nebkor/avian3d-sandbox
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add drag, bias power to front

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This commit is contained in:
Joe Ardent 2025-04-06 16:52:21 -07:00
parent 0b2086ec5f
commit eaba0edcd2
2 changed files with 52 additions and 27 deletions

16
src/bike.rs
View file

@ -6,13 +6,13 @@ use bevy::prelude::*;
use crate::physics::CatControllerState;
pub const SPRING_CONSTANT: Scalar = 50.0;
pub const SPRING_CONSTANT: Scalar = 60.0;
pub const DAMPING_CONSTANT: Scalar = 10.0;
pub const WHEEL_RADIUS: Scalar = 0.4;
pub const REST_DISTANCE: Scalar = 1.0 + WHEEL_RADIUS;
pub const FRICTION_COEFF: Scalar = 0.8;
pub const FRONT_ATTACH: Vec3 = Vec3::new(0.0, 0.0, -0.7);
pub const REAR_ATTACH: Vec3 = Vec3::new(0.0, 0.0, 0.7);
pub const REST_DISTANCE: Scalar = 1.5 + WHEEL_RADIUS;
pub const FRICTION_COEFF: Scalar = 0.9;
pub const FRONT_ATTACH: Vec3 = Vec3::new(0.0, 0.0, -0.5);
pub const REAR_ATTACH: Vec3 = Vec3::new(0.0, 0.0, 0.5);
#[derive(Component)]
pub struct CyberBikeBody;
@ -92,7 +92,7 @@ fn spawn_bike(
SleepingDisabled,
CyberBikeBody,
CatControllerState::default(),
ColliderDensity(0.6),
ColliderDensity(1.2),
AngularDamping(0.2),
LinearDamping(0.1),
ExternalForce::ZERO.with_persistence(false),
@ -120,7 +120,7 @@ fn spawn_wheels(
) {
let mesh: Mesh = Sphere::new(WHEEL_RADIUS).into();
let front_rake = Vec3::new(0.0, -1.0, -0.57).normalize(); // about 30 degrees
let front_rake = Vec3::new(0.0, -1.0, -0.9).normalize(); // about 30 degrees
let front_wheel_pos = FRONT_ATTACH + (front_rake * REST_DISTANCE);
wheel_caster(
@ -148,7 +148,7 @@ fn spawn_wheels(
CyberWheel::Front,
);
let rear_rake = Vec3::new(0.0, -1.0, 0.57).normalize();
let rear_rake = Vec3::new(0.0, -1.0, 0.9).normalize();
let rear_wheel_pos = REAR_ATTACH + (rear_rake * REST_DISTANCE);
wheel_caster(

