use torus for wheels

src/bike/body.rs

@@ -39,7 +39,7 @@ pub(super) fn spawn_cyberbike(
         ..Default::default()
     };
 
-    let mass_properties = ColliderMassProperties::Density(0.9);
+    let mass_properties = ColliderMassProperties::Density(1.5);
 
     let (membership, filter) = BIKE_BODY_COLLISION_GROUP;
     let bike_collision_group = CollisionGroups::new(membership, filter);

src/bike/components.rs

@@ -32,16 +32,16 @@ impl Default for WheelConfig {
     fn default() -> Self {
         Self {
             front_forward: 0.8,
-            rear_back: 1.1,
+            rear_back: 1.0,
             y: -0.1,
             limits: [-0.5, 0.1],
-            stiffness: 50.0,
+            stiffness: 150.0,
             damping: 8.0,
-            radius: 0.38,
+            radius: 0.25,
-            thickness: 0.2,
+            thickness: 0.11,
             friction: 1.2,
             restitution: 0.95,
-            density: 0.9,
+            density: 0.05,
         }
     }
 }

src/bike/wheels.rs

@@ -1,4 +1,4 @@
-use bevy::prelude::{shape::UVSphere as Tire, *};
+use bevy::prelude::{shape::Torus as Tire, *};
 use bevy_rapier3d::prelude::{
     Ccd, CoefficientCombineRule, Collider, ColliderMassProperties, CollisionGroups, Damping,
     ExternalForce, Friction, MultibodyJoint, PrismaticJointBuilder, Restitution,
@@ -17,7 +17,7 @@ pub fn spawn_tires(
     let wheels_collision_group = CollisionGroups::new(membership, filter);
     let wheel_y = conf.y;
     let wheel_rad = conf.radius;
-    let _tire_thickness = conf.thickness;
+    let tire_thickness = conf.thickness;
     let stiffness = conf.stiffness;
     let not_sleeping = Sleeping::disabled();
     let ccd = Ccd { enabled: true };
@@ -25,29 +25,6 @@ pub fn spawn_tires(
     let (meshes, materials) = meshterials;
     let rake_vec: Vec3 = Vec3::new(0.0, 1.0, 0.57).normalize(); // about 30 degrees of rake
 
-    let tire = Tire {
-        radius: wheel_rad,
-        ..Default::default()
-    };
-
-    let material = StandardMaterial {
-        base_color: Color::Rgba {
-            red: 0.01,
-            green: 0.01,
-            blue: 0.01,
-            alpha: 1.0,
-        },
-        alpha_mode: AlphaMode::Opaque,
-        perceptual_roughness: 0.5,
-        ..Default::default()
-    };
-
-    let pbr_bundle = PbrBundle {
-        material: materials.add(material),
-        mesh: meshes.add(Mesh::from(tire)),
-        ..Default::default()
-    };
-
     let friction = Friction {
         coefficient: conf.friction,
         combine_rule: CoefficientCombineRule::Average,
@@ -71,13 +48,71 @@ pub fn spawn_tires(
         wheel_poses.push((offset, None));
     }
 
+    let material = StandardMaterial {
+        base_color: Color::Rgba {
+            red: 0.01,
+            green: 0.01,
+            blue: 0.01,
+            alpha: 1.0,
+        },
+        alpha_mode: AlphaMode::Opaque,
+        perceptual_roughness: 0.5,
+        ..Default::default()
+    };
+
     for (offset, steering) in wheel_poses {
         let wheel_damping = Damping {
             linear_damping: 0.8,
             ..Default::default()
         };
+        let tire = Tire {
+            radius: wheel_rad,
+            ring_radius: tire_thickness,
+            ..Default::default()
+        };
 
-        let wheel_collider = Collider::ball(wheel_rad);
+        let mut mesh = Mesh::from(tire);
+        let tire_verts = mesh
+            .attribute(Mesh::ATTRIBUTE_POSITION)
+            .unwrap()
+            .as_float3()
+            .unwrap()
+            .iter()
+            .map(|v| {
+                //
+                let v = Vec3::from_array(*v);
+                let m = Mat3::from_rotation_z(90.0f32.to_radians());
+                let p = m.mul_vec3(v);
+                p.to_array()
+            })
+            .collect::<Vec<[f32; 3]>>();
+        mesh.remove_attribute(Mesh::ATTRIBUTE_POSITION);
+        mesh.insert_attribute(Mesh::ATTRIBUTE_POSITION, tire_verts);
+
+        let mut idxs = Vec::new();
+        let indices = mesh.indices().unwrap().iter().collect::<Vec<_>>();
+        for idx in indices.as_slice().chunks_exact(3) {
+            idxs.push([idx[0] as u32, idx[1] as u32, idx[2] as u32]);
+        }
+        let wheel_collider = Collider::convex_decomposition(
+            &mesh
+                .attribute(Mesh::ATTRIBUTE_POSITION)
+                .unwrap()
+                .as_float3()
+                .unwrap()
+                .iter()
+                .map(|v| Vec3::from_array(*v))
+                .collect::<Vec<_>>(),
+            &idxs,
+        );
+
+        let pbr_bundle = PbrBundle {
+            material: materials.add(material.clone()),
+            mesh: meshes.add(mesh),
+            ..Default::default()
+        };
+
+        //let wheel_collider = Collider::from_bevy_mesh(&mesh, computed_shape);
         let mass_props = ColliderMassProperties::Density(conf.density);
         let damping = conf.damping;
 
@@ -100,7 +135,7 @@ pub fn spawn_tires(
 
         let axel_parent_entity = if let Some(steering) = steering {
             let neck_builder =
-                RevoluteJointBuilder::new(rake_vec).local_anchor1(Vec3::new(0.0, -0.08, 0.1)); // this adds another 0.1m of trail
+                RevoluteJointBuilder::new(rake_vec).local_anchor1(Vec3::new(0.0, 0.0, 0.1)); // this adds another 0.1m of trail
             let neck_joint = MultibodyJoint::new(fork_rb_entity, neck_builder);
             let neck = commands
                 .spawn(RigidBody::Dynamic)
@@ -115,27 +150,22 @@ pub fn spawn_tires(
 
         let axel_builder = RevoluteJointBuilder::new(Vec3::X);
         let axel_joint = MultibodyJoint::new(axel_parent_entity, axel_builder);
-        // re-orient the joint so that the wheel is correctly oriented
-        //let real_axel = *axel_joint.data.set_local_axis1(Vec3::X);
-        //axel_joint.data = real_axel;
 
-        commands
+        commands.spawn(pbr_bundle).insert((
-            .spawn(pbr_bundle.clone())
+            wheel_collider,
-            .insert((
+            mass_props,
-                wheel_collider,
+            wheel_damping,
-                mass_props,
+            ccd,
-                wheel_damping,
+            not_sleeping,
-                ccd,
+            axel_joint,
-                not_sleeping,
+            wheels_collision_group,
-                axel_joint,
+            friction,
-                wheels_collision_group,
+            CyberWheel,
-                friction,
+            ExternalForce::default(),
-                CyberWheel,
+            Restitution::new(conf.restitution),
-                ExternalForce::default(),
+            SpatialBundle::default(),
-                Restitution::new(conf.restitution),
+            TransformInterpolation::default(),
-                TransformInterpolation::default(),
+            RigidBody::Dynamic,
-                RigidBody::Dynamic,
+        ));
-            ))
-            .insert(SpatialBundle::default());
     }
 }