use torus for wheel instead of ball; is not oriented correctly

src/bike/components.rs

@@ -22,6 +22,7 @@ pub struct WheelConfig {
     pub stiffness: f32,
     pub damping: f32,
     pub radius: f32,
+    pub thickness: f32,
     pub friction: f32,
     pub restitution: f32,
     pub density: f32,
@@ -36,7 +37,8 @@ impl Default for WheelConfig {
             limits: [-0.5, 0.1],
             stiffness: 50.0,
             damping: 8.0,
-            radius: 0.3,
+            radius: 0.35,
+            thickness: 0.10,
             friction: 1.2,
             restitution: 0.8,
             density: 0.6,

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,
@@ -17,6 +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 stiffness = conf.stiffness;
     let not_sleeping = Sleeping::disabled();
     let ccd = Ccd { enabled: true };
@@ -26,6 +27,7 @@ pub fn spawn_tires(
 
     let tire = Tire {
         radius: wheel_rad,
+        ring_radius: tire_thickness,
         ..Default::default()
     };
     let material = StandardMaterial {
@@ -74,7 +76,24 @@ pub fn spawn_tires(
             linear_damping: 0.8,
             ..Default::default()
         };
-        let wheel_collider = Collider::ball(wheel_rad);
+        let mesh = Mesh::from(tire);
+        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 wheel_collider = Collider::from_bevy_mesh(&mesh, computed_shape);
         let mass_props = ColliderMassProperties::Density(conf.density);
         let damping = conf.damping;