From 5596d883c50ccf1e6e6bd1f319a5bcf617d22ed7 Mon Sep 17 00:00:00 2001
From: Joe Ardent <code@ardent.nebcorp.com>
Date: Mon, 28 Apr 2025 21:34:18 -0700
Subject: [PATCH] more computed center of mass

---
 src/physics.rs | 11 ++++++++---
 1 file changed, 8 insertions(+), 3 deletions(-)

diff --git a/src/physics.rs b/src/physics.rs
index 481d0d0..1a96216 100644
--- a/src/physics.rs
+++ b/src/physics.rs
@@ -115,14 +115,19 @@ mod systems {
     }
 
     pub(super) fn apply_lean(
-        mut bike_query: Query<(&Transform, &mut ExternalForce, &mut CatControllerState)>,
+        mut bike_query: Query<(
+            &Transform,
+            &ComputedCenterOfMass,
+            &mut ExternalForce,
+            &mut CatControllerState,
+        )>,
         wheels: Query<&WheelState>,
         time: Res<Time>,
         settings: Res<CatControllerSettings>,
         lean: Res<CyberLean>,
         mut gizmos: Gizmos,
     ) -> Result {
-        let (xform, mut force, mut control_vars) = bike_query.single_mut()?;
+        let (xform, com, mut force, mut control_vars) = bike_query.single_mut()?;
 
         let mut factor = 1.0;
         for wheel in wheels.iter() {
@@ -164,7 +169,7 @@ mod systems {
                 force.apply_force_at_point(
                     lean_force,
                     xform.translation + *xform.up(),
-                    xform.translation,
+                    xform.translation + com.0,
                 );
                 gizmos.arrow(
                     xform.translation + *xform.up(),