nebkor/avian3d-sandbox
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity

Compare commits

base: nebkor:main
Branches Tags
nebkor:main
nebkor:new-lean
nebkor:shapecast
nebkor:torii
..
compare: nebkor:shapecast
Branches Tags
nebkor:new-lean
nebkor:main
nebkor:shapecast
nebkor:torii

No commits in common. "main" and "shapecast" have entirely different histories.
main ... shapecast

6 changed files with 1208 additions and 846 deletions
Show stats Expand all files Collapse all files

1590
Cargo.lock generated
View file

File diff suppressed because it is too large Load diff

8
Cargo.toml
View file

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

225
src/bike.rs
View file

@ -1,24 +1,12 @@
use avian3d::{
math::{Scalar, FRAC_PI_2},
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,
},
prelude::*,
};
use bevy::prelude::*;
use crate::physics::CatControllerState;
pub const SPRING_CONSTANT: Scalar = 40.0;
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 = 1.5 + WHEEL_RADIUS;
@ -36,6 +24,7 @@ pub enum CyberWheel {
}
#[derive(Component, Clone, Copy, Debug, Reflect, Default)]
#[reflect(Component)]
pub struct WheelState {
pub displacement: Scalar,
pub force_normal: Scalar,
@ -51,6 +40,7 @@ impl WheelState {
}
#[derive(Component, Clone, Copy, Debug, Reflect)]
#[reflect(Component)]
#[require(WheelState)]
pub struct WheelConfig {
pub attach: Vec3,
@ -92,21 +82,9 @@ 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));
let pbr_bundle = {
let color = Color::srgb(0.7, 0.05, 0.7);
let mut xform = Transform::default();
xform.rotate_x(FRAC_PI_2);
(
Mesh3d(meshes.add(Capsule3d::new(0.5, 1.45))),
xform,
Visibility::Visible,
MeshMaterial3d(materials.add(color)),
TransformInterpolation,
)
};
let mut body = commands.spawn((xform, Visibility::default()));
body.insert((
commands
.spawn((xform, Visibility::default()))
.insert((
Name::new("body"),
RigidBody::Dynamic,
body_collider,
@ -114,91 +92,127 @@ fn spawn_bike(
SleepingDisabled,
CyberBikeBody,
CatControllerState::default(),
ColliderDensity(1.6),
ColliderDensity(1.2),
AngularDamping(0.2),
LinearDamping(0.1),
ExternalForce::ZERO.with_persistence(false),
ExternalTorque::ZERO.with_persistence(false),
));
body.insert(spawn_children(body.id(), meshes, materials))
.with_child(pbr_bundle);
))
.with_children(|builder| {
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,
MeshMaterial3d(materials.add(color)),
);
builder.spawn(pbr_bundle);
spawn_wheels(builder, meshes, materials, builder.parent_entity());
});
}
fn spawn_children(
parent: Entity,
fn spawn_wheels(
commands: &mut ChildBuilder,
mut meshes: ResMut<Assets<Mesh>>,
mut materials: ResMut<Assets<StandardMaterial>>,
) -> impl Bundle {
body: Entity,
) {
let mesh: Mesh = Sphere::new(WHEEL_RADIUS).into();
let wheel_material = StandardMaterial {
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);
wheel_caster(
commands,
REAR_ATTACH,
Dir3::new_unchecked(rear_rake),
body,
REST_DISTANCE,
CyberWheel::Rear,
);
wheel_mesh(
commands,
&mut meshes,
&mut materials,
rear_wheel_pos,
mesh,
WheelConfig::new(
REAR_ATTACH,
REST_DISTANCE,
SPRING_CONSTANT,
DAMPING_CONSTANT,
FRICTION_COEFF,
WHEEL_RADIUS,
),
CyberWheel::Rear,
);
}
//-************************************************************************
// helper fns for the wheels
//-************************************************************************
fn wheel_caster(
commands: &mut ChildBuilder,
origin: Vec3,
direction: Dir3,
parent: Entity,
rest_dist: Scalar,
wheel: CyberWheel,
) {
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));
}
fn wheel_mesh(
commands: &mut ChildBuilder,
meshes: &mut ResMut<Assets<Mesh>>,
materials: &mut ResMut<Assets<StandardMaterial>>,
position: Vec3,
tire_mesh: Mesh,
config: WheelConfig,
wheel: CyberWheel,
) {
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);
let rear_rake = Vec3::new(0.0, -1.0, 0.9).normalize();
let rear_wheel_pos = REAR_ATTACH + (rear_rake * REST_DISTANCE);
children![
(
RayCaster::new(FRONT_ATTACH, Dir3::new_unchecked(front_rake))
.with_max_hits(1)
.with_max_distance(REST_DISTANCE)
.with_query_filter(SpatialQueryFilter::from_excluded_entities([parent])),
CyberWheel::Front
),
wheel_bundle(
mesh.clone(),
material.clone(),
front_wheel_pos,
WheelConfig::new(
FRONT_ATTACH,
REST_DISTANCE,
SPRING_CONSTANT - 5.0,
DAMPING_CONSTANT,
FRICTION_COEFF,
WHEEL_RADIUS,
),
CyberWheel::Front,
),
(
RayCaster::new(REAR_ATTACH, Dir3::new_unchecked(rear_rake))
.with_max_hits(1)
.with_max_distance(REST_DISTANCE)
.with_query_filter(SpatialQueryFilter::from_excluded_entities([parent])),
CyberWheel::Rear,
),
wheel_bundle(
mesh,
material,
rear_wheel_pos,
WheelConfig::new(
REAR_ATTACH,
REST_DISTANCE,
SPRING_CONSTANT + 10.0,
DAMPING_CONSTANT,
FRICTION_COEFF,
WHEEL_RADIUS,
),
CyberWheel::Rear,
),
]
}
fn wheel_bundle(
mesh: Handle<Mesh>,
material: Handle<StandardMaterial>,
position: Vec3,
config: WheelConfig,
wheel: CyberWheel,
) -> impl Bundle {
let xform = Transform::from_translation(position);
let name = match wheel {
@ -206,18 +220,15 @@ fn wheel_bundle(
CyberWheel::Rear => "rear tire",
};
(
commands.spawn((
Name::new(name),
config,
Mesh3d(mesh),
MeshMaterial3d(material),
Mesh3d(meshes.add(tire_mesh)),
MeshMaterial3d(materials.add(wheel_material.clone())),
xform,
Collider::sphere(WHEEL_RADIUS),
ColliderDensity(0.5),
CollisionLayers::NONE,
TransformInterpolation,
wheel,
)
));
}
pub struct CyberBikePlugin;

