fix PID params for lean; fix camera wobble; add torque arrow gizmo

This commit is contained in:
Joe Ardent 2024-07-22 15:33:14 -07:00
parent 040bf10f41
commit d66a26d63c
6 changed files with 863 additions and 166 deletions

530
Cargo.lock generated
View file

@ -180,6 +180,24 @@ dependencies = [
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name = "url"
version = "2.5.2"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "22784dbdf76fdde8af1aeda5622b546b422b6fc585325248a2bf9f5e41e94d6c"
dependencies = [
"form_urlencoded",
"idna",
"percent-encoding",
]
[[package]] [[package]]
name = "uuid" name = "uuid"
version = "1.10.0" version = "1.10.0"
@ -3973,6 +4345,115 @@ version = "0.2.92"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "af190c94f2773fdb3729c55b007a722abb5384da03bc0986df4c289bf5567e96" checksum = "af190c94f2773fdb3729c55b007a722abb5384da03bc0986df4c289bf5567e96"
[[package]]
name = "wayland-backend"
version = "0.3.6"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "f90e11ce2ca99c97b940ee83edbae9da2d56a08f9ea8158550fd77fa31722993"
dependencies = [
"cc",
"downcast-rs",
"rustix",
"scoped-tls",
"smallvec",
"wayland-sys",
]
[[package]]
name = "wayland-client"
version = "0.31.5"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "7e321577a0a165911bdcfb39cf029302479d7527b517ee58ab0f6ad09edf0943"
dependencies = [
"bitflags 2.6.0",
"rustix",
"wayland-backend",
"wayland-scanner",
]
[[package]]
name = "wayland-csd-frame"
version = "0.3.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "625c5029dbd43d25e6aa9615e88b829a5cad13b2819c4ae129fdbb7c31ab4c7e"
dependencies = [
"bitflags 2.6.0",
"cursor-icon",
"wayland-backend",
]
[[package]]
name = "wayland-cursor"
version = "0.31.5"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "6ef9489a8df197ebf3a8ce8a7a7f0a2320035c3743f3c1bd0bdbccf07ce64f95"
dependencies = [
"rustix",
"wayland-client",
"xcursor",
]
[[package]]
name = "wayland-protocols"
version = "0.32.3"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "62989625a776e827cc0f15d41444a3cea5205b963c3a25be48ae1b52d6b4daaa"
dependencies = [
"bitflags 2.6.0",
"wayland-backend",
"wayland-client",
"wayland-scanner",
]
[[package]]
name = "wayland-protocols-plasma"
version = "0.3.3"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "f79f2d57c7fcc6ab4d602adba364bf59a5c24de57bd194486bf9b8360e06bfc4"
dependencies = [
"bitflags 2.6.0",
"wayland-backend",
"wayland-client",
"wayland-protocols",
"wayland-scanner",
]
[[package]]
name = "wayland-protocols-wlr"
version = "0.3.3"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "fd993de54a40a40fbe5601d9f1fbcaef0aebcc5fda447d7dc8f6dcbaae4f8953"
dependencies = [
"bitflags 2.6.0",
"wayland-backend",
"wayland-client",
"wayland-protocols",
"wayland-scanner",
]
[[package]]
name = "wayland-scanner"
version = "0.31.4"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "d7b56f89937f1cf2ee1f1259cf2936a17a1f45d8f0aa1019fae6d470d304cfa6"
dependencies = [
"proc-macro2",
"quick-xml",
"quote",
]
[[package]]
name = "wayland-sys"
