Cargo.toml

@@ -10,6 +10,3 @@ bevy-inspector-egui = "0.25.1"
 
 [features]
 no-mesh = []
-
-[profile.dev.package."*"]
-opt-level = 3

src/bike.rs

@@ -8,21 +8,6 @@ use crate::physics::CatControllerState;
 #[derive(Component)]
 pub struct CyberBikeBody;
 
-#[derive(Component)]
-pub struct CyberWheel;
-
-// marker for front suspension joint
-#[derive(Component)]
-pub struct Steering;
-#[derive(Component)]
-pub struct FrontHub;
-
-// marker for rear suspension joint
-#[derive(Component)]
-pub struct Rearing;
-#[derive(Component)]
-pub struct RearHub;
-
 fn spawn_bike(
     mut commands: Commands,
     mut meshes: ResMut<Assets<Mesh>>,
@@ -37,14 +22,13 @@ fn spawn_bike(
     let bike = commands
         .spawn(SpatialBundle::from_transform(xform))
         .insert((
-            Name::new("body"),
             RigidBody::Dynamic,
             body_collider,
             CollisionLayers::from_bits(1, 1),
             SleepingDisabled,
             CyberBikeBody,
             CatControllerState::default(),
-            ColliderDensity(20.0),
+            ColliderDensity(0.12),
             LinearDamping(0.1),
             AngularDamping(2.0),
             LinearVelocity::ZERO,
@@ -69,56 +53,28 @@ fn spawn_bike(
     spawn_wheels(commands, meshes, materials, xform, bike);
 }
 
-fn spawn_wheels(
+#[derive(Component)]
-    mut commands: Commands,
+pub struct CyberWheel;
-    mut meshes: ResMut<Assets<Mesh>>,
-    mut materials: ResMut<Assets<StandardMaterial>>,
-    xform: Transform,
-    body: Entity,
-) {
-    let front_rake = Vec3::new(0.0, -1.0, -0.57).normalize(); // about 30 degrees
-    let front_pos = xform.translation + front_rake;
 
-    let (mesh, collider) = gen_tire();
+// marker for front suspension joint
+#[derive(Component)]
+pub struct Steering;
+#[derive(Component)]
+pub struct FrontHub;
 
-    let front_hub = wheels_helper(
+// marker for rear suspension joint
-        &mut commands,
+#[derive(Component)]
-        &mut meshes,
+pub struct Rearing;
-        &mut materials,
+#[derive(Component)]
-        front_pos,
+pub struct RearHub;
-        mesh.clone(),
-        collider.clone(),
-    );
-    commands.entity(front_hub).insert(FrontHub);
-    commands.spawn((
-        Steering,
-        FixedJoint::new(front_hub, body).with_local_anchor_2(*xform.forward() + front_rake),
-    ));
 
-    let rear_rake = Vec3::new(0.0, -1.0, 0.57).normalize();
+fn helper(
-    let rear_pos = xform.translation + rear_rake;
+    commands: &mut Commands,
-
+    meshes: &mut ResMut<Assets<Mesh>>,
-    let rear_hub = wheels_helper(
+    materials: &mut ResMut<Assets<StandardMaterial>>,
-        &mut commands,
+    position: Vec3,
-        &mut meshes,
+) -> Entity {
-        &mut materials,
+    let mut tire_mesh: Mesh = Torus::new(0.30, 0.40).into();
-        rear_pos,
-        mesh,
-        collider,
-    );
-    commands.entity(rear_hub).insert(RearHub);
-    commands.spawn((
-        Rearing,
-        FixedJoint::new(rear_hub, body).with_local_anchor_2(*xform.back() + rear_rake),
-    ));
-}
-
-//-************************************************************************
-// helper fns for the wheels
-//-************************************************************************
-
-fn gen_tire() -> (Mesh, Collider) {
-    let mut tire_mesh: Mesh = Torus::new(0.25, 0.40).into();
     let tire_verts = tire_mesh
         .attribute(Mesh::ATTRIBUTE_POSITION)
         .unwrap()
@@ -135,71 +91,76 @@ fn gen_tire() -> (Mesh, Collider) {
         .collect::<Vec<[f32; 3]>>();
     tire_mesh.remove_attribute(Mesh::ATTRIBUTE_POSITION);
     tire_mesh.insert_attribute(Mesh::ATTRIBUTE_POSITION, tire_verts);
-
+    let wheel_material = StandardMaterial {
-    let collider = Collider::convex_hull_from_mesh(&tire_mesh).unwrap();
-
-    (tire_mesh, collider)
-}
-
-fn wheels_helper(
-    commands: &mut Commands,
-    meshes: &mut ResMut<Assets<Mesh>>,
-    materials: &mut ResMut<Assets<StandardMaterial>>,
-    position: Vec3,
-    tire_mesh: Mesh,
-    collider: Collider,
-) -> Entity {
-    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 collider = Collider::convex_decomposition_from_mesh(&tire_mesh).unwrap();
+    let mut tire = None;
+    let tref = &mut tire;
 
     let xform = Transform::from_translation(position);
-    let hub_mesh: Mesh = Sphere::new(0.1).into();
 