16
src/camera.rs
View file

@ -1,10 +1,4 @@
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 bevy::{prelude::*, utils::HashSet};
use crate::bike::CyberBikeBody;
@ -71,8 +65,8 @@ 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);
@ -81,10 +75,8 @@ 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;

22
src/main.rs
View file

@ -5,12 +5,13 @@ use bevy::{
color::{palettes::css::SILVER, Alpha},
pbr::MeshMaterial3d,
prelude::{
children, default, App, AppGizmoBuilder, Assets, ButtonInput, Color, Commands,
DefaultPlugins, Entity, GizmoConfig, KeyCode, Mesh, Mesh3d, Meshable, Plane3d, PointLight,
Query, Res, ResMut, SpawnRelated, Srgba, StandardMaterial, Startup, Transform, Update,
Vec3, Visibility, Window,
default, App, AppGizmoBuilder, Assets, BuildChildren, ButtonInput, ChildBuild, Color,
Commands, DefaultPlugins, Entity, GizmoConfig, KeyCode, Mesh, Mesh3d, Meshable, Plane3d,
PointLight, Query, Res, ResMut, Srgba, StandardMaterial, Startup, Transform, Update, Vec3,
Visibility, Window,
},
};
use bevy_inspector_egui::quick::WorldInspectorPlugin;
mod bike;
mod camera;
@ -30,6 +31,7 @@ fn main() {
CyberBikePlugin,
CyberInputPlugin,
CyberPhysicsPlugin,
WorldInspectorPlugin::new(),
))
.insert_gizmo_config(
PhysicsGizmos {
@ -54,7 +56,8 @@ fn ground_and_light(
mut materials: ResMut<Assets<StandardMaterial>>,
) {
let spatial_bundle = (Transform::default(), Visibility::default());
commands.spawn((
commands
.spawn((
spatial_bundle,
RigidBody::Static,
Collider::cuboid(500.0, 5., 500.0),
@ -62,13 +65,16 @@ 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 {

