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abandoning failed attempt

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This commit is contained in:
Joe Ardent 2025-05-18 15:52:15 -07:00
parent 961cf08601
commit f7ddd5bc61
1 changed files with 23 additions and 49 deletions
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72
src/physics.rs
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@ -64,7 +64,6 @@ mod systems {
}; };
use bevy::{ use bevy::{
ecs::system::{Populated, Query, Single}, ecs::system::{Populated, Query, Single},
gizmos::retained::Gizmo,
prelude::{ prelude::{
ButtonInput, Color, Gizmos, GlobalTransform, KeyCode, Quat, Res, ResMut, Time, ButtonInput, Color, Gizmos, GlobalTransform, KeyCode, Quat, Res, ResMut, Time,
Transform, Vec, Vec3, With, Without, Transform, Vec, Vec3, With, Without,
@ -89,76 +88,51 @@ mod systems {
} }
pub(super) fn calculate_lean( pub(super) fn calculate_lean(
velocities: Single<(&LinearVelocity, &AngularVelocity), With<CyberBikeBody>>, velocity: Single<&LinearVelocity, With<CyberBikeBody>>,
wheels: Populated<(&GlobalTransform, &CyberWheel), With<Collider>>, wheels: Populated<&GlobalTransform, (With<Collider>, With<CyberWheel>)>,
gravity: Res<Gravity>, gravity: Res<Gravity>,
input: Res<InputState>,
mut lean: ResMut<CyberLean>, mut lean: ResMut<CyberLean>,
mut gizmos: Gizmos,
) { ) {
let mut w1 = GlobalTransform::default(); let d: GlobalTransform = Default::default();
let mut w2 = GlobalTransform::default(); let mut w = [&d; 2];
for (xform, wheel) in wheels.iter() { for (i, xform) in wheels.iter().enumerate() {
match wheel { w[i] = xform;
CyberWheel::Front => w1 = *xform,
CyberWheel::Rear => w2 = *xform,
}
} }
let wheelbase = (w2.translation() - w1.translation()).normalize(); let wheelbase = w[0].translation() - w[1].translation();
let base = wheelbase.length();
let (lin_vel, ang_vel) = velocities.into_inner(); let steering_angle = yaw_to_angle(input.yaw);
let radius = base / steering_angle.tan();
let lin_vel = velocity.into_inner();
let right = wheelbase.cross(gravity.0).normalize(); let right = wheelbase.cross(gravity.0).normalize();
let up = -right.cross(wheelbase).normalize(); let up = right.cross(wheelbase).normalize();
let spin = ang_vel.dot(up);
let mid = (w2.translation() + w1.translation()) / 2.0; let gdir = gravity.0.normalize();
let up = up * -gdir.dot(up).signum();
gizmos.arrow(mid, mid + (up * 5.0), Color::linear_rgb(0.0, 1.0, 1.0));
let period = if spin.is_normal() {
1.0 / spin
} else {
f32::MAX
};
let radius = lin_vel.length() * period;
let gravity = gravity.0.dot(up); let gravity = gravity.0.dot(up);
let tan_theta = lin_vel.length_squared() / (radius * gravity); let tan_theta = lin_vel.length_squared() / (radius * gravity);
if tan_theta.is_normal() { if tan_theta.is_normal() {
lean.lean = tan_theta.atan(); let atan = tan_theta.atan();
} else { if atan.is_normal() {
lean.lean = 0.0; lean.lean = atan;
} }
}
pub(super) fn clear(
mut forces: Query<&mut ExternalForce>,
mut torques: Query<&mut ExternalTorque>,
) {
for mut force in forces.iter_mut() {
force.clear();
}
for mut torq in torques.iter_mut() {
torq.clear();
} }
} }
pub(super) fn apply_lean( pub(super) fn apply_lean(
bike_query: Single<( bike_query: Single<(&Transform, &mut ExternalTorque, &mut CatControllerState)>,
&Transform,
&mut ExternalTorque,
&mut CatControllerState,
&ComputedCenterOfMass,
)>,
wheels: Populated<(&WheelState, &CyberWheel)>, wheels: Populated<(&WheelState, &CyberWheel)>,
time: Res<Time>, time: Res<Time>,
settings: Res<CatControllerSettings>, settings: Res<CatControllerSettings>,
lean: Res<CyberLean>, lean: Res<CyberLean>,
mut gizmos: Gizmos, mut gizmos: Gizmos,
) { ) {
let (xform, mut force, mut control_vars, ComputedCenterOfMass(com)) = let (xform, mut force, mut control_vars) = bike_query.into_inner();
bike_query.into_inner();
let mut factor = 1.0; let mut factor = 1.0;
let mut front = None; let mut front = None;
@ -487,7 +461,7 @@ mod systems {
} }
} }
use systems::{apply_lean, calculate_lean, clear, drag, ef, suspension, tweak, wheel_action}; use systems::{apply_lean, calculate_lean, drag, ef, suspension, tweak, wheel_action};
pub struct CyberPhysicsPlugin; pub struct CyberPhysicsPlugin;