diff --git a/src/bike.rs b/src/bike.rs
index 38d1ca0..ab39015 100644
--- a/src/bike.rs
+++ b/src/bike.rs
@@ -5,36 +5,54 @@ use bevy::prelude::*;
use crate::physics::CatControllerState;
+pub const REST_DISTANCE: f32 = 0.8;
+
#[derive(Component)]
pub struct CyberBikeBody;
#[derive(Component)]
-pub struct CyberWheel;
+pub enum CyberWheel {
+ Front,
+ Rear,
+}
// marker for front suspension joint
#[derive(Component)]
pub struct Steering;
-#[derive(Component)]
-pub struct FrontHub;
// marker for rear suspension joint
#[derive(Component)]
pub struct Rearing;
-#[derive(Component)]
-pub struct RearHub;
+
+#[derive(Debug, Resource, Reflect)]
+pub struct SuspensionConfig {
+ pub rest_dist: f32,
+ pub konstant: f32,
+ pub damping: f32,
+}
+
+impl Default for SuspensionConfig {
+ fn default() -> Self {
+ Self {
+ rest_dist: REST_DISTANCE,
+ konstant: 150.0,
+ damping: 50.0,
+ }
+ }
+}
fn spawn_bike(
mut commands: Commands,
mut meshes: ResMut<Assets<Mesh>>,
mut materials: ResMut<Assets<StandardMaterial>>,
) {
- 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 pos = Vec3::new(0.0, 24.0, 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));
- let bike = commands
+ let _bike = commands
.spawn((xform, Visibility::default()))
.insert((
Name::new("body"),
@@ -45,8 +63,6 @@ fn spawn_bike(
CyberBikeBody,
CatControllerState::default(),
ColliderDensity(20.0),
- LinearDamping(0.1),
- AngularDamping(2.0),
LinearVelocity::ZERO,
AngularVelocity::ZERO,
ExternalForce::ZERO.with_persistence(false),
@@ -54,62 +70,89 @@ fn spawn_bike(
))
.with_children(|builder| {
let color = Color::srgb(0.7, 0.05, 0.7);
- let mut rotation = Transform::default(); // Transform::from_rotation(Quat::from_rotation_y(FRAC_PI_2));
- rotation.rotate_x(FRAC_PI_2);
+ let mut xform = Transform::default();
+ xform.rotate_x(FRAC_PI_2);
let pbr_bundle = (
Mesh3d(meshes.add(Capsule3d::new(0.5, 1.45))),
- rotation,
+ xform,
MeshMaterial3d(materials.add(color)),
);
builder.spawn(pbr_bundle);
- })
- .id();
+ spawn_wheels(builder, meshes, materials, xform, builder.parent_entity());
+ });
- spawn_wheels(commands, meshes, materials, xform, bike);
+ //spawn_wheels(commands, meshes, materials, xform, bike);
+}
+
+fn spawn_caster(
+ commands: &mut ChildBuilder,
+ collider: Collider,
+ xform: Transform,
+ direction: Dir3,
+ parent: Entity,
+ is_front: bool,
+) {
+ let caster = ShapeCaster::new(collider, xform.translation, Quat::IDENTITY, direction)
+ .with_query_filter(SpatialQueryFilter::from_excluded_entities([parent]));
+
+ let mut entity = commands.spawn((caster, Transform::default()));
+ if is_front {
+ entity.insert((Steering, Name::new("front wheel")));
+ } else {
+ entity.insert((Rearing, Name::new("rear wheel")));
+ }
}
fn spawn_wheels(
- mut commands: Commands,
+ commands: &mut ChildBuilder,
mut meshes: ResMut<Assets<Mesh>>,
mut materials: ResMut<Assets<StandardMaterial>>,
xform: Transform,
body: Entity,
) {
- let front_rake = Vec3::new(0.0, -1.0, -0.57).normalize(); // about 30 degrees
- let front_pos = xform.translation + front_rake;
-
let (mesh, collider) = gen_tire();
- let front_hub = wheels_helper(
- &mut commands,
+ let front_rake = Vec3::new(0.0, -1.0, -0.57).normalize(); // about 30 degrees
+ let front_attach = xform.translation + xform.forward() * 0.7;
+ let front_wheel_pos = front_attach + (front_rake * REST_DISTANCE);
+
+ spawn_caster(
+ commands,
+ collider.clone(),
+ Transform::from_translation(front_attach),
+ Dir3::new_unchecked(front_rake),
+ body,
+ true,
+ );
