From 2b58ac82c4570efc5732d4573115d863802c65c8 Mon Sep 17 00:00:00 2001
From: Joe Ardent <code@ardent.nebcorp.com>
Date: Thu, 25 Jul 2024 17:31:44 -0700
Subject: [PATCH] inputs but no steering

---
 src/action/components.rs |  2 +-
 src/action/mod.rs        |  2 +-
 src/action/systems.rs    | 22 +++++-----------------
 3 files changed, 7 insertions(+), 19 deletions(-)

diff --git a/src/action/components.rs b/src/action/components.rs
index bb68eec..77083f0 100644
--- a/src/action/components.rs
+++ b/src/action/components.rs
@@ -36,7 +36,7 @@ pub struct MovementSettings {
 impl Default for MovementSettings {
     fn default() -> Self {
         Self {
-            accel: 20.0,
+            accel: 2000.0,
             gravity: 9.8,
         }
     }
diff --git a/src/action/mod.rs b/src/action/mod.rs
index 763ecd4..4777974 100644
--- a/src/action/mod.rs
+++ b/src/action/mod.rs
@@ -32,7 +32,7 @@ impl Plugin for CyberActionPlugin {
             .insert_resource(SubstepCount(12))
             .add_systems(
                 FixedUpdate,
-                (set_gravity, calculate_lean, apply_lean).chain(),
+                (set_gravity, calculate_lean, apply_lean, apply_inputs).chain(),
             );
     }
 }
diff --git a/src/action/systems.rs b/src/action/systems.rs
index d382bfe..e9f2937 100644
--- a/src/action/systems.rs
+++ b/src/action/systems.rs
@@ -111,35 +111,23 @@ pub(super) fn apply_inputs(
     settings: Res<MovementSettings>,
     input: Res<InputState>,
     time: Res<Time>,
-    fork: Query<(&FixedJoint, &CyberFork), With<CyberSteering>>,
-    mut hub: Query<(RigidBodyQuery, &Transform), With<CyberSteering>>,
-    mut braking_query: Query<(&Transform, &mut ExternalTorque), With<CyberWheel>>,
+    mut wheels: Query<(&Transform, &mut ExternalTorque), With<CyberWheel>>,
     mut body_query: Query<RigidBodyQuery, (With<CyberBikeBody>, Without<CyberSteering>)>,
 ) {
-    let Ok(mut bike) = body_query.get_single_mut() else {
+    let Ok(mut _bike) = body_query.get_single_mut() else {
         bevy::log::debug!("no bike body found");
         return;
     };
     let dt = time.delta_seconds();
 
     // brake + thrust
-    for (xform, mut motor) in braking_query.iter_mut() {
+    for (xform, mut torque) in wheels.iter_mut() {
         let factor = input.throttle * settings.accel;
 
         let target = dt * factor;
-        let torque = target * *xform.right();
-        motor.apply_torque(torque);
+        let tork = target * *xform.left();
+        torque.apply_torque(tork);
     }
 
     // steering
-    let _angle = yaw_to_angle(input.yaw);
-    let (mut axle, xform) = hub.single_mut();
-
-    let cur_rot = xform.rotation;
-    let (fork, CyberFork(axis)) = fork.single();
-    let new = Quat::from_axis_angle(*axis, _angle);
-    let diff = (new - cur_rot).to_scaled_axis();
-    let mut lagrange = 1.0;
-
-    fork.align_orientation(&mut axle, &mut bike, diff, &mut lagrange, 0.0, dt);
 }