From b5ed478dbe5a6e7f9e6e9d9a9cba89bd262d97d5 Mon Sep 17 00:00:00 2001
From: Joe Ardent <code@ardent.nebcorp.com>
Date: Wed, 19 Feb 2025 22:16:19 -0800
Subject: [PATCH] crappy thrust and yaw handling

---
 src/bike.rs    |  4 ++--
 src/physics.rs | 27 ++++++++++++++++++++++-----
 2 files changed, 24 insertions(+), 7 deletions(-)

diff --git a/src/bike.rs b/src/bike.rs
index d029adc..140d27c 100644
--- a/src/bike.rs
+++ b/src/bike.rs
@@ -44,8 +44,8 @@ impl Default for SuspensionConfig {
     fn default() -> Self {
         Self {
             rest_dist: REST_DISTANCE,
-            konstant: 800.0,
-            damping: -100.0,
+            konstant: 1600.0,
+            damping: -160.0,
             front_attach: FRONT_ATTACH,
             rear_attach: REAR_ATTACH,
         }
diff --git a/src/physics.rs b/src/physics.rs
index 52d36f7..2274a7d 100644
--- a/src/physics.rs
+++ b/src/physics.rs
@@ -172,7 +172,16 @@ mod systems {
         >,
         config: Res<SuspensionConfig>,
         time: Res<Time>,
+        input: Res<InputState>,
     ) {
+        let max_thrust = 30.0;
+        let max_yaw = 10.0;
+        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_wheel_xform = None;
         let mut rear_wheel_xform = None;
@@ -193,12 +202,17 @@ mod systems {
             for hit in hits.iter() {
                 if let Some(ref mut xform) = front_wheel_xform {
                     let force =
-                        suspension_force(caster, hit, &config, &mut prev.0, dt, xform, true);
+                        suspension_force(caster, hit, &config, prev.as_mut(), dt, xform, true);
                     bike_forces.apply_force_at_point(
                         force,
                         caster.global_origin(),
                         bike_xform.translation,
                     );
+                    let normal = hit.normal1;
+                    let steering = normal.cross(*bike_xform.back()) * yaw;
+                    let thrust = normal.cross(*bike_xform.right()) * thrust;
+                    let total = thrust + steering;
+                    bike_forces.apply_force_at_point(total, hit.point1, bike_xform.translation);
                 }
             }
         }
@@ -207,12 +221,15 @@ mod systems {
             for hit in hits.iter() {
                 if let Some(ref mut xform) = rear_wheel_xform {
                     let force =
-                        suspension_force(caster, hit, &config, &mut prev.0, dt, xform, false);
+                        suspension_force(caster, hit, &config, prev.as_mut(), dt, xform, false);
                     bike_forces.apply_force_at_point(
                         force,
                         caster.global_origin(),
                         bike_xform.translation,
                     );
+                    let normal = hit.normal1;
+                    let thrust = normal.cross(*bike_xform.right()) * thrust;
+                    bike_forces.apply_force_at_point(thrust, hit.point1, bike_xform.translation);
                 }
             }
         }
@@ -222,7 +239,7 @@ mod systems {
         caster: &ShapeCaster,
         hit: &ShapeHitData,
         config: &SuspensionConfig,
-        previous_dispacement: &mut f32,
+        previous_dispacement: &mut PreviousDisplacement,
         dt: f32,
         wheel_xform: &mut Transform,
         is_front: bool,
@@ -238,9 +255,9 @@ mod systems {
         let dir = caster.global_direction().as_vec3();
         let loc = if dist < config.rest_dist {
             let displacement = config.rest_dist - dist;
-            let damper_vel = (displacement - *previous_dispacement) / dt;
+            let damper_vel = (displacement - previous_dispacement.0) / dt;
             dbg!(damper_vel);
-            *previous_dispacement = displacement;
+            *previous_dispacement = PreviousDisplacement(displacement);
             let mag = config.konstant * displacement - config.damping * damper_vel;
             up_force = -dir * mag;
             attach + (cdir * dist)