checkpoint, colliders are parented correctly
This commit is contained in:
Joe Ardent
parent
22701733d4
commit
6dd7277584
2 changed files with 97 additions and 97 deletions
192
src/bike.rs
192
src/bike.rs
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@ -5,36 +5,54 @@ use bevy::prelude::*;
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use crate::physics::CatControllerState;
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pub const REST_DISTANCE: f32 = 0.8;
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#[derive(Component)]
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pub struct CyberBikeBody;
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#[derive(Component)]
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pub struct CyberWheel;
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pub enum CyberWheel {
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Front,
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Rear,
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}
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// marker for front suspension joint
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#[derive(Component)]
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pub struct Steering;
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#[derive(Component)]
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pub struct FrontHub;
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// marker for rear suspension joint
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#[derive(Component)]
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pub struct Rearing;
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#[derive(Component)]
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pub struct RearHub;
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#[derive(Debug, Resource, Reflect)]
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pub struct SuspensionConfig {
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pub rest_dist: f32,
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pub konstant: f32,
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pub damping: f32,
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}
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impl Default for SuspensionConfig {
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fn default() -> Self {
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Self {
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rest_dist: REST_DISTANCE,
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konstant: 150.0,
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damping: 50.0,
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}
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}
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}
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fn spawn_bike(
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mut commands: Commands,
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mut meshes: ResMut<Assets<Mesh>>,
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mut materials: ResMut<Assets<StandardMaterial>>,
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) {
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let pos = Vec3::new(0.0, 4.0, 0.0);
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let xform = Transform::from_translation(pos).with_rotation(Quat::from_rotation_z(0.0));
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let pos = Vec3::new(0.0, 24.0, 0.0);
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let xform = Transform::from_translation(pos); //.with_rotation(Quat::from_rotation_z(0.0));
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let body_collider =
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Collider::capsule_endpoints(0.5, Vec3::new(0.0, 0.0, -0.65), Vec3::new(0.0, 0.0, 0.8));
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let bike = commands
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let _bike = commands
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.spawn((xform, Visibility::default()))
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.insert((
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Name::new("body"),
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@ -45,8 +63,6 @@ fn spawn_bike(
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CyberBikeBody,
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CatControllerState::default(),
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ColliderDensity(20.0),
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LinearDamping(0.1),
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AngularDamping(2.0),
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LinearVelocity::ZERO,
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AngularVelocity::ZERO,
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ExternalForce::ZERO.with_persistence(false),
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@ -54,62 +70,89 @@ fn spawn_bike(
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))
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.with_children(|builder| {
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let color = Color::srgb(0.7, 0.05, 0.7);
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let mut rotation = Transform::default(); // Transform::from_rotation(Quat::from_rotation_y(FRAC_PI_2));
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rotation.rotate_x(FRAC_PI_2);
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let mut xform = Transform::default();
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xform.rotate_x(FRAC_PI_2);
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let pbr_bundle = (
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Mesh3d(meshes.add(Capsule3d::new(0.5, 1.45))),
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rotation,
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xform,
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MeshMaterial3d(materials.add(color)),
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);
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builder.spawn(pbr_bundle);
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})
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.id();
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spawn_wheels(builder, meshes, materials, xform, builder.parent_entity());
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});
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spawn_wheels(commands, meshes, materials, xform, bike);
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//spawn_wheels(commands, meshes, materials, xform, bike);
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}
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fn spawn_caster(
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commands: &mut ChildBuilder,
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collider: Collider,
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xform: Transform,
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direction: Dir3,
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parent: Entity,
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is_front: bool,
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) {
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let caster = ShapeCaster::new(collider, xform.translation, Quat::IDENTITY, direction)
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.with_query_filter(SpatialQueryFilter::from_excluded_entities([parent]));
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let mut entity = commands.spawn((caster, Transform::default()));
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if is_front {
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entity.insert((Steering, Name::new("front wheel")));
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} else {
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entity.insert((Rearing, Name::new("rear wheel")));
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}
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}
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fn spawn_wheels(
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mut commands: Commands,
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commands: &mut ChildBuilder,
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mut meshes: ResMut<Assets<Mesh>>,
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mut materials: ResMut<Assets<StandardMaterial>>,
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xform: Transform,
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body: Entity,
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) {
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let front_rake = Vec3::new(0.0, -1.0, -0.57).normalize(); // about 30 degrees
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let front_pos = xform.translation + front_rake;
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let (mesh, collider) = gen_tire();
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let front_hub = wheels_helper(
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&mut commands,
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let front_rake = Vec3::new(0.0, -1.0, -0.57).normalize(); // about 30 degrees
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let front_attach = xform.translation + xform.forward() * 0.7;
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let front_wheel_pos = front_attach + (front_rake * REST_DISTANCE);
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spawn_caster(
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commands,
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collider.clone(),
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Transform::from_translation(front_attach),
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Dir3::new_unchecked(front_rake),
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body,
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true,
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);
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wheel_mesh(
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commands,
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&mut meshes,
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&mut materials,
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front_pos,
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front_wheel_pos,
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mesh.clone(),
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collider.clone(),