version = "0.31.4"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "43676fe2daf68754ecf1d72026e4e6c15483198b5d24e888b74d3f22f887a148"
dependencies = [
"dlib",
"log",
"once_cell",
"pkg-config",
]
[[package]] [[package]]
name = "web-sys" name = "web-sys"
version = "0.3.69" version = "0.3.69"
@ -3993,6 +4474,30 @@ dependencies = [
"wasm-bindgen", "wasm-bindgen",
] ]
[[package]]
name = "webbrowser"
version = "1.0.1"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "425ba64c1e13b1c6e8c5d2541c8fac10022ca584f33da781db01b5756aef1f4e"
dependencies = [
"block2",
"core-foundation",
"home",
"jni",
"log",
"ndk-context",
"objc2",
"objc2-foundation",
"url",
"web-sys",
]
[[package]]
name = "weezl"
version = "0.1.8"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "53a85b86a771b1c87058196170769dd264f66c0782acf1ae6cc51bfd64b39082"
[[package]] [[package]]
name = "wgpu" name = "wgpu"
version = "0.20.1" version = "0.20.1"
@ -4294,6 +4799,15 @@ dependencies = [
"windows-targets 0.42.2", "windows-targets 0.42.2",
] ]
[[package]]
name = "windows-sys"
version = "0.48.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "677d2418bec65e3338edb076e806bc1ec15693c5d0104683f2efe857f61056a9"
dependencies = [
"windows-targets 0.48.5",
]
[[package]] [[package]]
name = "windows-sys" name = "windows-sys"
version = "0.52.0" version = "0.52.0"
@ -4487,6 +5001,7 @@ version = "0.30.4"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "4225ddd8ab67b8b59a2fee4b34889ebf13c0460c1c3fa297c58e21eb87801b33" checksum = "4225ddd8ab67b8b59a2fee4b34889ebf13c0460c1c3fa297c58e21eb87801b33"
dependencies = [ dependencies = [
"ahash",
"android-activity", "android-activity",
"atomic-waker", "atomic-waker",
"bitflags 2.6.0", "bitflags 2.6.0",
@ -4501,6 +5016,7 @@ dependencies = [
"dpi", "dpi",
"js-sys", "js-sys",
"libc", "libc",
"memmap2",
"ndk 0.9.0", "ndk 0.9.0",
"objc2", "objc2",
"objc2-app-kit", "objc2-app-kit",
@ -4512,11 +5028,17 @@ dependencies = [
"raw-window-handle", "raw-window-handle",
"redox_syscall 0.4.1", "redox_syscall 0.4.1",
"rustix", "rustix",
"sctk-adwaita",
"smithay-client-toolkit",
"smol_str", "smol_str",
"tracing", "tracing",
"unicode-segmentation", "unicode-segmentation",
"wasm-bindgen", "wasm-bindgen",
"wasm-bindgen-futures", "wasm-bindgen-futures",
"wayland-backend",
"wayland-client",
"wayland-protocols",
"wayland-protocols-plasma",
"web-sys", "web-sys",
"web-time", "web-time",
"windows-sys 0.52.0", "windows-sys 0.52.0",
@ -4575,6 +5097,12 @@ version = "0.13.1"
source = "registry+https://github.com/rust-lang/crates.io-index" source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "ec107c4503ea0b4a98ef47356329af139c0a4f7750e621cf2973cd3385ebcb3d" checksum = "ec107c4503ea0b4a98ef47356329af139c0a4f7750e621cf2973cd3385ebcb3d"
[[package]]
name = "xcursor"
version = "0.3.6"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "d491ee231a51ae64a5b762114c3ac2104b967aadba1de45c86ca42cf051513b7"
[[package]] [[package]]
name = "xi-unicode" name = "xi-unicode"
version = "0.3.0" version = "0.3.0"

