checkpoint

src/bike.rs

@@ -22,11 +22,11 @@ pub enum CyberWheel {
 
 #[derive(Component, Clone, Copy, Debug, Reflect, Default)]
 #[reflect(Component)]
-#[require(LinearVelocity, RigidBody(|| RigidBody::Kinematic))]
 pub struct WheelState {
     pub displacement: Scalar,
     pub sliding: bool,
     pub grounded: bool,
+    pub ppos: Vec3,
 }
 
 #[derive(Component, Clone, Copy, Debug, Reflect)]
@@ -126,7 +126,7 @@ fn spawn_wheels(
         &mut materials,
         front_wheel_pos,
         mesh.clone(),
-        WheelConfig::new(FRONT_ATTACH, REST_DISTANCE, 1200., -160., 0.5),
+        WheelConfig::new(FRONT_ATTACH, REST_DISTANCE, 800., -160., 0.5),
         CyberWheel::Front,
     );
 
@@ -148,7 +148,7 @@ fn spawn_wheels(
         &mut materials,
         rear_wheel_pos,
         mesh,
-        WheelConfig::new(REAR_ATTACH, REST_DISTANCE, 1200., -160., 0.5),
+        WheelConfig::new(REAR_ATTACH, REST_DISTANCE, 800., -160., 0.5),
         CyberWheel::Rear,
     );
 }

src/physics.rs

@@ -163,8 +163,8 @@ mod systems {
             (
                 &mut Transform,
                 &mut WheelState,
+                &GlobalTransform,
                 &WheelConfig,
-                &LinearVelocity,
                 &CyberWheel,
             ),
             Without<CyberBikeBody>,
@@ -202,21 +202,23 @@ mod systems {
             }
         }
         let (bike_xform, mut bike_forces) = bike_body_query.single_mut();
-        for (mut xform, mut state, config, velocity, wheel) in wheel_mesh_query.iter_mut() {
+        for (mut xform, mut state, global_xform, config, wheel) in wheel_mesh_query.iter_mut() {
             let (caster, hits) = match wheel {
                 CyberWheel::Front => (front_caster, front_hits),
                 CyberWheel::Rear => (rear_caster, rear_hits),
             };
 
             let prev = &mut state.displacement;
-            for hit in hits.iter() {
+            if let Some(hit) = hits.iter().next() {
                 let force = suspension_force(caster, hit, config, prev, dt, &mut xform);
                 bike_forces.apply_force_at_point(
                     force,
                     caster.global_origin(),
                     bike_xform.translation,
                 );
-                dbg!(velocity);
+                let vel = (global_xform.translation() - state.ppos) / dt;
+                dbg!(vel);
+                state.ppos = global_xform.translation();
                 let normal = hit.normal1;
                 let steering = match wheel {
                     CyberWheel::Front => normal.cross(*bike_xform.back()) * yaw,
@@ -230,6 +232,8 @@ mod systems {
                     hit.point1 + total,
                     Color::linear_rgb(1., 1., 0.2),
                 );
+            } else {
+                xform.translation = config.attach + (caster.direction.as_vec3() * config.rest_dist);
             }
         }
     }
@@ -274,6 +278,9 @@ impl Plugin for CyberPhysicsPlugin {
             .register_type::<CyberLean>()
             .add_plugins((PhysicsPlugins::default(), PhysicsDebugPlugin::default()))
             .insert_resource(SubstepCount(12))
+            .add_systems(Startup, |mut gravity: ResMut<Gravity>| {
+                gravity.0 *= 0.02;
+            })
             .add_systems(
                 FixedUpdate,
                 (calculate_lean, apply_lean, suspension).chain(),