checkpoint, kinda fucked up

src/action/components.rs

@@ -58,9 +58,9 @@ pub struct CatControllerSettings {
 impl Default for CatControllerSettings {
     fn default() -> Self {
         Self {
-            kp: 20.0,
+            kp: 40.0,
-            kd: 4.5,
+            kd: 5.0,
-            ki: 0.07,
+            ki: 0.1,
         }
     }
 }
@@ -85,7 +85,7 @@ impl Default for CatControllerState {
             pitch_prev: Default::default(),
             decay_factor: 0.99,
             roll_limit: 1.5,
-            pitch_limit: 1.0,
+            pitch_limit: 0.8,
         }
     }
 }

src/action/systems.rs

@@ -1,17 +1,23 @@
+use std::f32::consts::PI;
 #[cfg(feature = "inspector")]
 use std::time::Instant;
 
-use bevy::prelude::{Commands, Entity, Query, Res, ResMut, Time, Transform, Vec3, With, Without};
+use bevy::prelude::{
-use bevy_rapier3d::prelude::{
+    Commands, Entity, Quat, Query, Res, ResMut, Time, Transform, Vec3, With, Without,
-    CollisionGroups, ExternalForce, Friction, Group, QueryFilter, RapierConfiguration,
+};
+use bevy_rapier3d::{
+    prelude::{
+        CollisionGroups, ExternalForce, Group, MultibodyJoint, QueryFilter, RapierConfiguration,
         RapierContext, ReadMassProperties, Velocity,
+    },
+    rapier::prelude::JointAxis,
 };
 
 #[cfg(feature = "inspector")]
 use super::ActionDebugInstant;
 use super::{CatControllerSettings, CatControllerState, MovementSettings, Tunneling};
 use crate::{
-    bike::{CyberBikeBody, CyberWheel, BIKE_WHEEL_COLLISION_GROUP},
+    bike::{CyberBikeBody, CyberSteering, CyberWheel, BIKE_WHEEL_COLLISION_GROUP},
     input::InputState,
 };
 
@@ -61,7 +67,7 @@ pub(super) fn falling_cat(
     let (derivative, integral) = control_vars.update_pitch(pitch_error, time.delta_seconds());
     let mag = (settings.kp * pitch_error) + (settings.ki * integral) + (settings.kd * derivative);
     if mag.is_finite() {
-        forces.torque += wright * mag;
+        forces.torque += wright * mag * 0.25;
     }
 
     #[cfg(feature = "inspector")]
@@ -79,25 +85,32 @@ pub(super) fn falling_cat(
 pub(super) fn input_forces(
     settings: Res<MovementSettings>,
     input: Res<InputState>,
-    mut cquery: Query<&mut Friction, With<CyberWheel>>,
+    mut braking_query: Query<&mut MultibodyJoint, With<CyberWheel>>,
-    mut bquery: Query<(&Transform, &mut ExternalForce), With<CyberBikeBody>>,
+    mut body_query: Query<
+        (&Transform, &mut ExternalForce),
+        (With<CyberBikeBody>, Without<CyberSteering>),
+    >,
+    mut steering_query: Query<&mut Transform, With<CyberSteering>>,
 ) {
-    let (xform, mut forces) = bquery.single_mut();
+    let (xform, mut forces) = body_query.single_mut();
 
     // thrust
     let thrust = xform.forward() * input.throttle * settings.accel;
-    forces.force += thrust;
+    let point = xform.translation + xform.back();
+    let force = ExternalForce::at_point(thrust, point, xform.translation);
+    *forces += force;
 
     // brake
-    for mut friction in cquery.iter_mut() {
+    for mut motor in braking_query.iter_mut() {
-        friction.coefficient = if input.brake { 2.0 } else { 0.0 };
+        let factor = if input.brake { settings.accel } else { 0.0 };
+        motor.data.set_motor_velocity(JointAxis::X, 0.0, factor);
     }
 
     // steering
-    let force = xform.right() * input.yaw * settings.sensitivity;
+    let angle = input.yaw * (PI / 2.0);
-    let point = xform.translation + xform.forward();
+    let mut steering = steering_query.single_mut();
-    let force = ExternalForce::at_point(force, point, xform.translation);
+    steering.rotation = Quat::from_axis_angle(Vec3::Y, angle + 90.0f32.to_radians());
-    *forces += force;
+    //dbg!(steering.rotation);
 }
 
 /// Don't let the wheels get stuck underneat the planet
@@ -153,7 +166,7 @@ pub(super) fn tunnel_out(
         }
         tunneling.frames -= 1;
         force.force = tunneling.dir * settings.gravity * 1.5 * mprops.0.mass;
-        #[cfg(feature = "inspector")]
+        //#[cfg(feature = "inspector")]
         dbg!(&tunneling);
     }
 }

src/bike/body.rs

@@ -82,5 +82,5 @@ pub(super) fn spawn_cyberbike(
         .insert(CatControllerState::default())
         .id();
 
-    spawn_tires(&mut commands, &xform, bike, &wheel_conf, &mut meshterials);
+    spawn_tires(&mut commands, bike, xform, &wheel_conf, &mut meshterials);
 }

src/bike/components.rs

@@ -6,6 +6,9 @@ use bevy::{
 #[derive(Component)]
 pub struct CyberBikeBody;
 
