done with it for now, bringing back into cyber rider

Cargo.toml

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

src/bike.rs

@@ -8,6 +8,21 @@ 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>>,
@@ -22,13 +37,14 @@ 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(0.12),
+            ColliderDensity(20.0),
             LinearDamping(0.1),
             AngularDamping(2.0),
             LinearVelocity::ZERO,
@@ -53,28 +69,56 @@ fn spawn_bike(
     spawn_wheels(commands, meshes, materials, xform, bike);
 }
 
-#[derive(Component)]
+fn spawn_wheels(
-pub struct CyberWheel;
+    mut commands: Commands,
+    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;
 
-// marker for front suspension joint
+    let (mesh, collider) = gen_tire();
-#[derive(Component)]
-pub struct Steering;
-#[derive(Component)]
-pub struct FrontHub;
 
-// marker for rear suspension joint
+    let front_hub = wheels_helper(
-#[derive(Component)]
+        &mut commands,
-pub struct Rearing;
+        &mut meshes,
-#[derive(Component)]
+        &mut materials,
-pub struct RearHub;
+        front_pos,
+        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),
+    ));
 
-fn helper(
+    let rear_rake = Vec3::new(0.0, -1.0, 0.57).normalize();
-    commands: &mut Commands,
+    let rear_pos = xform.translation + rear_rake;
-    meshes: &mut ResMut<Assets<Mesh>>,
+
-    materials: &mut ResMut<Assets<StandardMaterial>>,
+    let rear_hub = wheels_helper(
-    position: Vec3,
+        &mut commands,
-) -> Entity {
+        &mut meshes,
-    let mut tire_mesh: Mesh = Torus::new(0.30, 0.40).into();
+        &mut materials,
+        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()
@@ -91,76 +135,71 @@ fn helper(
         .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((
-            SpatialBundle::from_transform(xform),
+            Name::new("hub"),
             RigidBody::Dynamic,
-            MassPropertiesBundle::new_computed(&Collider::sphere(0.1), 0.01),
+            MassPropertiesBundle::new_computed(&Collider::sphere(0.1), 200.0),
-        ))
+            PbrBundle {
-        .with_children(move |parent| {
+                mesh: meshes.add(hub_mesh),
-            let mesh: Mesh = Sphere::new(0.1).into();
-            parent.spawn(PbrBundle {
-                mesh: meshes.add(mesh),
                 material: materials.add(wheel_material.clone()),
+                transform: xform,
                 ..Default::default()
-            });
+            },
-            let tire_id = parent
+        ))
-                .spawn((
+        .id();
-                    CyberWheel,
+
-                    RigidBody::Dynamic,
+    let tire = commands
-                    collider.clone(),
+        .spawn((
-                    ColliderDensity(0.05),
+            Name::new("tire"),
-                    CollisionLayers::from_bits(2, 2),
+            PbrBundle {
-                    ExternalTorque::ZERO.with_persistence(false),
+                mesh: meshes.add(tire_mesh),
-                ))
+                material: materials.add(wheel_material.clone()),
-                .id();
+                transform: xform,
-            let _ = tref.insert(tire_id);
+                ..Default::default()
-        })
+            },
+            CyberWheel,
+            RigidBody::Dynamic,
+            collider,
+            Friction::new(0.9).with_dynamic_coefficient(0.6),
+            Restitution::new(0.1),
+            ColliderDensity(30.0),
+            CollisionLayers::from_bits(2, 2),
+            ExternalTorque::ZERO.with_persistence(false),
+            CollisionMargin(0.05),
+            SweptCcd::NON_LINEAR,
+        ))
         .id();
 
     // connect hubs and tires to make wheels
-    commands.spawn(RevoluteJoint::new(hub, tire.unwrap()).with_aligned_axis(Vec3::X));
+    commands.spawn(RevoluteJoint::new(hub, tire).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

@@ -41,16 +41,23 @@ fn ground_and_light(
     mut meshes: ResMut<Assets<Mesh>>,
     mut materials: ResMut<Assets<StandardMaterial>>,
 ) {
-    commands.spawn((
+    commands
-        RigidBody::Static,
+        .spawn((
-        Collider::cuboid(50.0, 0.5, 50.0),
+            SpatialBundle::default(),
-        PbrBundle {
+            RigidBody::Static,
-            mesh: meshes.add(Plane3d::default().mesh().size(50.0, 50.0)),
+            Collider::cuboid(50.0, 0.5, 50.0),
-            material: materials.add(Color::from(SILVER)),
+            CollisionMargin(0.1),
-            transform: Transform::from_xyz(0.0, -3., 0.0),
+            ColliderDensity(1000.0),
-            ..default()
+            Friction::new(0.9),
-        },
+        ))
-    ));
+        .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: 10.0,
+            kp: 1200.0,
-            kd: 1.2,
+            kd: 10.0,
-            ki: 0.2,
+            ki: 50.0,
         }
     }
 }
@@ -174,6 +174,7 @@ 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));
     }
 }