View file

@ -6,6 +6,7 @@ edition = "2021"
[dependencies] [dependencies]
avian3d = "0.1.1" avian3d = "0.1.1"
bevy = { version = "0.14.0", features = ["bevy_dev_tools"] } bevy = { version = "0.14.0", features = ["bevy_dev_tools"] }
bevy-inspector-egui = "0.25.1"
[features] [features]
no-mesh = [] no-mesh = []

58
src/bike.rs Normal file
View file

@ -0,0 +1,58 @@
use std::f32::consts::FRAC_PI_2;
use avian3d::prelude::*;
use bevy::prelude::*;
use crate::physics::CatControllerState;
#[derive(Component)]
pub struct CyberBikeBody;
fn spawn_bike(
mut commands: Commands,
mut meshes: ResMut<Assets<Mesh>>,
mut materials: ResMut<Assets<StandardMaterial>>,
) {
let xform = Transform::from_xyz(0.0, 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
.spawn(SpatialBundle::from_transform(xform))
.insert((
RigidBody::Dynamic,
body_collider,
CollisionLayers::from_bits(1, 1),
SleepingDisabled,
CyberBikeBody,
CatControllerState::default(),
ColliderDensity(0.12),
LinearDamping(0.1),
AngularDamping(2.0),
LinearVelocity::ZERO,
AngularVelocity::ZERO,
ExternalForce::ZERO.with_persistence(false),
ExternalTorque::ZERO.with_persistence(false),
))
.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);
let pbr_bundle = PbrBundle {
mesh: meshes.add(Capsule3d::new(0.5, 1.45)),
transform: rotation,
material: materials.add(color),
..Default::default()
};
builder.spawn(pbr_bundle);
})
.id();
}
pub struct CyberBikePlugin;
impl Plugin for CyberBikePlugin {
fn build(&self, app: &mut App) {
app.add_systems(Startup, spawn_bike);
}
}

98
src/camera.rs Normal file
View file

@ -0,0 +1,98 @@
use bevy::{prelude::*, utils::HashSet};
use crate::bike::CyberBikeBody;
#[derive(Component)]
pub struct CyberCameras;
#[derive(Debug, Resource)]
pub struct DebugCamOffset {
pub rot: f32,
pub dist: f32,
pub alt: f32,
}
impl Default for DebugCamOffset {
fn default() -> Self {
DebugCamOffset {
rot: 60.0,
dist: 10.0,
alt: 4.0,
}
}
}
fn spawn_camera(mut commands: Commands) {
commands
.spawn(Camera3dBundle::default())
.insert(CyberCameras);
}
fn update_camera_pos(mut offset: ResMut<DebugCamOffset>, mut keys: ResMut<ButtonInput<KeyCode>>) {
let keyset: HashSet<_> = keys.get_pressed().collect();
let shifted = keyset.contains(&KeyCode::ShiftLeft) || keyset.contains(&KeyCode::ShiftRight);
for key in keyset {
match key {
KeyCode::ArrowLeft => offset.rot -= 5.0,
KeyCode::ArrowRight => offset.rot += 5.0,
KeyCode::ArrowUp => {
if shifted {
bevy::log::info!("up, shifted");
offset.alt += 0.5;
} else {
bevy::log::info!("up");
offset.dist -= 0.5;
}
}
KeyCode::ArrowDown => {
if shifted {
bevy::log::info!("down, shifted");
offset.alt -= 0.5;
} else {
bevy::log::info!("down");
offset.dist += 0.5;
}
}
_ => continue,
}
}
let just_released: HashSet<_> = keys.get_just_released().cloned().collect();
if !just_released.is_empty() {
let released_shift = just_released.contains(&KeyCode::ShiftLeft)
|| just_released.contains(&KeyCode::ShiftRight);
keys.reset_all();
if !released_shift && shifted {
keys.press(KeyCode::ShiftLeft);
}
}
}
fn follow_bike(
mut camera: Query<&mut Transform, (With<CyberCameras>, Without<CyberBikeBody>)>,
bike: Query<&Transform, (With<CyberBikeBody>, Without<CyberCameras>)>,
offset: Res<DebugCamOffset>,
) {
let bike_xform = *bike.single();
let up = Vec3::Y;
let mut ncx = Transform::from_translation(bike_xform.translation);
ncx.rotate(Quat::from_axis_angle(up, offset.rot.to_radians()));
ncx.translation += ncx.forward() * offset.dist;
ncx.translation += ncx.up() * offset.alt;
ncx.look_at(bike_xform.translation, up);
let mut cam_xform = camera.single_mut();
*cam_xform = ncx;
}
pub struct CamPlug;
impl Plugin for CamPlug {
fn build(&self, app: &mut App) {
app.insert_resource(DebugCamOffset::default())
.add_systems(Startup, spawn_camera)
.add_systems(Update, (follow_bike, update_camera_pos));
}
}

