From 3e11c6439fcbce6ae590b48f25c5276315c81f02 Mon Sep 17 00:00:00 2001
From: Joe Ardent <code@ardent.nebcorp.com>
Date: Sat, 29 Mar 2025 16:08:27 -0700
Subject: [PATCH] inline suspension force calc
---
src/physics.rs | 31 ++++++++++---------------------
1 file changed, 10 insertions(+), 21 deletions(-)
diff --git a/src/physics.rs b/src/physics.rs
index aa48da5..a32d6ba 100644
--- a/src/physics.rs
+++ b/src/physics.rs
@@ -213,9 +213,17 @@ mod systems {
CyberWheel::Rear => (rear_caster, rear_hits),
};
- let prev = &mut state.displacement;
if let Some(hit) = hits.iter().next() {
- let mag = suspension_force(caster, hit, config, prev, dt, &mut xform);
+ let dist = hit.distance;
+ let cdir = caster.direction.as_vec3();
+ xform.translation = config.attach + (cdir * dist);
+
+ let displacement = config.rest_dist - dist;
+ let damper_vel = (state.displacement - displacement) / dt;
+ state.displacement = displacement;
+
+ let mag = config.konstant * displacement - config.damping * damper_vel;
+
let mag = mag.max(0.0);
//let fdir = -caster.global_direction().as_vec3();
let fdir = hit.normal1;
@@ -252,25 +260,6 @@ mod systems {
}
}
- fn suspension_force(
- caster: &ShapeCaster,
- hit: &ShapeHitData,
- config: &WheelConfig,
- previous_dispacement: &mut Scalar,
- dt: Scalar,
- wheel_xform: &mut Transform,
- ) -> Scalar {
- let dist = hit.distance;
- let cdir = caster.direction.as_vec3();
- wheel_xform.translation = config.attach + (cdir * dist);
-
- let displacement = config.rest_dist - dist;
- let damper_vel = (*previous_dispacement - displacement) / dt;
-
- *previous_dispacement = displacement;
- config.konstant * displacement - config.damping * damper_vel
- }
-
pub(super) fn tweak(
mut config: Query<&mut WheelConfig>,
mut keys: ResMut<ButtonInput<KeyCode>>,