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avian3d-sandbox
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increase masses and control params

This commit is contained in:
Joe Ardent 2024-07-25 11:22:11 -07:00
parent 68449f2b6e
commit 9d82ddbf09
3 changed files with 9 additions and 9 deletions
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8
src/bike.rs
View File

@ -44,7 +44,7 @@ fn spawn_bike(
SleepingDisabled,
CyberBikeBody,
CatControllerState::default(),
ColliderDensity(0.4),
ColliderDensity(20.0),
LinearDamping(0.1),
AngularDamping(2.0),
LinearVelocity::ZERO,
@ -163,7 +163,7 @@ fn wheels_helper(
Name::new("hub"),
SpatialBundle::from_transform(xform),
RigidBody::Dynamic,
MassPropertiesBundle::new_computed(&Collider::sphere(0.1), 8.0),
MassPropertiesBundle::new_computed(&Collider::sphere(0.1), 200.0),
))
.with_children(|parent| {
let mesh: Mesh = Sphere::new(0.1).into();
@ -182,9 +182,9 @@ fn wheels_helper(
CyberWheel,
RigidBody::Dynamic,
collider,
Friction::new(3.0).with_dynamic_coefficient(0.9),
Friction::new(0.9).with_dynamic_coefficient(0.6),
Restitution::new(0.1),
ColliderDensity(0.1),
ColliderDensity(30.0),
CollisionLayers::from_bits(2, 2),
ExternalTorque::ZERO.with_persistence(false),
CollisionMargin(0.05),

4
src/main.rs
View File

@ -47,13 +47,13 @@ fn ground_and_light(
Collider::cuboid(50.0, 0.5, 50.0),
CollisionMargin(0.1),
ColliderDensity(1000.0),
Friction::new(3.0),
Friction::new(0.9),
))
.with_children(|p| {
p.spawn(PbrBundle {
mesh: meshes.add(Plane3d::default().mesh().size(50.0, 50.0)),
material: materials.add(Color::from(SILVER)),
transform: Transform::from_xyz(0.0, 0.5, 0.0),
transform: Transform::from_xyz(0.0, 1.0, 0.0),
..default()
});
});

6
src/physics.rs
View File

@ -18,9 +18,9 @@ pub struct CatControllerSettings {
impl Default for CatControllerSettings {
fn default() -> Self {
Self {
kp: 20.0,
kd: 2.0,
ki: 0.7,
kp: 950.0,
kd: 10.0,
ki: 50.0,
}
}
}