works

Cargo.toml

@@ -4,12 +4,14 @@ version = "0.1.0"
 edition = "2024"
 
 [dependencies]
-bevy = { version = "0.15", features = ["bevy_dev_tools"] }
+bevy = { version = "0.16", features = ["bevy_dev_tools", "configurable_error_handler"] }
-bevy-inspector-egui = "0.29"
+
 
 [dependencies.avian3d]
 default-features = false
-version = "0.2"
+#version = "0.2"
+git = "https://github.com/Jondolf/avian"
+branch = "main"
 features = ["3d", "f32", "parry-f32", "debug-plugin", "default-collider", "collider-from-mesh"]
 
 

src/bike.rs

@@ -1,12 +1,24 @@
 use avian3d::{
     math::{Scalar, FRAC_PI_2},
-    prelude::*,
+    prelude::{
+        AngularDamping, Collider, ColliderDensity, CollisionLayers, ExternalForce, ExternalTorque,
+        LinearDamping, RayCaster, RigidBody, SleepingDisabled, SpatialQueryFilter,
+        TransformInterpolation,
+    },
+};
+use bevy::{
+    asset::Handle,
+    ecs::{bundle::Bundle, entity::Entity},
+    prelude::{
+        children, AlphaMode, App, Assets, Capsule3d, Color, Commands, Component, Dir3, Mesh,
+        Mesh3d, MeshMaterial3d, Name, Plugin, Reflect, ResMut, SpawnRelated, Sphere,
+        StandardMaterial, Startup, Transform, Vec3, Visibility,
+    },
 };
-use bevy::prelude::*;
 
 use crate::physics::CatControllerState;
 
-pub const SPRING_CONSTANT: Scalar = 60.0;
+pub const SPRING_CONSTANT: Scalar = 50.0;
 pub const DAMPING_CONSTANT: Scalar = 10.0;
 pub const WHEEL_RADIUS: Scalar = 0.4;
 pub const REST_DISTANCE: Scalar = 1.5 + WHEEL_RADIUS;
@@ -24,7 +36,6 @@ pub enum CyberWheel {
 }
 
 #[derive(Component, Clone, Copy, Debug, Reflect, Default)]
-#[reflect(Component)]
 pub struct WheelState {
     pub displacement: Scalar,
     pub force_normal: Scalar,
@@ -40,7 +51,6 @@ impl WheelState {
 }
 
 #[derive(Component, Clone, Copy, Debug, Reflect)]
-#[reflect(Component)]
 #[require(WheelState)]
 pub struct WheelConfig {
     pub attach: Vec3,
@@ -82,9 +92,8 @@ fn spawn_bike(
     let body_collider =
         Collider::capsule_endpoints(0.5, Vec3::new(0.0, 0.0, -0.65), Vec3::new(0.0, 0.0, 0.8));
 
-    commands
+    let mut body = commands.spawn((xform, Visibility::default()));
-        .spawn((xform, Visibility::default()))
+    body.insert((
-        .insert((
         Name::new("body"),
         RigidBody::Dynamic,
         body_collider,
@@ -92,79 +101,85 @@ fn spawn_bike(
         SleepingDisabled,
         CyberBikeBody,
         CatControllerState::default(),
-            ColliderDensity(1.2),
+        ColliderDensity(1.4),
         AngularDamping(0.2),
         LinearDamping(0.1),
         ExternalForce::ZERO.with_persistence(false),
         ExternalTorque::ZERO.with_persistence(false),
-        ))
+    ));
-        .with_children(|builder| {
+
+    let pbr_bundle = {
         let color = Color::srgb(0.7, 0.05, 0.7);
         let mut xform = Transform::default();
         xform.rotate_x(FRAC_PI_2);
-            let pbr_bundle = (
+        (
             Mesh3d(meshes.add(Capsule3d::new(0.5, 1.45))),
             xform,
+            Visibility::Visible,
             MeshMaterial3d(materials.add(color)),
-            );
+            TransformInterpolation,
-            builder.spawn(pbr_bundle);
+        )
-            spawn_wheels(builder, meshes, materials, builder.parent_entity());
+    };
-        });
+    let parent = body.id();
+    body.insert(spawn_children(parent, pbr_bundle, meshes, materials));
 }
 