View file

@ -1,16 +1,23 @@
use avian3d::prelude::*; use avian3d::prelude::*;
use bevy::{self, color::palettes::css::SILVER, prelude::*}; use bevy::{self, color::palettes::css::SILVER, prelude::*};
use bevy_inspector_egui::quick::WorldInspectorPlugin;
mod bike;
mod camera;
mod physics;
use bike::CyberBikePlugin; use bike::CyberBikePlugin;
use camera::CamPlug; use camera::CamPlug;
use physics::CyberPhysicsPlugin;
fn main() { fn main() {
let mut app = App::new(); let mut app = App::new();
app.add_plugins(( app.add_plugins((
DefaultPlugins, DefaultPlugins,
PhysicsPlugins::default(),
PhysicsDebugPlugin::default(),
CamPlug, CamPlug,
CyberBikePlugin, CyberBikePlugin,
CyberPhysicsPlugin,
WorldInspectorPlugin::new(),
)) ))
.insert_gizmo_config( .insert_gizmo_config(
PhysicsGizmos { PhysicsGizmos {
@ -19,7 +26,7 @@ fn main() {
joint_separation_color: Some(Srgba::RED.into()), joint_separation_color: Some(Srgba::RED.into()),
#[cfg(feature = "no-mesh")] #[cfg(feature = "no-mesh")]
hide_meshes: true, hide_meshes: true,
//axis_lengths: Some(Vec3::ZERO), axis_lengths: Some(Vec3::new(2.0, 2.0, 4.0)),
..Default::default() ..Default::default()
}, },
GizmoConfig::default(), GizmoConfig::default(),
@ -40,7 +47,7 @@ fn ground_and_light(
PbrBundle { PbrBundle {
mesh: meshes.add(Plane3d::default().mesh().size(50.0, 50.0)), mesh: meshes.add(Plane3d::default().mesh().size(50.0, 50.0)),
material: materials.add(Color::from(SILVER)), material: materials.add(Color::from(SILVER)),
transform: Transform::from_xyz(0.0, 0.5, 0.0), transform: Transform::from_xyz(0.0, -3., 0.0),
..default() ..default()
}, },
)); ));
@ -72,164 +79,3 @@ fn close_on_esc(
} }
} }
} }
mod bike {
use std::f32::consts::FRAC_PI_2;
use avian3d::prelude::*;
use bevy::prelude::*;
#[derive(Component)]
pub struct CyberBikeBody;
fn spawn_bike(
mut commands: Commands,
mut meshes: ResMut<Assets<Mesh>>,
mut materials: ResMut<Assets<StandardMaterial>>,
) {
let xform = Transform::from_xyz(0.0, 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
.spawn(SpatialBundle::from_transform(xform))
.insert((
RigidBody::Dynamic,
body_collider,
SleepingDisabled,
CyberBikeBody,
//CatControllerState::default(),
ColliderDensity(0.06),
LinearDamping(0.1),
AngularDamping(2.0),
LinearVelocity::ZERO,
AngularVelocity::ZERO,
ExternalForce::ZERO.with_persistence(false),
ExternalTorque::ZERO.with_persistence(false),
))
.with_children(|builder| {
let color = Color::srgb(0.7, 0.05, 0.7);
let mut rotation = Transform::from_rotation(Quat::from_rotation_y(FRAC_PI_2));
rotation.rotate_x(FRAC_PI_2);
