nebkor/avian3d-sandbox
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This commit is contained in:
Joe Ardent 2025-03-30 13:31:54 -07:00
parent 3498fcc5aa
commit cfe8a0acbd
2 changed files with 16 additions and 23 deletions

10
src/bike.rs
View file

@ -74,7 +74,7 @@ fn spawn_bike(
let body_collider = let body_collider =
Collider::capsule_endpoints(0.5, Vec3::new(0.0, 0.0, -0.65), Vec3::new(0.0, 0.0, 0.8)); Collider::capsule_endpoints(0.5, Vec3::new(0.0, 0.0, -0.65), Vec3::new(0.0, 0.0, 0.8));
let _bike = commands commands
.spawn((xform, Visibility::default())) .spawn((xform, Visibility::default()))
.insert(( .insert((
Name::new("body"), Name::new("body"),
@ -86,9 +86,7 @@ fn spawn_bike(
CatControllerState::default(), CatControllerState::default(),
ColliderDensity(0.6), ColliderDensity(0.6),
AngularDamping(0.2), AngularDamping(0.2),
//LinearDamping(0.2), LinearDamping(0.1),
// LinearVelocity::ZERO,
// AngularVelocity::ZERO,
ExternalForce::ZERO.with_persistence(false), ExternalForce::ZERO.with_persistence(false),
ExternalTorque::ZERO.with_persistence(false), ExternalTorque::ZERO.with_persistence(false),
)) ))
@ -122,7 +120,7 @@ fn spawn_wheels(
FRONT_ATTACH, FRONT_ATTACH,
Dir3::new_unchecked(front_rake), Dir3::new_unchecked(front_rake),
body, body,
REST_DISTANCE + WHEEL_RADIUS, REST_DISTANCE,
CyberWheel::Front, CyberWheel::Front,
); );
wheel_mesh( wheel_mesh(
@ -150,7 +148,7 @@ fn spawn_wheels(
REAR_ATTACH, REAR_ATTACH,
Dir3::new_unchecked(rear_rake), Dir3::new_unchecked(rear_rake),
body, body,
REST_DISTANCE + WHEEL_RADIUS, REST_DISTANCE,
CyberWheel::Rear, CyberWheel::Rear,
); );
wheel_mesh( wheel_mesh(

29
src/physics.rs
View file

@ -164,22 +164,11 @@ mod systems {
pub(super) fn suspension( pub(super) fn suspension(
mut bike_body_query: Query< mut bike_body_query: Query<
( (&Transform, &mut ExternalForce, RigidBodyQuery),
&Transform,
&LinearVelocity,
&AngularVelocity,
&mut ExternalForce,
),
With<CyberBikeBody>, With<CyberBikeBody>,
>, >,
mut wheel_mesh_query: Query< mut wheel_mesh_query: Query<
( (&mut Transform, &mut WheelState, &WheelConfig, &CyberWheel),
&mut Transform,
&mut WheelState,
&GlobalTransform,
&WheelConfig,
&CyberWheel,
),
Without<CyberBikeBody>, Without<CyberBikeBody>,
>, >,
caster_query: Query<(&RayCaster, &RayHits, &CyberWheel)>, caster_query: Query<(&RayCaster, &RayHits, &CyberWheel)>,
@ -214,8 +203,13 @@ mod systems {
} }
} }
} }
let (bike_xform, lin_vel, ang_vel, mut bike_forces) = bike_body_query.single_mut();
for (mut xform, mut state, global_xform, config, wheel) in wheel_mesh_query.iter_mut() { let Ok((bike_xform, mut bike_forces, rbq)) = bike_body_query.get_single_mut() else {
bevy::log::warn!("Couldn't get body query");
return;
};
for (mut xform, mut state, config, wheel) in wheel_mesh_query.iter_mut() {
let (caster, hits) = match wheel { let (caster, hits) = match wheel {
CyberWheel::Front => (front_caster, front_hits), CyberWheel::Front => (front_caster, front_hits),
CyberWheel::Rear => (rear_caster, rear_hits), CyberWheel::Rear => (rear_caster, rear_hits),
@ -244,14 +238,15 @@ mod systems {
Color::linear_rgb(1., 0.5, 0.2), Color::linear_rgb(1., 0.5, 0.2),
); );
let _vel = rbq.velocity_at_point(hit_point);
//bevy::log::info!("{_vel:?}");
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 vel = (global_xform.translation() - state.ppos) / dt;
state.ppos = global_xform.translation();
let normal = hit.normal; let normal = hit.normal;
let steering = match wheel { let steering = match wheel {
CyberWheel::Front => normal.cross(*bike_xform.back()) * yaw, CyberWheel::Front => normal.cross(*bike_xform.back()) * yaw,