-fn spawn_wheels(
+fn spawn_children(
-    commands: &mut ChildBuilder,
+    parent: Entity,
+    body: impl Bundle,
     mut meshes: ResMut<Assets<Mesh>>,
     mut materials: ResMut<Assets<StandardMaterial>>,
-    body: Entity,
+) -> impl Bundle {
-) {
     let mesh: Mesh = Sphere::new(WHEEL_RADIUS).into();
+    let wheel_material = StandardMaterial {
+        base_color: Color::srgb(0.01, 0.01, 0.01),
+        alpha_mode: AlphaMode::Opaque,
+        perceptual_roughness: 0.5,
+        ..Default::default()
+    };
+
+    let mesh = meshes.add(mesh);
+    let material = materials.add(wheel_material);
 
     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(
-        commands,
-        FRONT_ATTACH,
-        Dir3::new_unchecked(front_rake),
-        body,
-        REST_DISTANCE,
-        CyberWheel::Front,
-    );
-    wheel_mesh(
-        commands,
-        &mut meshes,
-        &mut materials,
-        front_wheel_pos,
-        mesh.clone(),
-        WheelConfig::new(
-            FRONT_ATTACH,
-            REST_DISTANCE,
-            SPRING_CONSTANT,
-            DAMPING_CONSTANT,
-            FRICTION_COEFF,
-            WHEEL_RADIUS,
-        ),
-        CyberWheel::Front,
-    );
-
     let rear_rake = Vec3::new(0.0, -1.0, 0.9).normalize();
     let rear_wheel_pos = REAR_ATTACH + (rear_rake * REST_DISTANCE);
 
+    children!(
+        body,
         wheel_caster(
-        commands,
+            parent,
+            FRONT_ATTACH,
+            Dir3::new_unchecked(front_rake),
+            REST_DISTANCE,
+            CyberWheel::Front,
+        ),
+        wheel_mesh(
+            mesh.clone(),
+            material.clone(),
+            front_wheel_pos,
+            WheelConfig::new(
+                FRONT_ATTACH,
+                REST_DISTANCE,
+                SPRING_CONSTANT,
+                DAMPING_CONSTANT,
+                FRICTION_COEFF,
+                WHEEL_RADIUS,
+            ),
+            CyberWheel::Front,
+        ),
+        wheel_caster(
+            parent,
             REAR_ATTACH,
             Dir3::new_unchecked(rear_rake),
-        body,
             REST_DISTANCE,
             CyberWheel::Rear,
-    );
+        ),
         wheel_mesh(
-        commands,
-        &mut meshes,
-        &mut materials,
-        rear_wheel_pos,
             mesh,
+            material,
+            rear_wheel_pos,
             WheelConfig::new(
                 REAR_ATTACH,
                 REST_DISTANCE,
@@ -174,7 +189,8 @@ fn spawn_wheels(
                 WHEEL_RADIUS,
             ),
             CyberWheel::Rear,
-    );
+        ),
+    )
 }
 
 //-************************************************************************
@@ -182,37 +198,27 @@ fn spawn_wheels(
 //-************************************************************************
 
 fn wheel_caster(
-    commands: &mut ChildBuilder,
+    parent: Entity,
     origin: Vec3,
     direction: Dir3,
-    parent: Entity,
     rest_dist: Scalar,
     wheel: CyberWheel,
-) {
+) -> impl Bundle {
     let caster = RayCaster::new(origin, direction)
         .with_max_distance(rest_dist)
         .with_max_hits(1)
         .with_query_filter(SpatialQueryFilter::from_excluded_entities([parent]));
 
