nebkor/avian3d-sandbox
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity

something's weird

Browse source
This commit is contained in:
Joe Ardent 2025-04-06 14:45:10 -07:00
parent cc519efdb6
commit 60fbbf4637
1 changed files with 35 additions and 32 deletions

67
src/physics.rs
View file

@ -18,9 +18,9 @@ pub struct CatControllerSettings {
impl Default for CatControllerSettings {
fn default() -> Self {
Self {
kp: 30.0,
kd: 7.0,
ki: 1.0,
kp: 25.0,
kd: 3.0,
ki: 1.1,
}
}
}
@ -127,7 +127,7 @@ mod systems {
// show which is forward
gizmos.arrow(
*xform.forward() + xform.translation,
1.5 * *xform.forward() + xform.translation,
2.5 * *xform.forward() + xform.translation,
bevy::color::palettes::basic::PURPLE,
);
@ -239,7 +239,12 @@ mod systems {
pub(super) fn steering(
mut bike_query: Query<
(&Transform, &mut ExternalForce, RigidBodyQueryReadOnly),
(
&Transform,
&LinearVelocity,
&mut ExternalForce,
RigidBodyQueryReadOnly,
),
With<CyberBikeBody>,
>,
mut wheels: Query<(&mut WheelState, &WheelConfig, &CyberWheel)>,
@ -247,16 +252,16 @@ mod systems {
input: Res<InputState>,
mut gizmos: Gizmos,
) {
let Ok((bike_xform, mut bike_force, bike_body)) = bike_query.get_single_mut() else {
let Ok((bike_xform, bike_vel, mut bike_force, bike_body)) = bike_query.get_single_mut()
else {
bevy::log::warn!("No entity for bike_query.");
return;
};
let bike_vel = bike_vel.0;
let dt = time.delta().as_secs_f32();
let max_thrust = 1000.0;
let thrust_force = input.throttle * max_thrust * dt;
let max_yaw = 500.0;
let yaw_force = input.yaw * max_yaw * dt;
let yaw_angle = -yaw_to_angle(input.yaw);
for (mut state, config, wheel) in wheels.iter_mut() {
if let Some(contact_point) = state.contact_point {
@ -264,39 +269,32 @@ mod systems {
let normal = state.contact_normal.unwrap().normalize();
let max_force_mag = state.force_normal * config.friction;
let yaw_dir = match wheel {
CyberWheel::Front => normal.cross(*bike_xform.back()).normalize_or_zero(),
CyberWheel::Rear => Vec3::ZERO,
let rot = Quat::from_axis_angle(normal, yaw_angle);
let forward = normal.cross(*bike_xform.right());
let (thrust_dir, thrust_force) = match wheel {
CyberWheel::Rear => (forward, input.throttle * max_thrust * dt),
CyberWheel::Front => (rot * forward, 0.0),
};
let thrust_dir = normal.cross(*bike_xform.right());
let vel = bike_body.velocity_at_point(contact_point - bike_xform.translation);
let yaw = yaw_force * yaw_dir;
let thrust = thrust_force * thrust_dir;
let yust = yaw + thrust;
bevy::log::debug!("yust: {yust:?}");
bevy::log::debug!("{:?}", bike_xform.left());
let left = bike_xform.forward().cross(normal);
let friction_dir = match wheel {
CyberWheel::Front => {
if yaw_force + thrust_force > 0.1 {
normal.cross(yust.normalize()).normalize()
} else {
left
}
}
CyberWheel::Rear => left,
CyberWheel::Front => normal.cross(thrust_dir),
CyberWheel::Rear => normal.cross(*bike_xform.forward()),
};
// bevy::log::debug!(
// "{wheel:?}, thrust_dir: {thrust_dir:?}, friction_dir: {friction_dir:?}, dot: {}",
// thrust_dir.dot(friction_dir)
// );
let vel = bike_body.velocity_at_point(contact_point - bike_xform.translation);
let friction_factor = -0.025 * vel.dot(friction_dir);
let friction = (friction_factor / dt) * friction_dir;
let mut force = yust + friction;
bevy::log::debug!("{wheel:?}: vel diff: {:?}", bike_vel - vel);
let mut force = thrust + friction;
force *= dt * 50.0;
let force_mag = force.length();
if force_mag > max_force_mag {
@ -313,6 +311,11 @@ mod systems {
contact_point + friction,
Color::linear_rgb(1., 1., 0.2),
);
gizmos.arrow(
contact_point,
contact_point + thrust,
Color::linear_rgb(1., 0., 0.2),
);
}
}
}