let pbr_bundle = PbrBundle {
mesh: meshes.add(Capsule3d::new(0.5, 1.45)),
transform: rotation,
material: materials.add(color),
..Default::default()
};
builder.spawn(pbr_bundle);
});
}
pub struct CyberBikePlugin;
impl Plugin for CyberBikePlugin {
fn build(&self, app: &mut App) {
app.add_systems(Startup, spawn_bike);
}
}
}
mod camera {
use bevy::{prelude::*, utils::HashSet};
use crate::bike::CyberBikeBody;
#[derive(Component)]
pub struct CyberCameras;
#[derive(Debug, Resource)]
pub struct DebugCamOffset {
pub rot: f32,
pub dist: f32,
pub alt: f32,
}
impl Default for DebugCamOffset {
fn default() -> Self {
DebugCamOffset {
rot: 60.0,
dist: 10.0,
alt: 4.0,
}
}
}
fn spawn_camera(mut commands: Commands) {
commands
.spawn(Camera3dBundle::default())
.insert(CyberCameras);
}
fn update_camera_pos(
mut offset: ResMut<DebugCamOffset>,
mut keys: ResMut<ButtonInput<KeyCode>>,
) {
let keyset: HashSet<_> = keys.get_pressed().collect();
let shifted = keyset.contains(&KeyCode::ShiftLeft) || keyset.contains(&KeyCode::ShiftRight);
for key in keyset {
match key {
KeyCode::ArrowLeft => offset.rot -= 5.0,
KeyCode::ArrowRight => offset.rot += 5.0,
KeyCode::ArrowUp => {
if shifted {
bevy::log::info!("up, shifted");
offset.alt += 0.5;
} else {
bevy::log::info!("up");
offset.dist -= 0.5;
}
}
KeyCode::ArrowDown => {
if shifted {
bevy::log::info!("down, shifted");
offset.alt -= 0.5;
} else {
bevy::log::info!("down");
offset.dist += 0.5;
}
}
_ => continue,
}
}
let just_released: HashSet<_> = keys.get_just_released().cloned().collect();
if !just_released.is_empty() {
let released_shift = just_released.contains(&KeyCode::ShiftLeft)
|| just_released.contains(&KeyCode::ShiftRight);
keys.reset_all();
if !released_shift && shifted {
keys.press(KeyCode::ShiftLeft);
}
}
}
fn follow_bike(
mut camera: Query<&mut Transform, (With<CyberCameras>, Without<CyberBikeBody>)>,
bike: Query<&Transform, (With<CyberBikeBody>, Without<CyberCameras>)>,
offset: Res<DebugCamOffset>,
) {
let bike_xform = *bike.single();
let up = Vec3::Y;
let mut ncx = bike_xform;
ncx.rotate(Quat::from_axis_angle(up, offset.rot.to_radians()));
ncx.translation += ncx.forward() * offset.dist;
ncx.translation += ncx.up() * offset.alt;
ncx.look_at(bike_xform.translation, up);
let mut cam_xform = camera.single_mut();
*cam_xform = ncx;
}
pub struct CamPlug;
impl Plugin for CamPlug {
fn build(&self, app: &mut App) {
app.insert_resource(DebugCamOffset::default())
.add_systems(Startup, spawn_camera)
.add_systems(Update, (follow_bike, update_camera_pos));
}
}
}

