From ffbe45cf8e617260b7d59c5455fef2abf55ec2d5 Mon Sep 17 00:00:00 2001
From: Joe Ardent <code@ardent.nebcorp.com>
Date: Sat, 29 Mar 2025 16:30:06 -0700
Subject: [PATCH] use a raycast instead of shapecast
---
src/bike.rs | 2 +-
src/physics.rs | 34 +++++++++++++++++-----------------
2 files changed, 18 insertions(+), 18 deletions(-)
diff --git a/src/bike.rs b/src/bike.rs
index d671f8d..3e03068 100644
--- a/src/bike.rs
+++ b/src/bike.rs
@@ -187,7 +187,7 @@ fn wheel_caster(
rest_dist: Scalar,
wheel: CyberWheel,
) {
- let caster = ShapeCaster::new(collider, origin, Quat::IDENTITY, direction)
+ let caster = RayCaster::new(origin, direction)
.with_max_distance(rest_dist)
.with_max_hits(1)
.with_query_filter(SpatialQueryFilter::from_excluded_entities([parent]));
diff --git a/src/physics.rs b/src/physics.rs
index a32d6ba..e9c2f72 100644
--- a/src/physics.rs
+++ b/src/physics.rs
@@ -174,7 +174,7 @@ mod systems {
),
Without<CyberBikeBody>,
>,
- caster_query: Query<(&ShapeCaster, &ShapeHits, &CyberWheel)>,
+ caster_query: Query<(&RayCaster, &RayHits, &CyberWheel)>,
time: Res<Time>,
input: Res<InputState>,
mut gizmos: Gizmos,
@@ -188,11 +188,11 @@ mod systems {
let yaw = input.yaw * max_yaw;
let dt = time.delta().as_secs_f32();
- let mut front_caster = &ShapeCaster::default();
- let mut rear_caster = &ShapeCaster::default();
+ let mut front_caster = &RayCaster::default();
+ let mut rear_caster = &RayCaster::default();
- let mut front_hits = &ShapeHits::default();
- let mut rear_hits = &ShapeHits::default();
+ let mut front_hits = &RayHits::default();
+ let mut rear_hits = &RayHits::default();
for (caster, hits, wheel) in caster_query.iter() {
match wheel {
@@ -225,12 +225,16 @@ mod systems {
let mag = config.konstant * displacement - config.damping * damper_vel;
let mag = mag.max(0.0);
- //let fdir = -caster.global_direction().as_vec3();
- let fdir = hit.normal1;
+
+ let fdir = hit.normal;
let force = fdir * mag;
- //dbg!(fdir, force);
- let p = hit.point1 + (hit.normal1 * config.radius);
- gizmos.arrow(p, p + force, Color::linear_rgb(1., 0.5, 0.2));
+
+ let hit_point = caster.global_origin() + caster.global_direction() * dist;
+ gizmos.arrow(
+ hit_point,
+ hit_point + force,
+ Color::linear_rgb(1., 0.5, 0.2),
+ );
bike_forces.apply_force_at_point(
force,
@@ -240,7 +244,7 @@ mod systems {
//let vel = (global_xform.translation() - state.ppos) / dt;
state.ppos = global_xform.translation();
- let normal = hit.normal1;
+ let normal = hit.normal;
let steering = match wheel {
CyberWheel::Front => normal.cross(*bike_xform.back()) * yaw,
CyberWheel::Rear => Vec3::ZERO,
@@ -248,12 +252,8 @@ mod systems {
};
let thrust = normal.cross(*bike_xform.right()) * thrust;
let total = (thrust + steering) * dt;
- bike_forces.apply_force_at_point(total, hit.point1, bike_xform.translation);
- gizmos.arrow(
- hit.point1,
- hit.point1 + total,
- Color::linear_rgb(1., 1., 0.2),
- );
+ bike_forces.apply_force_at_point(total, hit_point, bike_xform.translation);
+ gizmos.arrow(hit_point, hit_point + total, Color::linear_rgb(1., 1., 0.2));
} else {
xform.translation = config.attach + (caster.direction.as_vec3() * config.rest_dist);
}