     let hub = commands
         .spawn((
-            Name::new("hub"),
+            SpatialBundle::from_transform(xform),
             RigidBody::Dynamic,
-            MassPropertiesBundle::new_computed(&Collider::sphere(0.1), 200.0),
+            MassPropertiesBundle::new_computed(&Collider::sphere(0.1), 0.01),
-            PbrBundle {
-                mesh: meshes.add(hub_mesh),
-                material: materials.add(wheel_material.clone()),
-                transform: xform,
-                ..Default::default()
-            },
         ))
-        .id();
+        .with_children(move |parent| {
-
+            let mesh: Mesh = Sphere::new(0.1).into();
-    let tire = commands
+            parent.spawn(PbrBundle {
-        .spawn((
+                mesh: meshes.add(mesh),
-            Name::new("tire"),
-            PbrBundle {
-                mesh: meshes.add(tire_mesh),
                 material: materials.add(wheel_material.clone()),
-                transform: xform,
                 ..Default::default()
-            },
+            });
-            CyberWheel,
+            let tire_id = parent
-            RigidBody::Dynamic,
+                .spawn((
-            collider,
+                    CyberWheel,
-            Friction::new(0.9).with_dynamic_coefficient(0.6),
+                    RigidBody::Dynamic,
-            Restitution::new(0.1),
+                    collider.clone(),
-            ColliderDensity(30.0),
+                    ColliderDensity(0.05),
-            CollisionLayers::from_bits(2, 2),
+                    CollisionLayers::from_bits(2, 2),
-            ExternalTorque::ZERO.with_persistence(false),
+                    ExternalTorque::ZERO.with_persistence(false),
-            CollisionMargin(0.05),
+                ))
-            SweptCcd::NON_LINEAR,
+                .id();
-        ))
+            let _ = tref.insert(tire_id);
+        })
         .id();
 
     // connect hubs and tires to make wheels
-    commands.spawn(RevoluteJoint::new(hub, tire).with_aligned_axis(Vec3::X));
+    commands.spawn(RevoluteJoint::new(hub, tire.unwrap()).with_aligned_axis(Vec3::X));
     hub
 }
 
+fn spawn_wheels(
+    mut commands: Commands,
+    mut meshes: ResMut<Assets<Mesh>>,
+    mut materials: ResMut<Assets<StandardMaterial>>,
+    xform: Transform,
+    body: Entity,
+) {
+    let rake_vec = Vec3::new(0.0, -1.0, -0.57).normalize(); // about 30 degrees
+    let front_pos = xform.translation + rake_vec;
+
+    let front_hub = helper(&mut commands, &mut meshes, &mut materials, front_pos);
+    commands.entity(front_hub).insert(FrontHub);
+    commands.spawn((
+        Steering,
+        FixedJoint::new(front_hub, body).with_local_anchor_2(*xform.forward() + rake_vec),
+    ));
+
+    let rear_pos = xform.translation + Vec3::new(0.0, -1.0, 0.57).normalize();
+    let rear_hub = helper(&mut commands, &mut meshes, &mut materials, rear_pos);
+    commands.entity(rear_hub).insert(RearHub);
+    commands.spawn((
+        Rearing,
+        FixedJoint::new(rear_hub, body).with_local_anchor_2(*xform.back() + rake_vec.y),
+    ));
+}
+
 pub struct CyberBikePlugin;
 
 impl Plugin for CyberBikePlugin {

src/main.rs

@@ -41,23 +41,16 @@ fn ground_and_light(
     mut meshes: ResMut<Assets<Mesh>>,
     mut materials: ResMut<Assets<StandardMaterial>>,
 ) {
-    commands
+    commands.spawn((
-        .spawn((
+        RigidBody::Static,
-            SpatialBundle::default(),
+        Collider::cuboid(50.0, 0.5, 50.0),
-            RigidBody::Static,
+        PbrBundle {
-            Collider::cuboid(50.0, 0.5, 50.0),
+            mesh: meshes.add(Plane3d::default().mesh().size(50.0, 50.0)),
-            CollisionMargin(0.1),
+            material: materials.add(Color::from(SILVER)),
-            ColliderDensity(1000.0),
+            transform: Transform::from_xyz(0.0, -3., 0.0),
-            Friction::new(0.9),
+            ..default()
-        ))
+        },
-        .with_children(|p| {
+    ));
-            p.spawn(PbrBundle {
-                mesh: meshes.add(Plane3d::default().mesh().size(50.0, 50.0)),
-                material: materials.add(Color::from(SILVER)),
-                transform: Transform::from_xyz(0.0, 0.4, 0.0),
-                ..default()
-            });
-        });
 
     commands.spawn(PointLightBundle {
         point_light: PointLight {

src/physics.rs

@@ -18,9 +18,9 @@ pub struct CatControllerSettings {
 impl Default for CatControllerSettings {
     fn default() -> Self {
         Self {
-            kp: 1200.0,
+            kp: 10.0,
-            kd: 10.0,
+            kd: 1.2,
-            ki: 50.0,
+            ki: 0.2,
         }
     }
 }
@@ -174,7 +174,6 @@ impl Plugin for CyberPhysicsPlugin {
             .init_resource::<CyberLean>()
             .register_type::<CyberLean>()
             .add_plugins((PhysicsPlugins::default(), PhysicsDebugPlugin::default()))
-            .insert_resource(SubstepCount(12))
             .add_systems(Update, (apply_lean, calculate_lean));
     }
 }