From 884dc14c9f3302ea1a0ff7a8c08ccdc4f29c5216 Mon Sep 17 00:00:00 2001
From: Joe Ardent <code@ardent.nebcorp.com>
Date: Sun, 30 Mar 2025 16:41:03 -0700
Subject: [PATCH] split suspension and steering
---
src/bike.rs | 11 ++++--
src/physics.rs | 91 +++++++++++++++++++++++++++++++-------------------
2 files changed, 65 insertions(+), 37 deletions(-)
diff --git a/src/bike.rs b/src/bike.rs
index 7748563..9a6cd6a 100644
--- a/src/bike.rs
+++ b/src/bike.rs
@@ -26,9 +26,16 @@ pub enum CyberWheel {
#[reflect(Component)]
pub struct WheelState {
pub displacement: Scalar,
+ pub force_normal: Scalar,
pub sliding: bool,
- pub grounded: bool,
- pub ppos: Vec3,
+ pub contact_point: Option<Vec3>,
+ pub contact_normal: Option<Vec3>,
+}
+
+impl WheelState {
+ pub fn reset(&mut self) {
+ *self = Self::default();
+ }
}
#[derive(Component, Clone, Copy, Debug, Reflect)]
diff --git a/src/physics.rs b/src/physics.rs
index b580317..1b961b9 100644
--- a/src/physics.rs
+++ b/src/physics.rs
@@ -163,26 +163,15 @@ mod systems {
}
pub(super) fn suspension(
- mut bike_body_query: Query<
- (&Transform, &mut ExternalForce, RigidBodyQuery),
- With<CyberBikeBody>,
- >,
+ mut bike_body_query: Query<(&Transform, &mut ExternalForce), With<CyberBikeBody>>,
mut wheel_mesh_query: Query<
(&mut Transform, &mut WheelState, &WheelConfig, &CyberWheel),
Without<CyberBikeBody>,
>,
caster_query: Query<(&RayCaster, &RayHits, &CyberWheel)>,
time: Res<Time>,
- input: Res<InputState>,
mut gizmos: Gizmos,
) {
- let max_thrust = 100.0;
- let max_yaw = 50.0;
- let mut thrust = input.throttle * max_thrust;
- if input.brake {
- thrust *= -1.0;
- }
- let yaw = input.yaw * max_yaw;
let dt = time.delta().as_secs_f32();
let mut front_caster = &RayCaster::default();
@@ -204,10 +193,7 @@ mod systems {
}
}
- let Ok((bike_xform, mut bike_forces, rbq)) = bike_body_query.get_single_mut() else {
- bevy::log::warn!("Couldn't get body query");
- return;
- };
+ let (bike_xform, mut bike_forces) = bike_body_query.single_mut();
for (mut xform, mut state, config, wheel) in wheel_mesh_query.iter_mut() {
let (caster, hits) = match wheel {
@@ -217,48 +203,83 @@ mod systems {
if let Some(hit) = hits.iter().next() {
let dist = hit.distance;
- let cdir = caster.direction.as_vec3();
- xform.translation = config.attach + (cdir * (dist - WHEEL_RADIUS));
+ let hit_point = caster.global_origin() + caster.global_direction() * dist;
let displacement = config.rest_dist - dist;
let damper_vel = (state.displacement - displacement) / dt;
- state.displacement = displacement;
let mag = config.konstant * displacement - config.damping * damper_vel;
-
let mag = mag.max(0.0);
- let fdir = hit.normal;
- let force = fdir * mag;
+ state.force_normal = mag;
+ state.contact_normal = Some(hit.normal);
+ state.contact_point = Some(hit_point);
+ state.displacement = displacement;
- let hit_point = caster.global_origin() + caster.global_direction() * dist;
+ let cdir = caster.direction.as_vec3();
+ xform.translation = config.attach + (cdir * (dist - WHEEL_RADIUS));
+
+ let force = hit.normal * mag;
gizmos.arrow(
hit_point,
hit_point + force,
Color::linear_rgb(1., 0.5, 0.2),
);
-
- let _vel = rbq.velocity_at_point(hit_point);
- //bevy::log::info!("{_vel:?}");
-
bike_forces.apply_force_at_point(
force,
caster.global_origin(),
bike_xform.translation,
);
+ } else {
+ xform.translation = config.attach + (caster.direction.as_vec3() * config.rest_dist);
+ state.reset();
+ }
+ }
+ }
- let normal = hit.normal;
+ pub(super) fn steering(
+ mut bike_query: Query<
+ (&Transform, &mut ExternalForce, RigidBodyQueryReadOnly),
+ With<CyberBikeBody>,
+ >,
+ mut wheels: Query<(&mut WheelState, &WheelConfig, &CyberWheel)>,
+ time: Res<Time>,
+ input: Res<InputState>,
+ mut gizmos: Gizmos,
+ ) {
+ let Ok((bike_xform, mut bike_force, bike_body)) = bike_query.get_single_mut() else {
+ bevy::log::warn!("No entity for bike_query.");
+ return;
+ };
+
+ let max_thrust = 100.0;
+ let max_yaw = 50.0;
+ let thrust = input.throttle * max_thrust;
+ let yaw = input.yaw * max_yaw;
+ let dt = time.delta().as_secs_f32();
+
+ for (mut state, config, wheel) in wheels.iter_mut() {
+ if let Some(contact_point) = state.contact_point {
+ let vel = bike_body.velocity_at_point(contact_point);
+ bevy::log::info_once!("vel: {vel:?}");
+ let friction = config.friction;
+ bevy::log::info_once!(friction);
+ // just to shut the linter up about state not needing to be mut
+ state.sliding = true;
+
+ let normal = state.contact_normal.unwrap();
let steering = match wheel {
CyberWheel::Front => normal.cross(*bike_xform.back()) * yaw,
CyberWheel::Rear => Vec3::ZERO,
- //_ => normal.cross(*bike_xform.forward()) * yaw, // Vec3::ZERO,
};
let thrust = normal.cross(*bike_xform.right()) * thrust;
let total = (thrust + steering) * dt;
- bike_forces.apply_force_at_point(total, hit_point, bike_xform.translation);
- gizmos.arrow(hit_point, hit_point + total, Color::linear_rgb(1., 1., 0.2));
- } else {
- xform.translation = config.attach + (caster.direction.as_vec3() * config.rest_dist);
+ bike_force.apply_force_at_point(total, contact_point, bike_xform.translation);
+ gizmos.arrow(
+ contact_point,
+ contact_point + total,
+ Color::linear_rgb(1., 1., 0.2),
+ );
}
}
}
@@ -301,7 +322,7 @@ mod systems {
}
}
-use systems::{apply_lean, calculate_lean, suspension, tweak};
+use systems::{apply_lean, calculate_lean, steering, suspension, tweak};
pub struct CyberPhysicsPlugin;
@@ -319,7 +340,7 @@ impl Plugin for CyberPhysicsPlugin {
})
.add_systems(
FixedUpdate,
- (calculate_lean, apply_lean, suspension).chain(),
+ (calculate_lean, apply_lean, suspension, steering).chain(),
)
.add_systems(Update, tweak);
}