166
src/physics.rs Normal file
View file

@ -0,0 +1,166 @@
use avian3d::prelude::*;
use bevy::prelude::*;
use crate::CyberBikePlugin;
#[derive(Resource, Default, Debug, Reflect)]
#[reflect(Resource)]
struct CyberLean {
pub lean: f32,
}
#[derive(Debug, Resource, Reflect)]
#[reflect(Resource)]
pub struct CatControllerSettings {
pub kp: f32,
pub kd: f32,
pub ki: f32,
}
impl Default for CatControllerSettings {
fn default() -> Self {
Self {
kp: 10.0,
kd: 1.0,
ki: 0.1,
}
}
}
#[derive(Component, Debug, Clone, Copy)]
pub struct CatControllerState {
pub roll_integral: f32,
pub roll_prev: f32,
decay_factor: f32,
roll_limit: f32,
}
impl Default for CatControllerState {
fn default() -> Self {
Self {
roll_integral: Default::default(),
roll_prev: Default::default(),
decay_factor: 0.99,
roll_limit: 1.5,
}
}
}
impl CatControllerState {
pub fn decay(&mut self) {
if self.roll_integral.abs() > 0.001 {
self.roll_integral *= self.decay_factor;
}
}
pub fn update_roll(&mut self, error: f32, dt: f32) -> (f32, f32) {
let lim = self.roll_limit;
self.roll_integral = (self.roll_integral + (error * dt)).min(lim).max(-lim);
let derivative = (error - self.roll_prev) / dt;
self.roll_prev = error;
(derivative, self.roll_integral)
}
pub fn set_integral_limits(&mut self, roll: f32) {
self.roll_limit = roll;
}
}
mod systems {
use std::f32::consts::{FRAC_PI_3, FRAC_PI_4};
use avian3d::prelude::*;
use bevy::prelude::*;
use super::{CatControllerSettings, CatControllerState, CyberLean};
use crate::bike::CyberBikeBody;
fn _yaw_to_angle(yaw: f32) -> f32 {
let v = yaw.powi(5) * FRAC_PI_4;
if v.is_normal() {
v
} else {
0.0
}
}
fn rotate_point(pt: &Vec3, rot: &Quat) -> Vec3 {
// thanks to https://danceswithcode.net/engineeringnotes/quaternions/quaternions.html
let [x, y, z] = pt.normalize().to_array();
let qpt = Quat::from_xyzw(x, y, z, 0.0);
// p' = rot^-1 * qpt * rot
let rot_qpt = rot.inverse() * qpt * *rot;
// why does this need to be inverted???
-Vec3::from_array([rot_qpt.x, rot_qpt.y, rot_qpt.z])
}
pub(super) fn calculate_lean(
bike_state: Query<(&LinearVelocity, &Transform), With<CyberBikeBody>>,
mut lean: ResMut<CyberLean>,
) {
let (velocity, xform) = bike_state.single();
let vel = velocity.dot(*xform.forward());
let v_squared = vel.powi(2);
let wheel_base = 1.145f32;
let radius = wheel_base;
let gravity = -9.8f32;
let v2_r = v_squared / radius;
let tan_theta = (v2_r / gravity).clamp(-FRAC_PI_3, FRAC_PI_3);
if tan_theta.is_finite() && !tan_theta.is_subnormal() {
lean.lean = tan_theta.atan().clamp(-FRAC_PI_3, FRAC_PI_3);
} else {
lean.lean = 0.0;
}
}
pub(super) fn apply_lean(
mut bike_query: Query<(&Transform, &mut ExternalTorque, &mut CatControllerState)>,
time: Res<Time>,
settings: Res<CatControllerSettings>,
lean: Res<CyberLean>,
mut gizmos: Gizmos,
) {
let (xform, mut torque, mut control_vars) = bike_query.single_mut();
let world_up = xform.translation.normalize();
let rot = Quat::from_axis_angle(*xform.back(), lean.lean);
let target_up = rotate_point(&world_up, &rot).normalize();
let bike_right = xform.right();
let roll_error = bike_right.dot(target_up);
let pitch_error = world_up.dot(*xform.back());
// only try to correct roll if we're not totally vertical
if pitch_error.abs() < 0.95 {
let (derivative, integral) = control_vars.update_roll(roll_error, time.delta_seconds());
let mag =
(settings.kp * roll_error) + (settings.ki * integral) + (settings.kd * derivative);
if mag.is_finite() {
let tork = mag * *xform.back();
torque.apply_torque(tork);
gizmos.arrow(
xform.translation + Vec3::Y,
xform.translation + tork + Vec3::Y,
Color::WHITE,
);
}
}
}
}
use systems::{apply_lean, calculate_lean};
pub struct CyberPhysicsPlugin;
impl Plugin for CyberPhysicsPlugin {
fn build(&self, app: &mut App) {
app.init_resource::<CatControllerSettings>()
.register_type::<CatControllerSettings>()
.init_resource::<CyberLean>()
.register_type::<CyberLean>()
.add_plugins((PhysicsPlugins::default(), PhysicsDebugPlugin::default()))
.add_systems(Update, (apply_lean, calculate_lean));
}
}