+ wheel_mesh(
+ commands,
&mut meshes,
&mut materials,
- front_pos,
+ front_wheel_pos,
mesh.clone(),
- collider.clone(),
+ CyberWheel::Front,
);
- commands.entity(front_hub).insert(FrontHub);
- commands.spawn((
- Steering,
- FixedJoint::new(front_hub, body).with_local_anchor_2(*xform.forward() + front_rake),
- ));
let rear_rake = Vec3::new(0.0, -1.0, 0.57).normalize();
- let rear_pos = xform.translation + rear_rake;
+ let rear_attach = xform.translation + xform.back() * 0.7;
+ let rear_wheel_pos = rear_attach + (rear_rake * REST_DISTANCE);
- let rear_hub = wheels_helper(
- &mut commands,
+ spawn_caster(
+ commands,
+ collider,
+ Transform::from_translation(rear_attach),
+ Dir3::new_unchecked(rear_rake),
+ body,
+ false,
+ );
+ wheel_mesh(
+ commands,
&mut meshes,
&mut materials,
- rear_pos,
+ rear_wheel_pos,
mesh,
- collider,
+ CyberWheel::Rear,
);
- commands.entity(rear_hub).insert(RearHub);
- commands.spawn((
- Rearing,
- FixedJoint::new(rear_hub, body).with_local_anchor_2(*xform.back() + rear_rake),
- ));
}
//-************************************************************************
@@ -117,37 +160,20 @@ fn spawn_wheels(
//-************************************************************************
fn gen_tire() -> (Mesh, Collider) {
- let mut tire_mesh: Mesh = Torus::new(0.25, 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 collider = Collider::convex_hull_from_mesh(&tire_mesh).unwrap();
+ let tire_mesh: Mesh = Sphere::new(0.4).into();
+ let collider = Collider::sphere(0.4);
(tire_mesh, collider)
}
-fn wheels_helper(
- commands: &mut Commands,
+fn wheel_mesh(
+ commands: &mut ChildBuilder,
meshes: &mut ResMut<Assets<Mesh>>,
materials: &mut ResMut<Assets<StandardMaterial>>,
position: Vec3,
tire_mesh: Mesh,
- collider: Collider,
-) -> Entity {
+ wheel: CyberWheel,
+) {
let wheel_material = &StandardMaterial {
base_color: Color::srgb(0.01, 0.01, 0.01),
alpha_mode: AlphaMode::Opaque,
@@ -156,47 +182,21 @@ fn wheels_helper(
};
let xform = Transform::from_translation(position);
- let hub_mesh: Mesh = Sphere::new(0.1).into();
- let hub = commands
- .spawn((
- Name::new("hub"),
- RigidBody::Dynamic,
- MassPropertiesBundle::from_shape(&Collider::sphere(0.1), 200.0),
- Mesh3d(meshes.add(hub_mesh)),
- MeshMaterial3d(materials.add(wheel_material.clone())),
- xform,
- ))
- .id();
-
- let tire = commands
- .spawn((
- Name::new("tire"),
- Mesh3d(meshes.add(tire_mesh)),
- MeshMaterial3d(materials.add(wheel_material.clone())),
- xform,
- CyberWheel,
- RigidBody::Dynamic,
- collider,
- Friction::new(0.9).with_dynamic_coefficient(0.6),
- Restitution::new(0.1),
- ColliderDensity(30.0),
- CollisionLayers::from_bits(2, 2),
- ExternalTorque::ZERO.with_persistence(false),
- CollisionMargin(0.05),
- SweptCcd::NON_LINEAR,
- ))
- .id();
-
- // connect hubs and tires to make wheels
- commands.spawn(RevoluteJoint::new(hub, tire).with_aligned_axis(Vec3::X));
- hub
+ commands.spawn((
+ Name::new("tire"),
+ Mesh3d(meshes.add(tire_mesh)),
+ MeshMaterial3d(materials.add(wheel_material.clone())),
+ xform,
+ wheel,
+ ));
}
pub struct CyberBikePlugin;
impl Plugin for CyberBikePlugin {
fn build(&self, app: &mut App) {
+ app.init_resource::<SuspensionConfig>();
app.add_systems(Startup, spawn_bike);
}
}
diff --git a/src/camera.rs b/src/camera.rs
index ca4c8cd..75a51c9 100644
--- a/src/camera.rs
+++ b/src/camera.rs
@@ -16,7 +16,7 @@ impl Default for DebugCamOffset {
fn default() -> Self {
DebugCamOffset {
rot: 60.0,
- dist: 10.0,
+ dist: 30.0,
alt: 4.0,
}
}