
||||
.add_systems(Startup, |mut gravity: ResMut<Gravity>| {
|
||||
|
|
Loading…
Reference in a new issue