From 52f8c912321be801d77d7ac59426ea36a921c259 Mon Sep 17 00:00:00 2001 From: Joe Ardent Date: Wed, 24 Jul 2024 14:52:43 -0700 Subject: [PATCH] spawns the wheels but joints are too floppy --- src/bike.rs | 147 +++++++++++++++++-------------------------------- src/physics.rs | 20 ++++++- 2 files changed, 69 insertions(+), 98 deletions(-) diff --git a/src/bike.rs b/src/bike.rs index 77c32bd..ed680d7 100644 --- a/src/bike.rs +++ b/src/bike.rs @@ -13,7 +13,9 @@ fn spawn_bike( mut meshes: ResMut>, mut materials: ResMut>, ) { - let xform = Transform::from_xyz(3.0, 4.0, 0.0); + let pos = Vec3::new(0.0, 4.0, 0.0); + let xform = Transform::from_translation(pos).with_rotation(Quat::from_rotation_z(0.0)); + let body_collider = Collider::capsule_endpoints(0.5, Vec3::new(0.0, 0.0, -0.65), Vec3::new(0.0, 0.0, 0.8)); @@ -68,68 +70,69 @@ pub struct RearHub; fn helper( commands: &mut Commands, - trans: Vec3, - rot: Quat, meshes: &mut ResMut>, materials: &mut ResMut>, -) { - let wheel_mesh: Mesh = Torus::new(0.30, 0.40).into(); + position: Vec3, +) -> Entity { + let mut tire_mesh: Mesh = Torus::new(0.30, 0.40).into(); + let tire_verts = tire_mesh + .attribute(Mesh::ATTRIBUTE_POSITION) + .unwrap() + .as_float3() + .unwrap() + .iter() + .map(|v| { + // + let v = Vec3::from_array(*v); + let m = Mat3::from_rotation_z(90.0f32.to_radians()); + let p = m.mul_vec3(v); + p.to_array() + }) + .collect::>(); + tire_mesh.remove_attribute(Mesh::ATTRIBUTE_POSITION); + tire_mesh.insert_attribute(Mesh::ATTRIBUTE_POSITION, tire_verts); let wheel_material = StandardMaterial { base_color: Color::srgb(0.01, 0.01, 0.01), alpha_mode: AlphaMode::Opaque, perceptual_roughness: 0.5, ..Default::default() }; - let collider = Collider::convex_decomposition_from_mesh(&wheel_mesh).unwrap(); + let collider = Collider::convex_decomposition_from_mesh(&tire_mesh).unwrap(); + let mut tire = None; + let tref = &mut tire; + + let xform = Transform::from_translation(position); let hub = commands .spawn(( - FrontHub, - SpatialBundle::from_transform(Transform::from_translation(trans)), - RigidBody::Static, + SpatialBundle::from_transform(xform), + RigidBody::Dynamic, + MassPropertiesBundle::new_computed(&Collider::sphere(0.1), 0.01), )) - .with_children(|parent| { + .with_children(move |parent| { let mesh: Mesh = Sphere::new(0.1).into(); parent.spawn(PbrBundle { mesh: meshes.add(mesh), material: materials.add(wheel_material.clone()), - transform: Transform::from_rotation(rot), - ..Default::default() - }); - parent.spawn(( - CyberWheel, - RigidBody::Dynamic, - collider.clone(), - ColliderDensity(0.05), - CollisionLayers::from_bits(2, 2), - ExternalTorque::ZERO.with_persistence(false), - )); - }) - .id(); - - let tire = commands - .spawn(( - SpatialBundle::default(), - CyberWheel, - RigidBody::Dynamic, - collider.clone(), - ColliderDensity(0.05), - CollisionLayers::from_bits(2, 2), - ExternalTorque::ZERO.with_persistence(false), - )) - .with_children(|b| { - b.spawn(PbrBundle { - mesh: meshes.add(wheel_mesh), - material: materials.add(wheel_material.clone()), - // transform: Transform::from_translation(front_pos) - // .with_rotation(Quat::from_rotation_z(FRAC_PI_2)), ..Default::default() }); + let tire_id = parent + .spawn(( + CyberWheel, + RigidBody::Dynamic, + collider.clone(), + ColliderDensity(0.05), + CollisionLayers::from_bits(2, 2), + ExternalTorque::ZERO.with_persistence(false), + )) + .id(); + let _ = tref.insert(tire_id); }) .id(); // connect hubs and tires to make wheels - commands.spawn(RevoluteJoint::new(hub, tire).with_aligned_axis(Vec3::X)); + commands.spawn(RevoluteJoint::new(hub, tire.unwrap()).with_aligned_axis(Vec3::X)); + hub } fn spawn_wheels( @@ -139,69 +142,23 @@ fn spawn_wheels( xform: Transform, body: Entity, ) { - let rot_x = Quat::from_rotation_x(FRAC_PI_2); - let rot_y = Quat::from_rotation_y(FRAC_PI_2); - let rot_z = Quat::from_rotation_z(FRAC_PI_2); + let rake_vec = Vec3::new(0.0, -1.0, -0.57).normalize(); // about 30 degrees + let front_pos = xform.translation + rake_vec; - let trans0 = Vec3::new(0.0, 0.5, 0.0); - let trans1 = Vec3::new(1.0, 0.5, 0.0); - let trans2 = Vec3::new(2.0, 0.5, 0.0); - - helper(&mut commands, trans0, rot_x, &mut meshes, &mut materials); - helper(&mut commands, trans1, rot_y, &mut meshes, &mut materials); - helper(&mut commands, trans2, rot_z, &mut meshes, &mut materials); - helper( - &mut commands, - Vec3::new(-1.0, 0.5, 0.0), - Quat::default(), - &mut meshes, - &mut materials, - ); - /* - - // suspension joints connect the hubs and the body + let front_hub = helper(&mut commands, &mut meshes, &mut materials, front_pos); + commands.entity(front_hub).insert(FrontHub); commands.spawn(( Steering, FixedJoint::new(front_hub, body).with_local_anchor_2(*xform.forward() + rake_vec), )); - - let rear_pos = *xform.back() + xform.translation + rake_vec.y; - let rear_hub = commands - .spawn(( - RearHub, - SpatialBundle::from_transform(Transform::from_translation(front_pos)), - RigidBody::Dynamic, - MassPropertiesBundle::new_computed(&Collider::sphere(0.01), 1.0), - )) - .id(); - - let rear_tire = commands - .spawn(( - CyberWheel, - RigidBody::Dynamic, - collider, - ColliderDensity(0.05), - CollisionLayers::from_bits(2, 2), - PbrBundle { - mesh: meshes.add(wheel_mesh), - material: materials.add(wheel_material), - transform: Transform::from_translation(rear_pos) - .with_rotation(Quat::from_rotation_z(FRAC_PI_2)), - ..Default::default() - }, - ExternalTorque::ZERO.with_persistence(false), - )) - .id(); - - commands.spawn(RevoluteJoint::new(rear_hub, - rear_tire).with_aligned_axis(Vec3::X)); - + let rear_pos = xform.translation + Vec3::new(0.0, -1.0, 0.57); + let rear_hub = helper(&mut commands, &mut meshes, &mut materials, rear_pos); + commands.entity(rear_hub).insert(RearHub); commands.spawn(( Rearing, - FixedJoint::new(rear_hub, body).with_local_anchor_2(*xform.back() + xform.translation), + FixedJoint::new(rear_hub, body).with_local_anchor_2(*xform.back() + rake_vec.y), )); - */ } pub struct CyberBikePlugin; diff --git a/src/physics.rs b/src/physics.rs index c1f6358..fcc334b 100644 --- a/src/physics.rs +++ b/src/physics.rs @@ -106,8 +106,8 @@ mod systems { let v2_r = v_squared / radius; let tan_theta = (v2_r / gravity).clamp(-FRAC_PI_3, FRAC_PI_3); - if tan_theta.is_finite() && !tan_theta.is_subnormal() { - lean.lean = tan_theta.atan().clamp(-FRAC_PI_3, FRAC_PI_3); + if tan_theta.is_normal() { + lean.lean = -tan_theta.atan().clamp(-FRAC_PI_3, FRAC_PI_3); } else { lean.lean = 0.0; } @@ -121,10 +121,24 @@ mod systems { mut gizmos: Gizmos, ) { let (xform, mut torque, mut control_vars) = bike_query.single_mut(); - let world_up = xform.translation.normalize(); + let world_up = Vec3::Y; //xform.translation.normalize(); let rot = Quat::from_axis_angle(*xform.back(), lean.lean); let target_up = rotate_point(&world_up, &rot).normalize(); + // show which is up + gizmos.arrow( + xform.translation, + xform.translation + *xform.up(), + bevy::color::palettes::basic::YELLOW, + ); + + // show which is forward + gizmos.arrow( + *xform.forward() + xform.translation, + 1.5 * *xform.forward() + xform.translation, + bevy::color::palettes::basic::PURPLE, + ); + let bike_right = xform.right(); let roll_error = bike_right.dot(target_up);