-    commands.spawn((caster, wheel));
+    (caster, wheel)
 }
 
 fn wheel_mesh(
-    commands: &mut ChildBuilder,
+    mesh: Handle<Mesh>,
-    meshes: &mut ResMut<Assets<Mesh>>,
+    material: Handle<StandardMaterial>,
-    materials: &mut ResMut<Assets<StandardMaterial>>,
     position: Vec3,
-    tire_mesh: Mesh,
     config: WheelConfig,
     wheel: CyberWheel,
-) {
+) -> impl Bundle {
-    let wheel_material = &StandardMaterial {
-        base_color: Color::srgb(0.01, 0.01, 0.01),
-        alpha_mode: AlphaMode::Opaque,
-        perceptual_roughness: 0.5,
-        ..Default::default()
-    };
-
     let xform = Transform::from_translation(position);
 
     let name = match wheel {
@@ -220,18 +226,18 @@ fn wheel_mesh(
         CyberWheel::Rear => "rear tire",
     };
 
-    commands.spawn((
+    (
         Name::new(name),
         config,
-        Mesh3d(meshes.add(tire_mesh)),
+        Mesh3d(mesh),
-        MeshMaterial3d(materials.add(wheel_material.clone())),
+        MeshMaterial3d(material),
         xform,
         Collider::sphere(WHEEL_RADIUS),
         ColliderDensity(0.5),
         CollisionLayers::NONE,
         TransformInterpolation,
         wheel,
-    ));
+    )
 }
 
 pub struct CyberBikePlugin;

src/camera.rs

@@ -1,4 +1,10 @@
-use bevy::{prelude::*, utils::HashSet};
+use bevy::{
+    platform::collections::HashSet,
+    prelude::{
+        App, ButtonInput, Camera3d, Commands, Component, KeyCode, Plugin, Quat, Query, Res, ResMut,
+        Resource, Result, Startup, Transform, Update, Vec, Vec3, With, Without,
+    },
+};
 
 use crate::bike::CyberBikeBody;
 
@@ -65,8 +71,8 @@ fn follow_bike(
     mut camera: Query<&mut Transform, (With<CyberCameras>, Without<CyberBikeBody>)>,
     bike: Query<&Transform, (With<CyberBikeBody>, Without<CyberCameras>)>,
     offset: Res<DebugCamOffset>,
-) {
+) -> Result {
-    let bike_xform = *bike.single();
+    let bike_xform = *bike.single()?;
     let up = Vec3::Y;
 
     let mut ncx = Transform::from_translation(bike_xform.translation);
@@ -75,8 +81,10 @@ fn follow_bike(
     ncx.translation += ncx.up() * offset.alt;
     ncx.look_at(bike_xform.translation, up);
 
-    let mut cam_xform = camera.single_mut();
+    let mut cam_xform = camera.single_mut()?;
     *cam_xform = ncx;
+
+    Ok(())
 }
 
 pub struct CamPlug;

src/main.rs

@@ -3,15 +3,15 @@ use avian3d::prelude::{
 };
 use bevy::{
     color::{palettes::css::SILVER, Alpha},
+    ecs::error::{warn, GLOBAL_ERROR_HANDLER},
     pbr::MeshMaterial3d,
     prelude::{
-        default, App, AppGizmoBuilder, Assets, BuildChildren, ButtonInput, ChildBuild, Color,
+        children, default, App, AppGizmoBuilder, Assets, ButtonInput, Color, Commands,
-        Commands, DefaultPlugins, Entity, GizmoConfig, KeyCode, Mesh, Mesh3d, Meshable, Plane3d,
+        DefaultPlugins, Entity, GizmoConfig, KeyCode, Mesh, Mesh3d, Meshable, Plane3d, PointLight,
-        PointLight, Query, Res, ResMut, Srgba, StandardMaterial, Startup, Transform, Update, Vec3,
+        Query, Res, ResMut, SpawnRelated, Srgba, StandardMaterial, Startup, Transform, Update,
-        Visibility, Window,
+        Vec3, Visibility, Window,
     },
 };
-use bevy_inspector_egui::quick::WorldInspectorPlugin;
 
