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crappy thrust and yaw handling

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This commit is contained in:
Joe Ardent 2025-02-19 22:16:19 -08:00
parent 8c16a7f9d2
commit b5ed478dbe
2 changed files with 24 additions and 7 deletions
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4
src/bike.rs
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@ -44,8 +44,8 @@ impl Default for SuspensionConfig {
fn default() -> Self { fn default() -> Self {
Self { Self {
rest_dist: REST_DISTANCE, rest_dist: REST_DISTANCE,
konstant: 800.0, konstant: 1600.0,
damping: -100.0, damping: -160.0,
front_attach: FRONT_ATTACH, front_attach: FRONT_ATTACH,
rear_attach: REAR_ATTACH, rear_attach: REAR_ATTACH,
} }

27
src/physics.rs
View file

@ -172,7 +172,16 @@ mod systems {
>, >,
config: Res<SuspensionConfig>, config: Res<SuspensionConfig>,
time: Res<Time>, 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 dt = time.delta().as_secs_f32();
let mut front_wheel_xform = None; let mut front_wheel_xform = None;
let mut rear_wheel_xform = None; let mut rear_wheel_xform = None;
@ -193,12 +202,17 @@ mod systems {
for hit in hits.iter() { for hit in hits.iter() {
if let Some(ref mut xform) = front_wheel_xform { if let Some(ref mut xform) = front_wheel_xform {
let force = 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( bike_forces.apply_force_at_point(
force, force,
caster.global_origin(), caster.global_origin(),
bike_xform.translation, 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() { for hit in hits.iter() {
if let Some(ref mut xform) = rear_wheel_xform { if let Some(ref mut xform) = rear_wheel_xform {
let force = 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( bike_forces.apply_force_at_point(
force, force,
caster.global_origin(), caster.global_origin(),
bike_xform.translation, 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, caster: &ShapeCaster,
hit: &ShapeHitData, hit: &ShapeHitData,
config: &SuspensionConfig, config: &SuspensionConfig,
previous_dispacement: &mut f32, previous_dispacement: &mut PreviousDisplacement,
dt: f32, dt: f32,
wheel_xform: &mut Transform, wheel_xform: &mut Transform,
is_front: bool, is_front: bool,
@ -238,9 +255,9 @@ mod systems {
let dir = caster.global_direction().as_vec3(); let dir = caster.global_direction().as_vec3();
let loc = if dist < config.rest_dist { let loc = if dist < config.rest_dist {
let displacement = config.rest_dist - 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); dbg!(damper_vel);
*previous_dispacement = displacement; *previous_dispacement = PreviousDisplacement(displacement);
let mag = config.konstant * displacement - config.damping * damper_vel; let mag = config.konstant * displacement - config.damping * damper_vel;
up_force = -dir * mag; up_force = -dir * mag;
attach + (cdir * dist) attach + (cdir * dist)