63
src/physics.rs
View file

@ -1,6 +1,8 @@
use avian3d::prelude::*;
use avian3d::{math::Scalar, prelude::*};
use bevy::prelude::*;
const DRAG_COEFF: Scalar = 0.1;
#[derive(Resource, Default, Debug, Reflect)]
#[reflect(Resource)]
struct CyberLean {
@ -18,9 +20,9 @@ pub struct CatControllerSettings {
impl Default for CatControllerSettings {
fn default() -> Self {
Self {
kp: 15.0,
kd: 1.5,
ki: 0.5,
kp: 16.0,
kd: 2.0,
ki: 0.9,
}
}
}
@ -29,7 +31,6 @@ impl Default for CatControllerSettings {
pub struct CatControllerState {
pub roll_integral: f32,
pub roll_prev: f32,
decay_factor: f32,
roll_limit: f32,
}
@ -38,7 +39,6 @@ impl Default for CatControllerState {
Self {
roll_integral: Default::default(),
roll_prev: Default::default(),
decay_factor: 0.99,
roll_limit: 1.5,
}
}
@ -60,7 +60,7 @@ mod systems {
use avian3d::prelude::*;
use bevy::prelude::*;
use super::{CatControllerSettings, CatControllerState, CyberLean};
use super::{CatControllerSettings, CatControllerState, CyberLean, DRAG_COEFF};
use crate::{
bike::{CyberBikeBody, CyberWheel, WheelConfig, WheelState, WHEEL_RADIUS},
input::InputState,
@ -272,7 +272,7 @@ mod systems {
let bike_vel = bike_vel.0;
let dt = time.delta().as_secs_f32();
let max_thrust = 1000.0;
let max_thrust = 2000.0;
let yaw_angle = -yaw_to_angle(input.yaw);
for (mut state, config, wheel) in wheels.iter_mut() {
@ -283,9 +283,10 @@ mod systems {
let rot = Quat::from_axis_angle(normal, yaw_angle);
let forward = normal.cross(*bike_xform.right());
let thrust_mag = input.throttle * max_thrust * dt;
let (thrust_dir, thrust_force) = match wheel {
CyberWheel::Rear => (forward, input.throttle * max_thrust * dt),
CyberWheel::Front => (rot * forward, 0.0),
CyberWheel::Rear => (forward, thrust_mag * 0.1),
CyberWheel::Front => (rot * forward, thrust_mag),
};
let thrust = thrust_force * thrust_dir;
@ -295,16 +296,12 @@ mod systems {
CyberWheel::Rear => normal.cross(*bike_xform.forward()),
};
// bevy::log::debug!(
// "{wheel:?}, thrust_dir: {thrust_dir:?}, friction_dir: {friction_dir:?}, dot: {}",
// thrust_dir.dot(friction_dir)
// );
let vel = bike_body.velocity_at_point(contact_point - bike_xform.translation);
let friction_factor = -0.025 * vel.dot(friction_dir);
let friction = (friction_factor / dt) * friction_dir;
bevy::log::debug!("{wheel:?}: vel diff: {:?}", bike_vel - vel);
let diff = bike_vel - vel;
bevy::log::debug!("{wheel:?}: vel diff: {diff:?} ({})", diff.length(),);
let mut force = thrust + friction;
force *= dt * 50.0;
@ -312,7 +309,6 @@ mod systems {
if force_mag > max_force_mag {
state.sliding = true;
force = force.normalize_or_zero() * max_force_mag;
//bevy::log::info!("clamping {wheel:?} to {max_force_mag}: {friction_factor}");
} else {
state.sliding = false;
}
@ -332,6 +328,35 @@ mod systems {
}
}
pub(super) fn drag(
mut bike_query: Query<
(&Transform, &LinearVelocity, &mut ExternalForce),
With<CyberBikeBody>,
>,
mut gizmos: Gizmos,
time: Res<Time>,
) {
let (xform, vel, mut force) = bike_query.single_mut();
let dt = time.delta_secs();
let speed = vel.length();
let dspeed = speed.powf(1.2) * 0.1;
let dir = vel.normalize_or_zero();
let drag = -dspeed * dt * DRAG_COEFF * dir;
if speed > 1.0 {
force.apply_force_at_point(drag, xform.translation, xform.translation);
}
bevy::log::debug!("speed: {}, drag force: {}", speed, drag.length());
gizmos.arrow(
xform.translation,
xform.translation + drag * 10.,
Color::linear_rgb(1.0, 0.0, 0.0),
);
}
pub(super) fn tweak(
mut config: Query<&mut WheelConfig>,
mut keys: ResMut<ButtonInput<KeyCode>>,
@ -370,7 +395,7 @@ mod systems {
}
}
use systems::{apply_lean, calculate_lean, steering, suspension, tweak};
use systems::{apply_lean, calculate_lean, drag, steering, suspension, tweak};
pub struct CyberPhysicsPlugin;
@ -388,7 +413,7 @@ impl Plugin for CyberPhysicsPlugin {
})
.add_systems(
FixedUpdate,
(calculate_lean, apply_lean, suspension, steering).chain(),
(calculate_lean, apply_lean, suspension, steering, drag).chain(),
)
.add_systems(Update, tweak);
}