add drag, bias power to front
This commit is contained in:
parent
0b2086ec5f
commit
eaba0edcd2
2 changed files with 52 additions and 27 deletions
16
src/bike.rs
16
src/bike.rs
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@ -6,13 +6,13 @@ use bevy::prelude::*;
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use crate::physics::CatControllerState;
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use crate::physics::CatControllerState;
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pub const SPRING_CONSTANT: Scalar = 50.0;
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pub const SPRING_CONSTANT: Scalar = 60.0;
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pub const DAMPING_CONSTANT: Scalar = 10.0;
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pub const DAMPING_CONSTANT: Scalar = 10.0;
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pub const WHEEL_RADIUS: Scalar = 0.4;
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pub const WHEEL_RADIUS: Scalar = 0.4;
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pub const REST_DISTANCE: Scalar = 1.0 + WHEEL_RADIUS;
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pub const REST_DISTANCE: Scalar = 1.5 + WHEEL_RADIUS;
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pub const FRICTION_COEFF: Scalar = 0.8;
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pub const FRICTION_COEFF: Scalar = 0.9;
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pub const FRONT_ATTACH: Vec3 = Vec3::new(0.0, 0.0, -0.7);
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pub const FRONT_ATTACH: Vec3 = Vec3::new(0.0, 0.0, -0.5);
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pub const REAR_ATTACH: Vec3 = Vec3::new(0.0, 0.0, 0.7);
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pub const REAR_ATTACH: Vec3 = Vec3::new(0.0, 0.0, 0.5);
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#[derive(Component)]
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#[derive(Component)]
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pub struct CyberBikeBody;
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pub struct CyberBikeBody;
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@ -92,7 +92,7 @@ fn spawn_bike(
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SleepingDisabled,
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SleepingDisabled,
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CyberBikeBody,
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CyberBikeBody,
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CatControllerState::default(),
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CatControllerState::default(),
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ColliderDensity(0.6),
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ColliderDensity(1.2),
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AngularDamping(0.2),
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AngularDamping(0.2),
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LinearDamping(0.1),
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LinearDamping(0.1),
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ExternalForce::ZERO.with_persistence(false),
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ExternalForce::ZERO.with_persistence(false),
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@ -120,7 +120,7 @@ fn spawn_wheels(
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) {
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) {
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let mesh: Mesh = Sphere::new(WHEEL_RADIUS).into();
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let mesh: Mesh = Sphere::new(WHEEL_RADIUS).into();
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let front_rake = Vec3::new(0.0, -1.0, -0.57).normalize(); // about 30 degrees
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let front_rake = Vec3::new(0.0, -1.0, -0.9).normalize(); // about 30 degrees
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let front_wheel_pos = FRONT_ATTACH + (front_rake * REST_DISTANCE);
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let front_wheel_pos = FRONT_ATTACH + (front_rake * REST_DISTANCE);
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wheel_caster(
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wheel_caster(
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@ -148,7 +148,7 @@ fn spawn_wheels(
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CyberWheel::Front,
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CyberWheel::Front,
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);
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);
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let rear_rake = Vec3::new(0.0, -1.0, 0.57).normalize();
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let rear_rake = Vec3::new(0.0, -1.0, 0.9).normalize();
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let rear_wheel_pos = REAR_ATTACH + (rear_rake * REST_DISTANCE);
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let rear_wheel_pos = REAR_ATTACH + (rear_rake * REST_DISTANCE);
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wheel_caster(
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wheel_caster(
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@ -1,6 +1,8 @@
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use avian3d::prelude::*;
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use avian3d::{math::Scalar, prelude::*};
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use bevy::prelude::*;
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use bevy::prelude::*;
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const DRAG_COEFF: Scalar = 0.1;
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#[derive(Resource, Default, Debug, Reflect)]
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#[derive(Resource, Default, Debug, Reflect)]
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#[reflect(Resource)]
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#[reflect(Resource)]
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struct CyberLean {
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struct CyberLean {
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@ -18,9 +20,9 @@ pub struct CatControllerSettings {
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impl Default for CatControllerSettings {
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impl Default for CatControllerSettings {
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fn default() -> Self {
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fn default() -> Self {
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Self {
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Self {
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kp: 15.0,
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kp: 16.0,
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kd: 1.5,
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kd: 2.0,
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ki: 0.5,
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ki: 0.9,
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}
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}
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}
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}
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}
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}
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@ -29,7 +31,6 @@ impl Default for CatControllerSettings {
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pub struct CatControllerState {
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pub struct CatControllerState {
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pub roll_integral: f32,
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pub roll_integral: f32,
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pub roll_prev: f32,
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pub roll_prev: f32,
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decay_factor: f32,
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roll_limit: f32,
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roll_limit: f32,
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}
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}
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@ -38,7 +39,6 @@ impl Default for CatControllerState {
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Self {
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Self {
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roll_integral: Default::default(),
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roll_integral: Default::default(),
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roll_prev: Default::default(),
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roll_prev: Default::default(),
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decay_factor: 0.99,
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roll_limit: 1.5,
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roll_limit: 1.5,
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}
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}
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}
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}
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@ -60,7 +60,7 @@ mod systems {
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use avian3d::prelude::*;
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use avian3d::prelude::*;
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use bevy::prelude::*;
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use bevy::prelude::*;
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use super::{CatControllerSettings, CatControllerState, CyberLean};
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use super::{CatControllerSettings, CatControllerState, CyberLean, DRAG_COEFF};
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use crate::{
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use crate::{
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bike::{CyberBikeBody, CyberWheel, WheelConfig, WheelState, WHEEL_RADIUS},
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bike::{CyberBikeBody, CyberWheel, WheelConfig, WheelState, WHEEL_RADIUS},