149
src/physics.rs
View file

@ -1,16 +1,16 @@
use avian3d::{math::Scalar, prelude::*};
use bevy::prelude::{
App, Component, FixedUpdate, IntoScheduleConfigs, Plugin, ResMut, Resource, Startup, Update,
};
use bevy::prelude::*;
const DRAG_COEFF: Scalar = 0.00001;
const DRAG_COEFF: Scalar = 0.1;
#[derive(Resource, Default, Debug)]
#[derive(Resource, Default, Debug, Reflect)]
#[reflect(Resource)]
struct CyberLean {
pub lean: f32,
}
#[derive(Debug, Resource)]
#[derive(Debug, Resource, Reflect)]
#[reflect(Resource)]
pub struct CatControllerSettings {
pub kp: f32,
pub kd: f32,
@ -20,14 +20,14 @@ pub struct CatControllerSettings {
impl Default for CatControllerSettings {
fn default() -> Self {
Self {
kp: 60.0,
kd: 30.0,
ki: 0.0,
kp: 16.0,
kd: 2.0,
ki: 0.9,
}
}
}
#[derive(Component, Debug, Clone, Copy)]
#[derive(Component, Debug, Clone, Copy, Reflect)]
pub struct CatControllerState {
pub roll_integral: f32,
pub roll_prev: f32,
@ -57,17 +57,8 @@ impl CatControllerState {
mod systems {
use std::f32::consts::{FRAC_PI_3, FRAC_PI_4};
use avian3d::prelude::{
ComputedCenterOfMass, ExternalForce, ExternalTorque, Gravity, LinearVelocity, RayCaster,
RayHits, RigidBodyQueryReadOnly,
};
use bevy::{
ecs::system::{Populated, Single},
prelude::{
ButtonInput, Color, Gizmos, GlobalTransform, KeyCode, Quat, Res, ResMut, Time,
Transform, Vec, Vec3, With, Without,
},
};
use avian3d::prelude::*;
use bevy::prelude::*;
use super::{CatControllerSettings, CatControllerState, CyberLean, DRAG_COEFF};
use crate::{
@ -87,8 +78,8 @@ mod systems {
}
pub(super) fn calculate_lean(
bike_state: Single<(&LinearVelocity, &Transform), With<CyberBikeBody>>,
wheels: Populated<&GlobalTransform, With<CyberWheel>>,
bike_state: Query<(&LinearVelocity, &Transform), With<CyberBikeBody>>,
wheels: Query<&GlobalTransform, With<CyberWheel>>,
input: Res<InputState>,
gravity: Res<Gravity>,
mut lean: ResMut<CyberLean>,
@ -97,7 +88,7 @@ mod systems {
let w1 = wheels.next().unwrap();
let w2 = wheels.next().unwrap();
let base = (w1.translation() - w2.translation()).length().abs();
let (velocity, xform) = bike_state.into_inner();
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);
@ -114,33 +105,21 @@ mod systems {
}
pub(super) fn apply_lean(
bike_query: Single<(&Transform, &mut ExternalTorque, &mut CatControllerState)>,
wheels: Populated<(&WheelState, &GlobalTransform, &CyberWheel)>,
mut bike_query: Query<(&Transform, &mut ExternalForce, &mut CatControllerState)>,
wheels: Query<&WheelState>,
time: Res<Time>,
settings: Res<CatControllerSettings>,
lean: Res<CyberLean>,
mut gizmos: Gizmos,
) {
let (xform, mut torque, mut control_vars) = bike_query.into_inner();
let (xform, mut force, mut control_vars) = bike_query.single_mut();
let mut factor = 1.0;
let mut rxform = GlobalTransform::default();
let mut fxform = GlobalTransform::default();
for (wheel_state, xform, cwheel) in wheels.iter() {
if wheel_state.contact_point.is_none() {
for wheel in wheels.iter() {
if wheel.contact_point.is_none() {
factor -= 0.25;
}
match cwheel {
CyberWheel::Front => {
fxform = *xform;
}
CyberWheel::Rear => {
rxform = *xform;
}
}
}
let tork_axis = (rxform.translation() - fxform.translation()).normalize();
let world_up = Vec3::Y; //xform.translation.normalize();
let rot = Quat::from_axis_angle(*xform.back(), lean.lean);
@ -171,14 +150,15 @@ mod systems {
let mag =
(settings.kp * roll_error) + (settings.ki * integral) + (settings.kd * derivative);
if mag.is_finite() {
//let lean_force = factor * mag * *xform.left();
let tork = factor * mag * tork_axis;
torque.apply_torque(tork);
let lean_force = factor * mag * *xform.left();
force.apply_force_at_point(
lean_force,
xform.translation + *xform.up(),
xform.translation,
);
gizmos.arrow(
xform.translation + *xform.up(),
xform.translation + *xform.up() + mag * xform.left(),
xform.translation + *xform.up() + lean_force,
Color::WHITE,
);
}
@ -195,15 +175,12 @@ mod systems {
}
pub(super) fn suspension(
bike_body_query: Single<
(&Transform, &ComputedCenterOfMass, &mut ExternalForce),
With<CyberBikeBody>,