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CyberWheel::Front,
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);
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commands.entity(front_hub).insert(FrontHub);
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commands.spawn((
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Steering,
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FixedJoint::new(front_hub, body).with_local_anchor_2(*xform.forward() + front_rake),
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));
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let rear_rake = Vec3::new(0.0, -1.0, 0.57).normalize();
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let rear_pos = xform.translation + rear_rake;
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let rear_attach = xform.translation + xform.back() * 0.7;
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let rear_wheel_pos = rear_attach + (rear_rake * REST_DISTANCE);
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let rear_hub = wheels_helper(
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&mut commands,
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spawn_caster(
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commands,
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collider,
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Transform::from_translation(rear_attach),
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Dir3::new_unchecked(rear_rake),
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body,
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false,
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);
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wheel_mesh(
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commands,
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&mut meshes,
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&mut materials,
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rear_pos,
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rear_wheel_pos,
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mesh,
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collider,
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CyberWheel::Rear,
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);
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commands.entity(rear_hub).insert(RearHub);
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commands.spawn((
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Rearing,
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FixedJoint::new(rear_hub, body).with_local_anchor_2(*xform.back() + rear_rake),
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));
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}
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//-************************************************************************
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@ -117,37 +160,20 @@ fn spawn_wheels(
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//-************************************************************************
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fn gen_tire() -> (Mesh, Collider) {
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let mut tire_mesh: Mesh = Torus::new(0.25, 0.40).into();
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let tire_verts = tire_mesh
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.attribute(Mesh::ATTRIBUTE_POSITION)
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.unwrap()
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.as_float3()
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.unwrap()
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.iter()
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.map(|v| {
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//
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let v = Vec3::from_array(*v);
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let m = Mat3::from_rotation_z(90.0f32.to_radians());
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let p = m.mul_vec3(v);
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p.to_array()
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})
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.collect::<Vec<[f32; 3]>>();
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tire_mesh.remove_attribute(Mesh::ATTRIBUTE_POSITION);
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tire_mesh.insert_attribute(Mesh::ATTRIBUTE_POSITION, tire_verts);
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let collider = Collider::convex_hull_from_mesh(&tire_mesh).unwrap();
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let tire_mesh: Mesh = Sphere::new(0.4).into();
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let collider = Collider::sphere(0.4);
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(tire_mesh, collider)
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}
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fn wheels_helper(
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commands: &mut Commands,
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fn wheel_mesh(
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commands: &mut ChildBuilder,
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meshes: &mut ResMut<Assets<Mesh>>,
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materials: &mut ResMut<Assets<StandardMaterial>>,
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position: Vec3,
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tire_mesh: Mesh,
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collider: Collider,
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) -> Entity {
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wheel: CyberWheel,
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) {
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let wheel_material = &StandardMaterial {
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base_color: Color::srgb(0.01, 0.01, 0.01),
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alpha_mode: AlphaMode::Opaque,
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@ -156,47 +182,21 @@ fn wheels_helper(
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};
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let xform = Transform::from_translation(position);
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let hub_mesh: Mesh = Sphere::new(0.1).into();
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let hub = commands
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.spawn((
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Name::new("hub"),
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RigidBody::Dynamic,
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MassPropertiesBundle::from_shape(&Collider::sphere(0.1), 200.0),
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Mesh3d(meshes.add(hub_mesh)),
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MeshMaterial3d(materials.add(wheel_material.clone())),
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xform,
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))
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.id();
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let tire = commands
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.spawn((
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Name::new("tire"),
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Mesh3d(meshes.add(tire_mesh)),
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MeshMaterial3d(materials.add(wheel_material.clone())),
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xform,
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CyberWheel,
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RigidBody::Dynamic,
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collider,
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Friction::new(0.9).with_dynamic_coefficient(0.6),
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Restitution::new(0.1),
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ColliderDensity(30.0),
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CollisionLayers::from_bits(2, 2),
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ExternalTorque::ZERO.with_persistence(false),
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CollisionMargin(0.05),
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SweptCcd::NON_LINEAR,
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))
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.id();
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// connect hubs and tires to make wheels
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commands.spawn(RevoluteJoint::new(hub, tire).with_aligned_axis(Vec3::X));
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hub
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commands.spawn((
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Name::new("tire"),
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Mesh3d(meshes.add(tire_mesh)),
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MeshMaterial3d(materials.add(wheel_material.clone())),
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xform,
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wheel,
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));
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}
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pub struct CyberBikePlugin;
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impl Plugin for CyberBikePlugin {
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fn build(&self, app: &mut App) {
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app.init_resource::<SuspensionConfig>();
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app.add_systems(Startup, spawn_bike);
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}
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}
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@ -16,7 +16,7 @@ impl Default for DebugCamOffset {
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fn default() -> Self {
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DebugCamOffset {
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rot: 60.0,
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dist: 10.0,
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dist: 30.0,
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alt: 4.0,
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}
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}
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