checkpoint, mostly working

src/bike.rs

@@ -37,13 +37,14 @@ fn spawn_bike(
     let bike = commands
         .spawn(SpatialBundle::from_transform(xform))
         .insert((
+            Name::new("body"),
             RigidBody::Dynamic,
             body_collider,
             CollisionLayers::from_bits(1, 1),
             SleepingDisabled,
             CyberBikeBody,
             CatControllerState::default(),
-            ColliderDensity(0.12),
+            ColliderDensity(0.4),
             LinearDamping(0.1),
             AngularDamping(2.0),
             LinearVelocity::ZERO,
@@ -75,8 +76,8 @@ fn spawn_wheels(
     xform: Transform,
     body: Entity,
 ) {
-    let rake_vec = Vec3::new(0.0, -1.0, -0.57).normalize(); // about 30 degrees
+    let front_rake = Vec3::new(0.0, -1.0, -0.57).normalize(); // about 30 degrees
-    let front_pos = xform.translation + rake_vec;
+    let front_pos = xform.translation + front_rake;
 
     let (mesh, collider) = gen_tire();
 
@@ -91,10 +92,12 @@ fn spawn_wheels(
     commands.entity(front_hub).insert(FrontHub);
     commands.spawn((
         Steering,
-        FixedJoint::new(front_hub, body).with_local_anchor_2(*xform.forward() + rake_vec),
+        FixedJoint::new(front_hub, body).with_local_anchor_2(*xform.forward() + front_rake),
     ));
 
-    let rear_pos = xform.translation + Vec3::new(0.0, -1.0, 0.57).normalize();
+    let rear_rake = Vec3::new(0.0, -1.0, 0.57).normalize();
+    let rear_pos = xform.translation + rear_rake;
+
     let rear_hub = wheels_helper(
         &mut commands,
         &mut meshes,
@@ -106,7 +109,7 @@ fn spawn_wheels(
     commands.entity(rear_hub).insert(RearHub);
     commands.spawn((
         Rearing,
-        FixedJoint::new(rear_hub, body).with_local_anchor_2(*xform.back() + rake_vec.y),
+        FixedJoint::new(rear_hub, body).with_local_anchor_2(*xform.back() + rear_rake),
     ));
 }
 
@@ -115,7 +118,7 @@ fn spawn_wheels(
 //-************************************************************************
 
 fn gen_tire() -> (Mesh, Collider) {
-    let mut tire_mesh: Mesh = Torus::new(0.30, 0.40).into();
+    let mut tire_mesh: Mesh = Torus::new(0.25, 0.40).into();
     let tire_verts = tire_mesh
         .attribute(Mesh::ATTRIBUTE_POSITION)
         .unwrap()
@@ -133,7 +136,7 @@ fn gen_tire() -> (Mesh, Collider) {
     tire_mesh.remove_attribute(Mesh::ATTRIBUTE_POSITION);
     tire_mesh.insert_attribute(Mesh::ATTRIBUTE_POSITION, tire_verts);
 
-    let collider = Collider::convex_decomposition_from_mesh(&tire_mesh).unwrap();
+    let collider = Collider::convex_hull_from_mesh(&tire_mesh).unwrap();
 
     (tire_mesh, collider)
 }
@@ -157,9 +160,10 @@ fn wheels_helper(
 
     let hub = commands
         .spawn((
+            Name::new("hub"),
             SpatialBundle::from_transform(xform),
             RigidBody::Dynamic,
-            MassPropertiesBundle::new_computed(&Collider::sphere(0.1), 0.01),
+            MassPropertiesBundle::new_computed(&Collider::sphere(0.1), 8.0),
         ))
         .with_children(|parent| {
             let mesh: Mesh = Sphere::new(0.1).into();
@@ -173,13 +177,18 @@ fn wheels_helper(
 
     let tire = commands
         .spawn((
+            Name::new("tire"),
             SpatialBundle::from_transform(xform),
             CyberWheel,
             RigidBody::Dynamic,
-            collider.clone(),
+            collider,
-            ColliderDensity(0.05),
+            Friction::new(3.0).with_dynamic_coefficient(0.9),
+            Restitution::new(0.1),
+            ColliderDensity(0.1),
             CollisionLayers::from_bits(2, 2),
             ExternalTorque::ZERO.with_persistence(false),
+            CollisionMargin(0.05),
+            SweptCcd::NON_LINEAR,
         ))
         .with_children(|p| {
             p.spawn(PbrBundle {

src/main.rs

@@ -41,16 +41,22 @@ fn ground_and_light(
     mut meshes: ResMut<Assets<Mesh>>,
     mut materials: ResMut<Assets<StandardMaterial>>,
 ) {
-    commands.spawn((
+    commands
+        .spawn((
             RigidBody::Static,
             Collider::cuboid(50.0, 0.5, 50.0),
-        PbrBundle {
+            CollisionMargin(0.1),
+            ColliderDensity(1000.0),
+            Friction::new(3.0),
+        ))
+        .with_children(|p| {
+            p.spawn(PbrBundle {
                 mesh: meshes.add(Plane3d::default().mesh().size(50.0, 50.0)),
                 material: materials.add(Color::from(SILVER)),
-            transform: Transform::from_xyz(0.0, -3., 0.0),
+                transform: Transform::from_xyz(0.0, 0.5, 0.0),
                 ..default()
-        },
+            });
-    ));
+        });
 
     commands.spawn(PointLightBundle {
         point_light: PointLight {

src/physics.rs

@@ -18,9 +18,9 @@ pub struct CatControllerSettings {
 impl Default for CatControllerSettings {
     fn default() -> Self {
         Self {
-            kp: 10.0,
+            kp: 20.0,
-            kd: 1.2,
+            kd: 2.0,
-            ki: 0.2,
+            ki: 0.7,
         }
     }
 }
@@ -174,6 +174,7 @@ impl Plugin for CyberPhysicsPlugin {
             .init_resource::<CyberLean>()
             .register_type::<CyberLean>()
             .add_plugins((PhysicsPlugins::default(), PhysicsDebugPlugin::default()))
+            .insert_resource(SubstepCount(12))
             .add_systems(Update, (apply_lean, calculate_lean));
     }
 }