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

use computed center of mass

Browse source
This commit is contained in:
Joe Ardent 2025-04-28 16:52:05 -07:00
parent 15b98b6995
commit 81bec0b2b4
2 changed files with 28 additions and 13 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

2
src/bike.rs
View file

@ -18,7 +18,7 @@ use bevy::{
use crate::physics::CatControllerState; use crate::physics::CatControllerState;
pub const SPRING_CONSTANT: Scalar = 50.0; pub const SPRING_CONSTANT: Scalar = 40.0;
pub const DAMPING_CONSTANT: Scalar = 10.0; pub const DAMPING_CONSTANT: Scalar = 10.0;
pub const WHEEL_RADIUS: Scalar = 0.4; pub const WHEEL_RADIUS: Scalar = 0.4;
pub const REST_DISTANCE: Scalar = 1.5 + WHEEL_RADIUS; pub const REST_DISTANCE: Scalar = 1.5 + WHEEL_RADIUS;

39
src/physics.rs
View file

@ -22,7 +22,7 @@ impl Default for CatControllerSettings {
Self { Self {
kp: 45.0, kp: 45.0,
kd: 15.0, kd: 15.0,
ki: 1.0, ki: 2.5,
} }
} }
} }
@ -57,7 +57,10 @@ impl CatControllerState {
mod systems { mod systems {
use std::f32::consts::{FRAC_PI_3, FRAC_PI_4}; use std::f32::consts::{FRAC_PI_3, FRAC_PI_4};
use avian3d::prelude::*; use avian3d::prelude::{
ComputedCenterOfMass, ExternalForce, Gravity, LinearVelocity, RayCaster, RayHits,
RigidBodyQueryReadOnly,
};
use bevy::{ use bevy::{
ecs::error::BevyError, ecs::error::BevyError,
prelude::{ prelude::{
@ -183,7 +186,10 @@ mod systems {
} }
pub(super) fn suspension( pub(super) fn suspension(
mut bike_body_query: Query<(&Transform, &mut ExternalForce), With<CyberBikeBody>>, mut bike_body_query: Query<
(&Transform, &ComputedCenterOfMass, &mut ExternalForce),
With<CyberBikeBody>,
>,
mut wheel_mesh_query: Query< mut wheel_mesh_query: Query<
(&mut Transform, &mut WheelState, &WheelConfig, &CyberWheel), (&mut Transform, &mut WheelState, &WheelConfig, &CyberWheel),
Without<CyberBikeBody>, Without<CyberBikeBody>,
@ -213,7 +219,7 @@ mod systems {
} }
} }
let (bike_xform, mut bike_forces) = bike_body_query.single_mut()?; let (bike_xform, com, mut bike_forces) = bike_body_query.single_mut()?;
for (mut xform, mut state, config, wheel) in wheel_mesh_query.iter_mut() { for (mut xform, mut state, config, wheel) in wheel_mesh_query.iter_mut() {
let (caster, hits) = match wheel { let (caster, hits) = match wheel {
@ -248,7 +254,7 @@ mod systems {
bike_forces.apply_force_at_point( bike_forces.apply_force_at_point(
force, force,
caster.global_origin(), caster.global_origin(),
bike_xform.translation, bike_xform.translation + com.0,
); );
} else { } else {
xform.translation = config.attach + (caster.direction.as_vec3() * config.rest_dist); xform.translation = config.attach + (caster.direction.as_vec3() * config.rest_dist);
@ -277,7 +283,7 @@ mod systems {
let bike_vel = bike_vel.0; let bike_vel = bike_vel.0;
let dt = time.delta().as_secs_f32(); let dt = time.delta().as_secs_f32();
let max_thrust = 5000.0; let max_thrust = 1000.0;
let yaw_angle = -yaw_to_angle(input.yaw); let yaw_angle = -yaw_to_angle(input.yaw);
for (mut state, config, wheel) in wheels.iter_mut() { for (mut state, config, wheel) in wheels.iter_mut() {
@ -290,7 +296,7 @@ mod systems {
let forward = normal.cross(*bike_xform.right()); let forward = normal.cross(*bike_xform.right());
let thrust_mag = input.throttle * max_thrust * dt; let thrust_mag = input.throttle * max_thrust * dt;
let (thrust_dir, thrust_force) = match wheel { let (thrust_dir, thrust_force) = match wheel {
CyberWheel::Rear => (forward, thrust_mag * 0.1), CyberWheel::Rear => (forward, thrust_mag * 0.5),
CyberWheel::Front => (rot * forward, thrust_mag), CyberWheel::Front => (rot * forward, thrust_mag),
}; };
@ -318,7 +324,11 @@ mod systems {
state.sliding = false; state.sliding = false;
} }
bike_force.apply_force_at_point(force, contact_point, bike_xform.translation); bike_force.apply_force_at_point(
force,
contact_point,
bike_xform.translation + bike_body.center_of_mass.0,
);
gizmos.arrow( gizmos.arrow(
contact_point, contact_point,
contact_point + friction, contact_point + friction,
@ -337,13 +347,18 @@ mod systems {
pub(super) fn drag( pub(super) fn drag(
mut bike_query: Query< mut bike_query: Query<
(&Transform, &LinearVelocity, &mut ExternalForce), (
&Transform,
&LinearVelocity,
&ComputedCenterOfMass,
&mut ExternalForce,
),
With<CyberBikeBody>, With<CyberBikeBody>,
>, >,
mut gizmos: Gizmos, mut gizmos: Gizmos,
time: Res<Time>, time: Res<Time>,
) -> Result { ) -> Result {
let (xform, vel, mut force) = bike_query.single_mut()?; let (xform, vel, com, mut force) = bike_query.single_mut()?;
let dt = time.delta_secs(); let dt = time.delta_secs();
@ -354,8 +369,8 @@ mod systems {
if speed > 1.0 { if speed > 1.0 {
force.apply_force_at_point( force.apply_force_at_point(
drag, drag,
xform.translation - (0.1 * *xform.down()), xform.translation - (0.2 * *xform.down()),
xform.translation, xform.translation + com.0,
); );
} }