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input::InputState,
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input::InputState,
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@ -272,7 +272,7 @@ mod systems {
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let bike_vel = bike_vel.0;
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let bike_vel = bike_vel.0;
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let dt = time.delta().as_secs_f32();
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let dt = time.delta().as_secs_f32();
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let max_thrust = 1000.0;
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let max_thrust = 2000.0;
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let yaw_angle = -yaw_to_angle(input.yaw);
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let yaw_angle = -yaw_to_angle(input.yaw);
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for (mut state, config, wheel) in wheels.iter_mut() {
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for (mut state, config, wheel) in wheels.iter_mut() {
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@ -283,9 +283,10 @@ mod systems {
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let rot = Quat::from_axis_angle(normal, yaw_angle);
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let rot = Quat::from_axis_angle(normal, yaw_angle);
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let forward = normal.cross(*bike_xform.right());
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let forward = normal.cross(*bike_xform.right());
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let thrust_mag = input.throttle * max_thrust * dt;
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let (thrust_dir, thrust_force) = match wheel {
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let (thrust_dir, thrust_force) = match wheel {
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CyberWheel::Rear => (forward, input.throttle * max_thrust * dt),
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CyberWheel::Rear => (forward, thrust_mag * 0.1),
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CyberWheel::Front => (rot * forward, 0.0),
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CyberWheel::Front => (rot * forward, thrust_mag),
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};
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};
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let thrust = thrust_force * thrust_dir;
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let thrust = thrust_force * thrust_dir;
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@ -295,16 +296,12 @@ mod systems {
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CyberWheel::Rear => normal.cross(*bike_xform.forward()),
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CyberWheel::Rear => normal.cross(*bike_xform.forward()),
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};
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};
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// bevy::log::debug!(
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// "{wheel:?}, thrust_dir: {thrust_dir:?}, friction_dir: {friction_dir:?}, dot: {}",
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// thrust_dir.dot(friction_dir)
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// );
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let vel = bike_body.velocity_at_point(contact_point - bike_xform.translation);
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let vel = bike_body.velocity_at_point(contact_point - bike_xform.translation);
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let friction_factor = -0.025 * vel.dot(friction_dir);
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let friction_factor = -0.025 * vel.dot(friction_dir);
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let friction = (friction_factor / dt) * friction_dir;
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let friction = (friction_factor / dt) * friction_dir;
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bevy::log::debug!("{wheel:?}: vel diff: {:?}", bike_vel - vel);
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let diff = bike_vel - vel;
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bevy::log::debug!("{wheel:?}: vel diff: {diff:?} ({})", diff.length(),);
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let mut force = thrust + friction;
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let mut force = thrust + friction;
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force *= dt * 50.0;
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force *= dt * 50.0;
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@ -312,7 +309,6 @@ mod systems {
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if force_mag > max_force_mag {
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if force_mag > max_force_mag {
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state.sliding = true;
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state.sliding = true;
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force = force.normalize_or_zero() * max_force_mag;
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force = force.normalize_or_zero() * max_force_mag;
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//bevy::log::info!("clamping {wheel:?} to {max_force_mag}: {friction_factor}");
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} else {
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} else {
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state.sliding = false;
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state.sliding = false;
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}
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}
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@ -332,6 +328,35 @@ mod systems {
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}
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}
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}
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}
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pub(super) fn drag(
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mut bike_query: Query<
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(&Transform, &LinearVelocity, &mut ExternalForce),
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With<CyberBikeBody>,
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>,
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mut gizmos: Gizmos,
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time: Res<Time>,
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) {
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let (xform, vel, mut force) = bike_query.single_mut();
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let dt = time.delta_secs();
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let speed = vel.length();
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let dspeed = speed.powf(1.2) * 0.1;
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let dir = vel.normalize_or_zero();
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let drag = -dspeed * dt * DRAG_COEFF * dir;
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if speed > 1.0 {
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force.apply_force_at_point(drag, xform.translation, xform.translation);
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}
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bevy::log::debug!("speed: {}, drag force: {}", speed, drag.length());
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gizmos.arrow(
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xform.translation,
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xform.translation + drag * 10.,
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Color::linear_rgb(1.0, 0.0, 0.0),
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);
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}
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pub(super) fn tweak(
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pub(super) fn tweak(
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mut config: Query<&mut WheelConfig>,
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mut config: Query<&mut WheelConfig>,
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mut keys: ResMut<ButtonInput<KeyCode>>,
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mut keys: ResMut<ButtonInput<KeyCode>>,
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@ -370,7 +395,7 @@ mod systems {
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}
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}
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}
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}
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use systems::{apply_lean, calculate_lean, steering, suspension, tweak};
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use systems::{apply_lean, calculate_lean, drag, steering, suspension, tweak};
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pub struct CyberPhysicsPlugin;
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pub struct CyberPhysicsPlugin;
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@ -388,7 +413,7 @@ impl Plugin for CyberPhysicsPlugin {
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})
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})
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.add_systems(
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.add_systems(
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FixedUpdate,
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FixedUpdate,
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(calculate_lean, apply_lean, suspension, steering).chain(),
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(calculate_lean, apply_lean, suspension, steering, drag).chain(),
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)
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)
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.add_systems(Update, tweak);
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.add_systems(Update, tweak);
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}
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}
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