 mod bike;
 mod camera;
@@ -24,6 +24,10 @@ use input::CyberInputPlugin;
 use physics::CyberPhysicsPlugin;
 
 fn main() {
+    GLOBAL_ERROR_HANDLER
+        .set(warn)
+        .expect("The error handler can only be set once, globally.");
+    // initialize Bevy App here
     let mut app = App::new();
     app.add_plugins((
         DefaultPlugins,
@@ -31,7 +35,6 @@ fn main() {
         CyberBikePlugin,
         CyberInputPlugin,
         CyberPhysicsPlugin,
-        WorldInspectorPlugin::new(),
     ))
     .insert_gizmo_config(
         PhysicsGizmos {
@@ -56,8 +59,7 @@ fn ground_and_light(
     mut materials: ResMut<Assets<StandardMaterial>>,
 ) {
     let spatial_bundle = (Transform::default(), Visibility::default());
-    commands
+    commands.spawn((
-        .spawn((
         spatial_bundle,
         RigidBody::Static,
         Collider::cuboid(500.0, 5., 500.0),
@@ -65,16 +67,13 @@ fn ground_and_light(
         ColliderDensity(1000.0),
         CollisionLayers::ALL,
         Friction::new(0.9),
-        ))
+        children![(
-        .with_children(|p| {
-            let bundle = (
             Mesh3d(meshes.add(Plane3d::default().mesh().size(500.0, 500.0))),
             MeshMaterial3d(materials.add(Color::from(SILVER).with_alpha(0.7))),
             Transform::from_xyz(0.0, 2.5, 0.0),
             Visibility::Visible,
-            );
+        )],
-            p.spawn(bundle);
+    ));
-        });
 
     commands.spawn((
         PointLight {

src/physics.rs

@@ -1,16 +1,16 @@
 use avian3d::{math::Scalar, prelude::*};
-use bevy::prelude::*;
+use bevy::prelude::{
+    App, Component, FixedUpdate, IntoScheduleConfigs, Plugin, ResMut, Resource, Startup, Update,
+};
 
 const DRAG_COEFF: Scalar = 0.00001;
 
-#[derive(Resource, Default, Debug, Reflect)]
+#[derive(Resource, Default, Debug)]
-#[reflect(Resource)]
 struct CyberLean {
     pub lean: f32,
 }
 
-#[derive(Debug, Resource, Reflect)]
+#[derive(Debug, Resource)]
-#[reflect(Resource)]
 pub struct CatControllerSettings {
     pub kp: f32,
     pub kd: f32,
@@ -27,7 +27,7 @@ impl Default for CatControllerSettings {
     }
 }
 
-#[derive(Component, Debug, Clone, Copy, Reflect)]
+#[derive(Component, Debug, Clone, Copy)]
 pub struct CatControllerState {
     pub roll_integral: f32,
     pub roll_prev: f32,
@@ -58,7 +58,13 @@ mod systems {
     use std::f32::consts::{FRAC_PI_3, FRAC_PI_4};
 
     use avian3d::prelude::*;
-    use bevy::prelude::*;
+    use bevy::{
+        ecs::error::BevyError,
+        prelude::{
+            ButtonInput, Color, Gizmos, GlobalTransform, KeyCode, Quat, Query, Res, ResMut, Result,
+            Time, Transform, Vec, Vec3, With, Without,
+        },
+    };
 
     use super::{CatControllerSettings, CatControllerState, CyberLean, DRAG_COEFF};
     use crate::{
@@ -83,12 +89,12 @@ mod systems {
         input: Res<InputState>,
         gravity: Res<Gravity>,
         mut lean: ResMut<CyberLean>,
-    ) {
+    ) -> Result {
         let mut wheels = wheels.iter();
-        let w1 = wheels.next().unwrap();
+        let w1 = wheels.next().ok_or(BevyError::from("oops"))?;
-        let w2 = wheels.next().unwrap();
+        let w2 = wheels.next().ok_or(BevyError::from("oops"))?;
         let base = (w1.translation() - w2.translation()).length().abs();
-        let (velocity, xform) = bike_state.single();
+        let (velocity, xform) = bike_state.single()?;
         let vel = velocity.dot(*xform.forward());
         let v_squared = vel.powi(2);
         let steering_angle = yaw_to_angle(input.yaw);
@@ -102,6 +108,7 @@ mod systems {
         } else {
             //lean.lean = 0.0;
         }
+        Ok(())
     }
 
