still gets unstable

src/action/systems.rs

@@ -49,8 +49,18 @@ pub(super) fn gravity(
     mut query: Query<(&Transform, &mut ExternalForce), With<CyberBikeBody>>,
     settings: Res<MovementSettings>,
     mut rapier_config: ResMut<RapierConfiguration>,
+    #[cfg(feature = "inspector")] mut debug_instant: ResMut<ActionDebugInstant>,
 ) {
     let (xform, mut forces) = query.single_mut();
+
+    #[cfg(feature = "inspector")]
+    {
+        if debug_instant.elapsed().as_millis() > 1000 {
+            dbg!(&forces);
+            debug_instant.reset();
+        }
+    }
+
     rapier_config.gravity = xform.translation.normalize() * -settings.gravity;
     forces.force = Vec3::ZERO;
     forces.torque = Vec3::ZERO;
@@ -88,7 +98,6 @@ pub(super) fn falling_cat(
     time: Res<Time>,
     settings: Res<CatControllerSettings>,
     lean: Res<CyberLean>,
-    #[cfg(feature = "inspector")] mut debug_instant: ResMut<ActionDebugInstant>,
 ) {
     let (xform, mut forces, mut control_vars) = bike_query.single_mut();
     let world_up = xform.translation.normalize();
@@ -108,13 +117,6 @@ pub(super) fn falling_cat(
         if mag.is_finite() {
             forces.torque += xform.back() * mag;
         }
-        #[cfg(feature = "inspector")]
-        {
-            if debug_instant.elapsed().as_millis() > 1000 {
-                dbg!(&control_vars, mag, &target_up);
-                debug_instant.reset();
-            }
-        }
     }
 }
 

src/bike/body.rs

@@ -16,7 +16,7 @@ pub(super) fn spawn_cyberbike(
     wheel_conf: Res<WheelConfig>,
     mut meshterials: Meshterial,
 ) {
-    let altitude = PLANET_RADIUS - 180.0;
+    let altitude = PLANET_RADIUS - 10.0;
 
     let mut xform = Transform::from_translation(Vec3::X * altitude)
         .with_rotation(Quat::from_axis_angle(Vec3::Z, -89.0f32.to_radians()));

src/bike/components.rs

@@ -37,11 +37,11 @@ impl Default for WheelConfig {
             limits: [-0.5, 0.1],
             stiffness: 50.0,
             damping: 8.0,
-            radius: 0.3,
+            radius: 0.38,
             thickness: 0.2,
             friction: 1.2,
-            restitution: 0.8,
+            restitution: 0.95,
-            density: 0.6,
+            density: 0.9,
         }
     }
 }

src/bike/wheels.rs

@@ -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 };
@@ -100,7 +100,7 @@ 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, 0.0, 0.1)); // this adds another 0.1m of trail
+                RevoluteJointBuilder::new(rake_vec).local_anchor1(Vec3::new(0.0, -0.08, 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)
@@ -114,25 +114,28 @@ pub fn spawn_tires(
         };
 
         let axel_builder = RevoluteJointBuilder::new(Vec3::X);
-        let mut axel_joint = MultibodyJoint::new(axel_parent_entity, axel_builder);
+        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.spawn(pbr_bundle.clone()).insert((
+        commands
-            wheel_collider,
+            .spawn(pbr_bundle.clone())
-            mass_props,
+            .insert((
-            wheel_damping,
+                wheel_collider,
-            ccd,
+                mass_props,
-            not_sleeping,
+                wheel_damping,
-            axel_joint,
+                ccd,
-            wheels_collision_group,
+                not_sleeping,
-            friction,
+                axel_joint,
-            CyberWheel,
+                wheels_collision_group,
-            ExternalForce::default(),
+                friction,
-            Restitution::new(conf.restitution),
+                CyberWheel,
-            TransformInterpolation::default(),
+                ExternalForce::default(),
-            RigidBody::Dynamic,
+                Restitution::new(conf.restitution),
-        ));
+                TransformInterpolation::default(),
+                RigidBody::Dynamic,
+            ))
+            .insert(SpatialBundle::default());
     }
 }

src/planet.rs

@@ -9,7 +9,7 @@ use wgpu::PrimitiveTopology;
 
 use crate::Label;
 
-pub const PLANET_RADIUS: f32 = 6000.0;
+pub const PLANET_RADIUS: f32 = 3_000.0;
 
 #[derive(Component)]
 pub struct CyberPlanet;