torii don't do the thing

src/bike.rs

@@ -13,7 +13,7 @@ fn spawn_bike(
     mut meshes: ResMut<Assets<Mesh>>,
     mut materials: ResMut<Assets<StandardMaterial>>,
 ) {
-    let xform = Transform::from_xyz(4.0, 4.0, 0.0);
+    let xform = Transform::from_xyz(3.0, 4.0, 0.0);
     let body_collider =
         Collider::capsule_endpoints(0.5, Vec3::new(0.0, 0.0, -0.65), Vec3::new(0.0, 0.0, 0.8));
 
@@ -37,7 +37,7 @@ fn spawn_bike(
         .with_children(|builder| {
             let color = Color::srgb(0.7, 0.05, 0.7);
             let mut rotation = Transform::default(); // Transform::from_rotation(Quat::from_rotation_y(FRAC_PI_2));
-            rotation.rotate_x(FRAC_PI_2);
+            rotation.rotate_y(FRAC_PI_2);
             let pbr_bundle = PbrBundle {
                 mesh: meshes.add(Capsule3d::new(0.5, 1.45)),
                 transform: rotation,
@@ -66,16 +66,13 @@ pub struct Rearing;
 #[derive(Component)]
 pub struct RearHub;
 
-fn spawn_wheels(
+fn helper(
-    mut commands: Commands,
+    commands: &mut Commands,
-    mut meshes: ResMut<Assets<Mesh>>,
+    trans: Vec3,
-    mut materials: ResMut<Assets<StandardMaterial>>,
+    rot: Quat,
-    xform: Transform,
+    meshes: &mut ResMut<Assets<Mesh>>,
-    body: Entity,
+    materials: &mut ResMut<Assets<StandardMaterial>>,
 ) {
-    let rake_vec = Vec3::new(0.0, -1.0, 0.57).normalize(); // about 30 degrees
-    let front_pos = xform.translation + *xform.forward() + rake_vec;
-
     let wheel_mesh: Mesh = Torus::new(0.30, 0.40).into();
     let wheel_material = StandardMaterial {
         base_color: Color::srgb(0.01, 0.01, 0.01),
@@ -85,21 +82,27 @@ fn spawn_wheels(
     };
     let collider = Collider::convex_decomposition_from_mesh(&wheel_mesh).unwrap();
 
-    let front_hub = commands
+    let hub = commands
         .spawn((
             FrontHub,
-            SpatialBundle::from_transform(Transform::from_translation(front_pos)),
+            SpatialBundle::from_transform(Transform::from_translation(trans)),
-            RigidBody::Dynamic,
+            RigidBody::Static,
-            MassPropertiesBundle::new_computed(&Collider::sphere(0.01), 1.0),
+            Mesh::from(Sphere::new(0.1)),
         ))
+        .with_children(|parent| {
+            let mesh: Mesh = Sphere::new(0.1).into();
+            parent.spawn(PbrBundle {
+                mesh: meshes.add(mesh),
+                material: materials.add(wheel_material.clone()),
+                transform: Transform::from_rotation(rot),
+                ..Default::default()
+            });
+        })
         .id();
 
-    let mut tire_rot = Transform::default();
+    let tire = commands
-    tire_rot.rotate_z(FRAC_PI_2);
-
-    let front_tire = commands
         .spawn((
-            SpatialBundle::from_transform(tire_rot),
+            SpatialBundle::default(),
             CyberWheel,
             RigidBody::Dynamic,
             collider.clone(),
@@ -109,7 +112,7 @@ fn spawn_wheels(
         ))
         .with_children(|b| {
             b.spawn(PbrBundle {
-                mesh: meshes.add(wheel_mesh.clone()),
+                mesh: meshes.add(wheel_mesh),
                 material: materials.add(wheel_material.clone()),
                 // transform: Transform::from_translation(front_pos)
                 //     .with_rotation(Quat::from_rotation_z(FRAC_PI_2)),
@@ -119,7 +122,35 @@ fn spawn_wheels(
         .id();
 
     // connect hubs and tires to make wheels
-    commands.spawn(RevoluteJoint::new(front_hub, front_tire).with_aligned_axis(Vec3::X));
+    commands.spawn(RevoluteJoint::new(hub, tire).with_aligned_axis(Vec3::X));
+}
+
+fn spawn_wheels(
+    mut commands: Commands,
+    mut meshes: ResMut<Assets<Mesh>>,
+    mut materials: ResMut<Assets<StandardMaterial>>,
+    xform: Transform,
+    body: Entity,
+) {
+    let rot_x = Quat::from_rotation_x(FRAC_PI_2);
+    let rot_y = Quat::from_rotation_y(FRAC_PI_2);
+    let rot_z = Quat::from_rotation_z(FRAC_PI_2);
+
+    let trans0 = Vec3::new(0.0, 0.5, 0.0);
+    let trans1 = Vec3::new(1.0, 0.5, 0.0);
+    let trans2 = Vec3::new(2.0, 0.5, 0.0);
+
+    helper(&mut commands, trans0, rot_x, &mut meshes, &mut materials);
+    helper(&mut commands, trans1, rot_y, &mut meshes, &mut materials);
+    helper(&mut commands, trans2, rot_z, &mut meshes, &mut materials);
+    helper(
+        &mut commands,
+        Vec3::new(-1.0, 0.5, 0.0),
+        Quat::default(),
+        &mut meshes,
+        &mut materials,
+    );
+    /*
 
     // suspension joints connect the hubs and the body
     commands.spawn((
@@ -127,7 +158,7 @@ fn spawn_wheels(
         FixedJoint::new(front_hub, body).with_local_anchor_2(*xform.forward() + rake_vec),
     ));
 
-    /*
+
     let rear_pos = *xform.back() + xform.translation + rake_vec.y;
     let rear_hub = commands
         .spawn((