     pub(super) fn apply_lean(
@@ -111,8 +118,8 @@ mod systems {
         settings: Res<CatControllerSettings>,
         lean: Res<CyberLean>,
         mut gizmos: Gizmos,
-    ) {
+    ) -> Result {
-        let (xform, mut force, mut control_vars) = bike_query.single_mut();
+        let (xform, mut force, mut control_vars) = bike_query.single_mut()?;
 
         let mut factor = 1.0;
         for wheel in wheels.iter() {
@@ -163,6 +170,7 @@ mod systems {
                 );
             }
         }
+        Ok(())
     }
 
     fn yaw_to_angle(yaw: f32) -> f32 {
@@ -183,7 +191,7 @@ mod systems {
         caster_query: Query<(&RayCaster, &RayHits, &CyberWheel)>,
         time: Res<Time>,
         mut gizmos: Gizmos,
-    ) {
+    ) -> Result {
         let dt = time.delta().as_secs_f32();
 
         let mut front_caster = &RayCaster::default();
@@ -205,7 +213,7 @@ mod systems {
             }
         }
 
-        let (bike_xform, mut bike_forces) = bike_body_query.single_mut();
+        let (bike_xform, mut bike_forces) = bike_body_query.single_mut()?;
 
         for (mut xform, mut state, config, wheel) in wheel_mesh_query.iter_mut() {
             let (caster, hits) = match wheel {
@@ -247,6 +255,7 @@ mod systems {
                 state.reset();
             }
         }
+        Ok(())
     }
 
     pub(super) fn steering(
@@ -263,12 +272,8 @@ mod systems {
         time: Res<Time>,
         input: Res<InputState>,
         mut gizmos: Gizmos,
-    ) {
+    ) -> Result {
-        let Ok((bike_xform, bike_vel, mut bike_force, bike_body)) = bike_query.get_single_mut()
+        let (bike_xform, bike_vel, mut bike_force, bike_body) = bike_query.single_mut()?;
-        else {
-            bevy::log::warn!("No entity for bike_query.");
-            return;
-        };
         let bike_vel = bike_vel.0;
 
         let dt = time.delta().as_secs_f32();
@@ -326,6 +331,8 @@ mod systems {
                 );
             }
         }
+
+        Ok(())
     }
 
     pub(super) fn drag(
@@ -335,8 +342,8 @@ mod systems {
         >,
         mut gizmos: Gizmos,
         time: Res<Time>,
-    ) {
+    ) -> Result {
-        let (xform, vel, mut force) = bike_query.single_mut();
+        let (xform, vel, mut force) = bike_query.single_mut()?;
 
         let dt = time.delta_secs();
 
@@ -359,6 +366,8 @@ mod systems {
             xform.translation + drag * 10.,
             Color::linear_rgb(1.0, 0.0, 0.0),
         );
+
+        Ok(())
     }
 
     pub(super) fn tweak(
@@ -406,10 +415,7 @@ pub struct CyberPhysicsPlugin;
 impl Plugin for CyberPhysicsPlugin {
     fn build(&self, app: &mut App) {
         app.init_resource::<CatControllerSettings>()
-            .register_type::<CatControllerSettings>()
-            .register_type::<CatControllerState>()
             .init_resource::<CyberLean>()
-            .register_type::<CyberLean>()
             .add_plugins((PhysicsPlugins::default(), PhysicsDebugPlugin::default()))
             .insert_resource(SubstepCount(12))
             .add_systems(Startup, |mut gravity: ResMut<Gravity>| {