spawns the wheels but joints are too floppy
This commit is contained in:
Joe Ardent
parent
610f141318
commit
52f8c91232
147
src/bike.rs
147
src/bike.rs
|
|
@ -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));
|
||||
|
||||
|
|
@ -68,68 +70,69 @@ 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
|
||||
.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;
|
||||
|
|
|
|||
|
|
@ -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);
|
||||
|
|
|
|||
Loading…
Reference in New Issue