+#[derive(Component)]
+pub struct CyberSteering;
+
 #[derive(Debug, Component)]
 pub struct CyberWheel;
 

src/bike/wheels.rs

@@ -1,16 +1,16 @@
 use bevy::prelude::{shape::UVSphere as Tire, *};
 use bevy_rapier3d::prelude::{
-    Ccd, Collider, ColliderMassProperties, CollisionGroups, Damping, ExternalForce, Friction,
+    Ccd, CoefficientCombineRule, Collider, ColliderMassProperties, CollisionGroups, Damping,
-    MultibodyJoint, PrismaticJointBuilder, Restitution, RigidBody, Sleeping,
+    ExternalForce, Friction, MultibodyJoint, PrismaticJointBuilder, Restitution,
-    TransformInterpolation,
+    RevoluteJointBuilder, RigidBody, Sleeping, TransformInterpolation,
 };
 
-use super::{CyberWheel, Meshterial, WheelConfig, BIKE_WHEEL_COLLISION_GROUP};
+use super::{CyberSteering, CyberWheel, Meshterial, WheelConfig, BIKE_WHEEL_COLLISION_GROUP};
 
 pub fn spawn_tires(
     commands: &mut Commands,
-    xform: &Transform,
     bike: Entity,
+    xform: Transform,
     conf: &WheelConfig,
     meshterials: &mut Meshterial,
 ) {
@@ -47,8 +47,13 @@ pub fn spawn_tires(
     };
 
     let friction = Friction {
-        coefficient: 0.0,
+        coefficient: 1.0,
-        ..Default::default()
+        combine_rule: CoefficientCombineRule::Min,
+    };
+
+    let restitution = Restitution {
+        coefficient: 0.8,
+        combine_rule: CoefficientCombineRule::Average,
     };
 
     let mut wheel_poses = Vec::with_capacity(2);
@@ -58,7 +63,7 @@ pub fn spawn_tires(
         let wheel_x = 0.0;
         let wheel_z = -conf.front_forward;
         let offset = Vec3::new(wheel_x, wheel_y, wheel_z);
-        wheel_poses.push(offset);
+        wheel_poses.push((offset, Some(CyberSteering)));
     }
 
     // rear
@@ -66,12 +71,10 @@ pub fn spawn_tires(
         let wheel_x = 0.0;
         let wheel_z = conf.rear_back;
         let offset = Vec3::new(wheel_x, wheel_y, wheel_z);
-        wheel_poses.push(offset);
+        wheel_poses.push((offset, None));
     }
 
-    for offset in wheel_poses {
+    for (offset, steering) in wheel_poses {
-        let trans = xform.translation + offset;
-        let wheel_pos_in_world = Transform::from_rotation(xform.rotation).with_translation(trans);
         let wheel_damping = Damping {
             linear_damping: 0.8,
             ..Default::default()
@@ -83,42 +86,69 @@ pub fn spawn_tires(
         let prismatic = PrismaticJointBuilder::new(Vec3::Y)
             .local_anchor1(offset)
             .limits(limits)
-            .motor_position(-0.1, stiffness, damping);
+            .motor_position(limits[0], stiffness, damping);
-        let joint = MultibodyJoint::new(bike, prismatic);
 
-        let spatial_bundle = SpatialBundle {
+        let fork = commands
-            transform: wheel_pos_in_world,
+            .spawn(SpatialBundle {
+                transform: Transform::from_translation(offset),
                 ..Default::default()
-        };
+            })
+            .set_parent(bike)
+            .id();
 
-        let tire_spundle = SpatialBundle {
+        let suspension = MultibodyJoint::new(fork, prismatic);
-            transform: Transform::IDENTITY,
+        let sentity = commands
-            ..Default::default()
-        };
-
-        commands
             .spawn(RigidBody::Dynamic)
-            .insert(spatial_bundle)
+            .insert(suspension)
-            .insert((
+            .insert(SpatialBundle {
+                transform: Transform::from_translation(offset),
+                ..Default::default()
+            })
+            .set_parent(bike)
+            .id();
+
+        if let Some(steering) = steering {
+            commands.entity(sentity).insert(steering);
+        }
+
+        let revolute = RevoluteJointBuilder::new(Vec3::X);
+        let axel = MultibodyJoint::new(sentity, revolute);
+        let wheel_bundle = (
             wheel_collider,
             mass_props,
             wheel_damping,
             ccd,
-                not_sleeping,
-                joint,
             wheels_collision_group,
             friction,
+            restitution,
             CyberWheel,
             ExternalForce::default(),
-                Restitution::new(0.2),
+            not_sleeping,
-            ))
+            axel,
+        );
+
+        let _wentity = commands
+            .spawn(RigidBody::Dynamic)
+            .insert(SpatialBundle {
+                // transform: Transform::from_rotation(xform.rotation)
+                //     .with_translation(xform.translation)
+                transform: Transform::from_rotation(Quat::from_axis_angle(
+                    Vec3::Z,
+                    90.0f32.to_radians(),
+                )),
+                ..Default::default()
+            })
+            .insert(wheel_bundle)
             .with_children(|wheel| {
-                wheel.spawn(tire_spundle).insert(pbr_bundle.clone()).insert(
+                wheel
-                    TransformInterpolation {
+                    .spawn(SpatialBundle::default())
+                    .insert(pbr_bundle.clone())
+                    .insert(TransformInterpolation {
                         start: None,
                         end: None,
-                    },
-                );
                     });
+            })
+            .set_parent(sentity)
+            .id();
     }
 }

src/planet.rs

@@ -32,7 +32,7 @@ fn spawn_planet(
     let pcollide = (
         shape,
         Friction {
-            coefficient: 0.05,
+            coefficient: 0.7,
             ..Default::default()
         },
         Restitution::new(0.0),