re-org bike mod, don't spawn rear wheel

src/bike.rs

@@ -13,11 +13,11 @@ fn spawn_bike(
     mut meshes: ResMut<Assets<Mesh>>,
     mut materials: ResMut<Assets<StandardMaterial>>,
 ) {
-    let xform = Transform::from_xyz(0.0, 4.0, 0.0);
+    let xform = Transform::from_xyz(4.0, 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));
 
-    let _bike = commands
+    let bike = commands
         .spawn(SpatialBundle::from_transform(xform))
         .insert((
             RigidBody::Dynamic,
@@ -47,6 +47,123 @@ fn spawn_bike(
             builder.spawn(pbr_bundle);
         })
         .id();
+
+    spawn_wheels(commands, meshes, materials, xform, bike);
+}
+
+#[derive(Component)]
+pub struct CyberWheel;
+
+// marker for front suspension joint
+#[derive(Component)]
+pub struct Steering;
+#[derive(Component)]
+pub struct FrontHub;
+
+// marker for rear suspension joint
+#[derive(Component)]
+pub struct Rearing;
+#[derive(Component)]
+pub struct RearHub;
+
+fn spawn_wheels(
+    mut commands: Commands,
+    mut meshes: ResMut<Assets<Mesh>>,
+    mut materials: ResMut<Assets<StandardMaterial>>,
+    xform: Transform,
+    body: Entity,
+) {
+    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),
+        alpha_mode: AlphaMode::Opaque,
+        perceptual_roughness: 0.5,
+        ..Default::default()
+    };
+    let collider = Collider::convex_decomposition_from_mesh(&wheel_mesh).unwrap();
+
+    let front_hub = commands
+        .spawn((
+            FrontHub,
+            SpatialBundle::from_transform(Transform::from_translation(front_pos)),
+            RigidBody::Dynamic,
+            MassPropertiesBundle::new_computed(&Collider::sphere(0.01), 1.0),
+        ))
+        .id();
+
+    let mut tire_rot = Transform::default();
+    tire_rot.rotate_z(FRAC_PI_2);
+
+    let front_tire = commands
+        .spawn((
+            SpatialBundle::from_transform(tire_rot),
+            CyberWheel,
+            RigidBody::Dynamic,
+            collider.clone(),
+            ColliderDensity(0.05),
+            CollisionLayers::from_bits(2, 2),
+            ExternalTorque::ZERO.with_persistence(false),
+        ))
+        .with_children(|b| {
+            b.spawn(PbrBundle {
+                mesh: meshes.add(wheel_mesh.clone()),
+                material: materials.add(wheel_material.clone()),
+                // transform: Transform::from_translation(front_pos)
+                //     .with_rotation(Quat::from_rotation_z(FRAC_PI_2)),
+                ..Default::default()
+            });
+        })
+        .id();
+
+    // connect hubs and tires to make wheels
+    commands.spawn(RevoluteJoint::new(front_hub, front_tire).with_aligned_axis(Vec3::X));
+
+    // suspension joints connect the hubs and the body
+    commands.spawn((
+        Steering,
+        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((
+            RearHub,
+            SpatialBundle::from_transform(Transform::from_translation(front_pos)),
+            RigidBody::Dynamic,
+            MassPropertiesBundle::new_computed(&Collider::sphere(0.01), 1.0),
+        ))
+        .id();
+
+    let rear_tire = commands
+        .spawn((
+            CyberWheel,
+            RigidBody::Dynamic,
+            collider,
+            ColliderDensity(0.05),
+            CollisionLayers::from_bits(2, 2),
+            PbrBundle {
+                mesh: meshes.add(wheel_mesh),
+                material: materials.add(wheel_material),
+                transform: Transform::from_translation(rear_pos)
+                    .with_rotation(Quat::from_rotation_z(FRAC_PI_2)),
+                ..Default::default()
+            },
+            ExternalTorque::ZERO.with_persistence(false),
+        ))
+        .id();
+
+    commands.spawn(RevoluteJoint::new(rear_hub,
+    rear_tire).with_aligned_axis(Vec3::X));
+
+    commands.spawn((
+        Rearing,
+        FixedJoint::new(rear_hub, body).with_local_anchor_2(*xform.back() + xform.translation),
+    ));
+    */
 }
 
 pub struct CyberBikePlugin;

src/physics.rs

@@ -1,8 +1,6 @@
 use avian3d::prelude::*;
 use bevy::prelude::*;
 
-use crate::CyberBikePlugin;
-
 #[derive(Resource, Default, Debug, Reflect)]
 #[reflect(Resource)]
 struct CyberLean {
@@ -21,13 +19,13 @@ impl Default for CatControllerSettings {
     fn default() -> Self {
         Self {
             kp: 10.0,
-            kd: 1.0,
+            kd: 1.2,
-            ki: 0.1,
+            ki: 0.2,
         }
     }
 }
 
-#[derive(Component, Debug, Clone, Copy)]
+#[derive(Component, Debug, Clone, Copy, Reflect)]
 pub struct CatControllerState {
     pub roll_integral: f32,
     pub roll_prev: f32,
@@ -158,6 +156,7 @@ impl Plugin for CyberPhysicsPlugin {
     fn build(&self, app: &mut App) {
         app.init_resource::<CatControllerSettings>()
             .register_type::<CatControllerSettings>()
+            .register_type::<CatControllerState>()
             .init_resource::<CyberLean>()
             .register_type::<CyberLean>()
             .add_plugins((PhysicsPlugins::default(), PhysicsDebugPlugin::default()))