tweak; apply suspension force at contact point, not caster origin
This commit is contained in:
Joe Ardent
parent
bcd6fd8561
commit
52cac4a3eb
2 changed files with 29 additions and 34 deletions
31
src/bike.rs
31
src/bike.rs
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@ -92,6 +92,19 @@ fn spawn_bike(
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let body_collider =
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Collider::capsule_endpoints(0.5, Vec3::new(0.0, 0.0, -0.65), Vec3::new(0.0, 0.0, 0.8));
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let pbr_bundle = {
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let color = Color::srgb(0.7, 0.05, 0.7);
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let mut xform = Transform::default();
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xform.rotate_x(FRAC_PI_2);
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(
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Mesh3d(meshes.add(Capsule3d::new(0.5, 1.45))),
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xform,
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Visibility::Visible,
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MeshMaterial3d(materials.add(color)),
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TransformInterpolation,
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)
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};
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let mut body = commands.spawn((xform, Visibility::default()));
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body.insert((
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Name::new("body"),
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@ -108,25 +121,12 @@ fn spawn_bike(
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ExternalTorque::ZERO.with_persistence(false),
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));
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let pbr_bundle = {
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let color = Color::srgb(0.7, 0.05, 0.7);
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let mut xform = Transform::default();
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xform.rotate_x(FRAC_PI_2);
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(
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Mesh3d(meshes.add(Capsule3d::new(0.5, 1.45))),
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xform,
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Visibility::Visible,
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MeshMaterial3d(materials.add(color)),
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TransformInterpolation,
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)
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};
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let parent = body.id();
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body.insert(spawn_children(parent, pbr_bundle, meshes, materials));
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body.insert(spawn_children(body.id(), meshes, materials))
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.with_child(pbr_bundle);
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}
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fn spawn_children(
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parent: Entity,
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body: impl Bundle,
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mut meshes: ResMut<Assets<Mesh>>,
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mut materials: ResMut<Assets<StandardMaterial>>,
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) -> impl Bundle {
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@ -147,7 +147,6 @@ fn spawn_children(
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let rear_wheel_pos = REAR_ATTACH + (rear_rake * REST_DISTANCE);
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children![
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body,
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(
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RayCaster::new(FRONT_ATTACH, Dir3::new_unchecked(front_rake))
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.with_max_hits(1)
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@ -20,9 +20,9 @@ pub struct CatControllerSettings {
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impl Default for CatControllerSettings {
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fn default() -> Self {
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Self {
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kp: 55.0,
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kd: 20.0,
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ki: 12.5,
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kp: 60.0,
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kd: 30.0,
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ki: 0.0,
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}
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}
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}
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@ -260,11 +260,7 @@ mod systems {
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hit_point + force,
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Color::linear_rgb(1., 0.5, 0.2),
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);
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bike_forces.apply_force_at_point(
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force,
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caster.global_origin(),
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bike_xform.translation + com.0,
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);
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bike_forces.apply_force_at_point(force, hit_point, bike_xform.translation + com.0);
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} else {
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xform.translation = config.attach + (caster.direction.as_vec3() * config.rest_dist);
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state.reset();
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@ -272,7 +268,7 @@ mod systems {
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}
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}
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pub(super) fn steering(
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pub(super) fn wheel_action(
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bike_query: Single<
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(
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&Transform,
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@ -291,7 +287,7 @@ mod systems {
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let bike_vel = bike_vel.0;
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let dt = time.delta().as_secs_f32();
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let max_thrust = 1000.0;
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let max_thrust = 500.0;
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let yaw_angle = -yaw_to_angle(input.yaw);
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for (mut state, config, wheel) in wheels.iter_mut() {
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@ -304,8 +300,8 @@ mod systems {
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let forward = normal.cross(*bike_xform.right());
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let thrust_mag = input.throttle * max_thrust * dt;
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let (thrust_dir, thrust_force) = match wheel {
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CyberWheel::Rear => (forward, thrust_mag * 0.5),
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CyberWheel::Front => (rot * forward, thrust_mag),
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CyberWheel::Rear => (forward, thrust_mag),
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CyberWheel::Front => (rot * forward, thrust_mag * 0.1),
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};
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let thrust = thrust_force * thrust_dir;
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@ -368,11 +364,11 @@ mod systems {
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let dt = time.delta_secs();
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let speed = vel.length();
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let dspeed = speed.powf(1.2) * 0.01;
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let speed = vel.length_squared();
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let dspeed = speed * 0.0000001;
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let dir = vel.normalize_or_zero();
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let drag = -dspeed * dt * DRAG_COEFF * dir;
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if speed > 1.0 {
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if speed > 0.1 {
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force.apply_force_at_point(
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drag,
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xform.translation - (0.2 * *xform.down()),
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@ -380,7 +376,7 @@ mod systems {
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);
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}
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bevy::log::debug!("speed: {}, drag force: {}", speed, drag.length());
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bevy::log::debug!("speed: {}, drag force: {}", vel.length(), drag.length());
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gizmos.arrow(
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xform.translation,
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@ -427,7 +423,7 @@ mod systems {
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}
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}
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use systems::{apply_lean, calculate_lean, drag, steering, suspension, tweak};
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use systems::{apply_lean, calculate_lean, drag, suspension, tweak, wheel_action};
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pub struct CyberPhysicsPlugin;
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@ -442,7 +438,7 @@ impl Plugin for CyberPhysicsPlugin {
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})
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.add_systems(
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FixedUpdate,
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(calculate_lean, apply_lean, suspension, steering, drag).chain(),
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(calculate_lean, apply_lean, suspension, wheel_action, drag).chain(),
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)
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.add_systems(Update, tweak);
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}
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