spawns the wheels but joints are too floppy

This commit is contained in:
Joe Ardent 2024-07-24 14:52:43 -07:00
parent 610f141318
commit 52f8c91232
2 changed files with 69 additions and 98 deletions

View file

@ -13,7 +13,9 @@ fn spawn_bike(
mut meshes: ResMut<Assets<Mesh>>,
mut materials: ResMut<Assets<StandardMaterial>>,
) {
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));
@ -68,48 +70,54 @@ pub struct RearHub;
fn helper(
commands: &mut Commands,
trans: Vec3,
rot: Quat,
meshes: &mut ResMut<Assets<Mesh>>,
materials: &mut ResMut<Assets<StandardMaterial>>,
) {
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::<Vec<[f32; 3]>>();
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
let tire_id = parent
.spawn((
SpatialBundle::default(),
CyberWheel,
RigidBody::Dynamic,
collider.clone(),
@ -117,19 +125,14 @@ fn helper(
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()
});
.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;

View file

@ -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);