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checkpoint, no normal force yet

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This commit is contained in:
Joe Ardent 2024-06-16 09:21:42 -07:00
parent e358830c5f
commit 18766a3d5b
1 changed files with 23 additions and 11 deletions
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34
src/action/systems.rs
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@ -1,7 +1,7 @@
use std::f32::consts::{FRAC_PI_3, FRAC_PI_4}; use std::f32::consts::{FRAC_PI_3, FRAC_PI_4};
use bevy::prelude::{ use bevy::prelude::{
Commands, Entity, Local, Quat, Query, Res, ResMut, Time, Transform, Vec3, With, Without, info, Commands, Entity, Local, Quat, Query, Res, ResMut, Time, Transform, Vec3, With, Without,
}; };
use bevy_rapier3d::{ use bevy_rapier3d::{
dynamics::MassProperties, dynamics::MassProperties,
@ -135,6 +135,7 @@ pub(super) fn wheel_forces(
&Transform, &Transform,
&Velocity, &Velocity,
&mut PreviousVelocity, &mut PreviousVelocity,
&mut ExternalForce,
Option<&CyberSteering>, Option<&CyberSteering>,
), ),
(With<CyberWheel>, Without<CyberBikeBody>), (With<CyberWheel>, Without<CyberBikeBody>),
@ -168,31 +169,42 @@ pub(super) fn wheel_forces(
// we're just projecting onto the ground, so nuke the Y. // we're just projecting onto the ground, so nuke the Y.
body_forward.y = 0.0; body_forward.y = 0.0;
let body_half_mass = body_mass.mass * 0.5; let body_half_mass = body_mass.mass * 0.5;
let g = gvec * settings.gravity * body_half_mass; let half_weight = settings.gravity * body_half_mass;
// inputs // inputs
let steering_angle = yaw_to_angle(input.yaw); let steering = input.yaw;
let throttle = input.throttle * settings.accel; let throttle = input.throttle * settings.accel;
for (xform, vel, mut pvel, steering) in wheels_query.iter_mut() { for (xform, vel, mut pvel, mut force, steering) in wheels_query.iter_mut() {
if let Some((_, projected)) = if let Some((_, projected)) =
context.project_point(xform.translation, true, QueryFilter::only_fixed()) context.project_point(xform.translation, true, QueryFilter::only_fixed())
{ {
let normal = -(projected.point - xform.translation); info!("projected point: {:?}", projected.point);
//dbg!("{:?}", projected);
let normal = (projected.point - xform.translation);
let len = normal.length(); let len = normal.length();
let normal = normal.normalize(); let normal = normal.normalize();
if len < wheel_config.radius { if len < wheel_config.radius {
// we're in contact let grav_norm = gvec.normalize().dot(normal);
// we're in contact, first gravity
// do gravity's share let inside = if projected.is_inside { -1.0 } else { 1.0 };
let mut force = inside * 10.0 * grav_norm * half_weight * normal;
// do linear acceleration's share // do linear acceleration's share
// f = ma
let lin_accel_norm = normal.dot(body_lin_accel.normalize());
force += body_mass.mass * lin_accel_norm * body_lin_accel;
// do friction's share // do angular accelerations's share?
// do thrust's share // do friction's share (depends on previous three)
// do steering's share // do thrust's share (depends on friction):
//
// let ef = ExternalForce::at_point(force, point,
// center_of_mass);
// do steering's share (also depends on friction)
} }
} }
} }