spawns the wheels but joints are too floppy
This commit is contained in:
Joe Ardent
parent
610f141318
commit
52f8c91232
2 changed files with 69 additions and 98 deletions
147
src/bike.rs
147
src/bike.rs
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@ -13,7 +13,9 @@ fn spawn_bike(
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mut meshes: ResMut<Assets<Mesh>>,
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mut materials: ResMut<Assets<StandardMaterial>>,
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) {
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let xform = Transform::from_xyz(3.0, 4.0, 0.0);
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let pos = Vec3::new(0.0, 4.0, 0.0);
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let xform = Transform::from_translation(pos).with_rotation(Quat::from_rotation_z(0.0));
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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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@ -68,68 +70,69 @@ pub struct RearHub;
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fn helper(
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commands: &mut Commands,
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trans: Vec3,
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rot: Quat,
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meshes: &mut ResMut<Assets<Mesh>>,
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materials: &mut ResMut<Assets<StandardMaterial>>,
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) {
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let wheel_mesh: Mesh = Torus::new(0.30, 0.40).into();
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position: Vec3,
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) -> Entity {
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let mut tire_mesh: Mesh = Torus::new(0.30, 0.40).into();
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let tire_verts = tire_mesh
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.attribute(Mesh::ATTRIBUTE_POSITION)
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.unwrap()
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.as_float3()
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.unwrap()
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.iter()
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.map(|v| {
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//
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let v = Vec3::from_array(*v);
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let m = Mat3::from_rotation_z(90.0f32.to_radians());
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let p = m.mul_vec3(v);
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p.to_array()
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})
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.collect::<Vec<[f32; 3]>>();
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tire_mesh.remove_attribute(Mesh::ATTRIBUTE_POSITION);
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tire_mesh.insert_attribute(Mesh::ATTRIBUTE_POSITION, tire_verts);
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let wheel_material = StandardMaterial {
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base_color: Color::srgb(0.01, 0.01, 0.01),
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alpha_mode: AlphaMode::Opaque,
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perceptual_roughness: 0.5,
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..Default::default()
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};
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let collider = Collider::convex_decomposition_from_mesh(&wheel_mesh).unwrap();
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let collider = Collider::convex_decomposition_from_mesh(&tire_mesh).unwrap();
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let mut tire = None;
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let tref = &mut tire;
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let xform = Transform::from_translation(position);
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let hub = commands
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.spawn((
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FrontHub,
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SpatialBundle::from_transform(Transform::from_translation(trans)),
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RigidBody::Static,
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SpatialBundle::from_transform(xform),
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RigidBody::Dynamic,
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MassPropertiesBundle::new_computed(&Collider::sphere(0.1), 0.01),
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))
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.with_children(|parent| {
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.with_children(move |parent| {
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let mesh: Mesh = Sphere::new(0.1).into();
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parent.spawn(PbrBundle {
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mesh: meshes.add(mesh),
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material: materials.add(wheel_material.clone()),
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transform: Transform::from_rotation(rot),
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..Default::default()
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});
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parent.spawn((
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CyberWheel,
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RigidBody::Dynamic,
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collider.clone(),
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ColliderDensity(0.05),
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CollisionLayers::from_bits(2, 2),
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ExternalTorque::ZERO.with_persistence(false),
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));
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})
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.id();
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let tire = commands
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.spawn((
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SpatialBundle::default(),
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CyberWheel,
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RigidBody::Dynamic,
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collider.clone(),
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ColliderDensity(0.05),
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CollisionLayers::from_bits(2, 2),
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ExternalTorque::ZERO.with_persistence(false),
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))
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.with_children(|b| {
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b.spawn(PbrBundle {
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mesh: meshes.add(wheel_mesh),
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material: materials.add(wheel_material.clone()),
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// transform: Transform::from_translation(front_pos)
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// .with_rotation(Quat::from_rotation_z(FRAC_PI_2)),
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..Default::default()
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});
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let tire_id = parent
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.spawn((
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CyberWheel,
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RigidBody::Dynamic,
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collider.clone(),
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ColliderDensity(0.05),
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CollisionLayers::from_bits(2, 2),
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ExternalTorque::ZERO.with_persistence(false),
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))
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.id();
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let _ = tref.insert(tire_id);
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})
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.id();
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// connect hubs and tires to make wheels
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commands.spawn(RevoluteJoint::new(hub, tire).with_aligned_axis(Vec3::X));