>,
mut wheel_mesh_query: Populated<
mut bike_body_query: Query<(&Transform, &mut ExternalForce), With<CyberBikeBody>>,
mut wheel_mesh_query: Query<
(&mut Transform, &mut WheelState, &WheelConfig, &CyberWheel),
Without<CyberBikeBody>,
>,
caster_query: Populated<(&RayCaster, &RayHits, &CyberWheel)>,
caster_query: Query<(&RayCaster, &RayHits, &CyberWheel)>,
time: Res<Time>,
mut gizmos: Gizmos,
) {
@ -228,7 +205,7 @@ mod systems {
}
}
let (bike_xform, com, mut bike_forces) = bike_body_query.into_inner();
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 {
@ -260,7 +237,11 @@ mod systems {
hit_point + force,
Color::linear_rgb(1., 0.5, 0.2),
);
bike_forces.apply_force_at_point(force, hit_point, bike_xform.translation + com.0);
bike_forces.apply_force_at_point(
force,
caster.global_origin(),
bike_xform.translation,
);
} else {
xform.translation = config.attach + (caster.direction.as_vec3() * config.rest_dist);
state.reset();
@ -268,8 +249,8 @@ mod systems {
}
}
pub(super) fn wheel_action(
bike_query: Single<
pub(super) fn steering(
mut bike_query: Query<
(
&Transform,
&LinearVelocity,
@ -278,16 +259,20 @@ mod systems {
),
With<CyberBikeBody>,
>,
mut wheels: Populated<(&mut WheelState, &WheelConfig, &CyberWheel)>,
mut wheels: Query<(&mut WheelState, &WheelConfig, &CyberWheel)>,
time: Res<Time>,
input: Res<InputState>,
mut gizmos: Gizmos,
) {
let (bike_xform, bike_vel, mut bike_force, bike_body) = bike_query.into_inner();
let Ok((bike_xform, bike_vel, mut bike_force, bike_body)) = bike_query.get_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();
let max_thrust = 500.0;
let max_thrust = 2000.0;
let yaw_angle = -yaw_to_angle(input.yaw);
for (mut state, config, wheel) in wheels.iter_mut() {
@ -300,8 +285,8 @@ mod systems {
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, thrust_mag),
CyberWheel::Front => (rot * forward, thrust_mag * 0.1),
CyberWheel::Rear => (forward, thrust_mag * 0.1),
CyberWheel::Front => (rot * forward, thrust_mag),
};
let thrust = thrust_force * thrust_dir;
@ -328,11 +313,7 @@ mod systems {
state.sliding = false;
}
bike_force.apply_force_at_point(
force,
contact_point,
bike_xform.translation + bike_body.center_of_mass.0,
);
bike_force.apply_force_at_point(force, contact_point, bike_xform.translation);
gizmos.arrow(
contact_point,
contact_point + friction,
@ -348,35 +329,26 @@ mod systems {
}
pub(super) fn drag(
bike_query: Single<
(
&Transform,
&LinearVelocity,
&ComputedCenterOfMass,
&mut ExternalForce,
),
mut bike_query: Query<
(&Transform, &LinearVelocity, &mut ExternalForce),
With<CyberBikeBody>,
>,
mut gizmos: Gizmos,
time: Res<Time>,
) {
let (xform, vel, com, mut force) = bike_query.into_inner();
let (xform, vel, mut force) = bike_query.single_mut();
let dt = time.delta_secs();
let speed = vel.length_squared();
let dspeed = speed * 0.0000001;
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 > 0.1 {
force.apply_force_at_point(
drag,
xform.translation - (0.2 * *xform.down()),
xform.translation + com.0,
);
if speed > 1.0 {
force.apply_force_at_point(drag, xform.translation, xform.translation);
}
bevy::log::debug!("speed: {}, drag force: {}", vel.length(), drag.length());
bevy::log::debug!("speed: {}, drag force: {}", speed, drag.length());
gizmos.arrow(
xform.translation,
@ -386,7 +358,7 @@ mod systems {
}
pub(super) fn tweak(
mut config: Populated<&mut WheelConfig>,
mut config: Query<&mut WheelConfig>,
mut keys: ResMut<ButtonInput<KeyCode>>,
) {
let keyset: std::collections::HashSet<_> = keys.get_pressed().collect();
@ -423,14 +395,17 @@ mod systems {
}
}
use systems::{apply_lean, calculate_lean, drag, suspension, tweak, wheel_action};
use systems::{apply_lean, calculate_lean, drag, steering, suspension, tweak};
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>| {
@ -438,7 +413,7 @@ impl Plugin for CyberPhysicsPlugin {
})
.add_systems(
FixedUpdate,
(calculate_lean, apply_lean, suspension, wheel_action, drag).chain(),
(calculate_lean, apply_lean, suspension, steering, drag).chain(),
)
.add_systems(Update, tweak);
}