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commands.spawn(RevoluteJoint::new(hub, tire.unwrap()).with_aligned_axis(Vec3::X));
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hub
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}
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fn spawn_wheels(
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@ -139,69 +142,23 @@ fn spawn_wheels(
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xform: Transform,
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body: Entity,
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) {
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let rot_x = Quat::from_rotation_x(FRAC_PI_2);
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let rot_y = Quat::from_rotation_y(FRAC_PI_2);
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let rot_z = Quat::from_rotation_z(FRAC_PI_2);
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let rake_vec = Vec3::new(0.0, -1.0, -0.57).normalize(); // about 30 degrees
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let front_pos = xform.translation + rake_vec;
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let trans0 = Vec3::new(0.0, 0.5, 0.0);
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let trans1 = Vec3::new(1.0, 0.5, 0.0);
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let trans2 = Vec3::new(2.0, 0.5, 0.0);
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helper(&mut commands, trans0, rot_x, &mut meshes, &mut materials);
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helper(&mut commands, trans1, rot_y, &mut meshes, &mut materials);
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helper(&mut commands, trans2, rot_z, &mut meshes, &mut materials);
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helper(
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&mut commands,
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Vec3::new(-1.0, 0.5, 0.0),
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Quat::default(),
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&mut meshes,
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&mut materials,
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);
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/*
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// suspension joints connect the hubs and the body
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let front_hub = helper(&mut commands, &mut meshes, &mut materials, front_pos);
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commands.entity(front_hub).insert(FrontHub);
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commands.spawn((
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Steering,
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FixedJoint::new(front_hub, body).with_local_anchor_2(*xform.forward() + rake_vec),
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));
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let rear_pos = *xform.back() + xform.translation + rake_vec.y;
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let rear_hub = commands
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.spawn((
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RearHub,
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SpatialBundle::from_transform(Transform::from_translation(front_pos)),
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RigidBody::Dynamic,
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MassPropertiesBundle::new_computed(&Collider::sphere(0.01), 1.0),
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))
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.id();
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let rear_tire = commands
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.spawn((
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CyberWheel,
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RigidBody::Dynamic,
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collider,
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ColliderDensity(0.05),
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CollisionLayers::from_bits(2, 2),
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PbrBundle {
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mesh: meshes.add(wheel_mesh),
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material: materials.add(wheel_material),
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transform: Transform::from_translation(rear_pos)
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.with_rotation(Quat::from_rotation_z(FRAC_PI_2)),
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..Default::default()
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},
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ExternalTorque::ZERO.with_persistence(false),
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))
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.id();
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commands.spawn(RevoluteJoint::new(rear_hub,
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rear_tire).with_aligned_axis(Vec3::X));
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let rear_pos = xform.translation + Vec3::new(0.0, -1.0, 0.57);
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let rear_hub = helper(&mut commands, &mut meshes, &mut materials, rear_pos);
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commands.entity(rear_hub).insert(RearHub);
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commands.spawn((
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Rearing,
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FixedJoint::new(rear_hub, body).with_local_anchor_2(*xform.back() + xform.translation),
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FixedJoint::new(rear_hub, body).with_local_anchor_2(*xform.back() + rake_vec.y),
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));
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*/
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}
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pub struct CyberBikePlugin;
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@ -106,8 +106,8 @@ mod systems {
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let v2_r = v_squared / radius;
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let tan_theta = (v2_r / gravity).clamp(-FRAC_PI_3, FRAC_PI_3);
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if tan_theta.is_finite() && !tan_theta.is_subnormal() {
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lean.lean = tan_theta.atan().clamp(-FRAC_PI_3, FRAC_PI_3);
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if tan_theta.is_normal() {
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lean.lean = -tan_theta.atan().clamp(-FRAC_PI_3, FRAC_PI_3);
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} else {
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lean.lean = 0.0;
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}
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@ -121,10 +121,24 @@ mod systems {
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mut gizmos: Gizmos,
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) {
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let (xform, mut torque, mut control_vars) = bike_query.single_mut();
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let world_up = xform.translation.normalize();
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let world_up = Vec3::Y; //xform.translation.normalize();
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let rot = Quat::from_axis_angle(*xform.back(), lean.lean);
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let target_up = rotate_point(&world_up, &rot).normalize();
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// show which is up
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gizmos.arrow(
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xform.translation,
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xform.translation + *xform.up(),
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bevy::color::palettes::basic::YELLOW,
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);
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// show which is forward
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gizmos.arrow(
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*xform.forward() + xform.translation,
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1.5 * *xform.forward() + xform.translation,
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bevy::color::palettes::basic::PURPLE,
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);
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let bike_right = xform.right();
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let roll_error = bike_right.dot(target_up);
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