From 3b307f438924c4044d051124f93aca5f230fc148 Mon Sep 17 00:00:00 2001
From: Joe Ardent <code@ardent.nebcorp.com>
Date: Thu, 13 Jun 2024 16:29:50 -0700
Subject: [PATCH] better, wheels still get mired

---
 src/action/components.rs |  4 ++--
 src/action/mod.rs        |  4 ++--
 src/action/systems.rs    | 36 ++++++++++++++++++++++++++----------
 src/bike/body.rs         |  2 +-
 src/bike/components.rs   |  4 ++--
 src/bike/wheels.rs       |  6 +++---
 src/camera.rs            |  2 +-
 src/glamor.rs            |  1 +
 src/lights.rs            |  2 +-
 src/main.rs              |  4 ++--
 src/planet.rs            | 12 +++++++++---
 11 files changed, 50 insertions(+), 27 deletions(-)

diff --git a/src/action/components.rs b/src/action/components.rs
index 7a6587b..a844fa2 100644
--- a/src/action/components.rs
+++ b/src/action/components.rs
@@ -36,7 +36,7 @@ impl Default for Tunneling {
     fn default() -> Self {
         Tunneling {
             frames: 15,
-            dir: Vec3::ZERO,
+            dir: Vec3::Y,
         }
     }
 }
@@ -52,7 +52,7 @@ impl Default for MovementSettings {
     fn default() -> Self {
         Self {
             accel: 20.0,
-            gravity: 4.8,
+            gravity: 9.8,
         }
     }
 }
diff --git a/src/action/mod.rs b/src/action/mod.rs
index 50cb7f4..904e397 100644
--- a/src/action/mod.rs
+++ b/src/action/mod.rs
@@ -39,8 +39,8 @@ impl Plugin for CyberActionPlugin {
                     falling_cat,
                     input_forces,
                     drag,
-                    tunnel_out,
-                    surface_fix,
+                    //tunnel_out,
+                    //surface_fix,
                 )
                     .chain(),
             );
diff --git a/src/action/systems.rs b/src/action/systems.rs
index 134757e..7c808ab 100644
--- a/src/action/systems.rs
+++ b/src/action/systems.rs
@@ -1,7 +1,7 @@
 use std::f32::consts::{FRAC_PI_3, FRAC_PI_4};
 
 use bevy::prelude::{
-    Commands, Entity, Quat, Query, Res, ResMut, Time, Transform, Vec3, With, Without,
+    Commands, Entity, Local, Quat, Query, Res, ResMut, Time, Transform, Vec3, With, Without,
 };
 use bevy_rapier3d::prelude::{
     CollisionGroups, ExternalForce, Group, MultibodyJoint, QueryFilter, RapierConfiguration,
@@ -94,13 +94,19 @@ pub(super) fn cyber_lean(
 
 /// PID-based controller for stabilizing attitude; keeps the cyberbike upright.
 pub(super) fn falling_cat(
-    mut bike_query: Query<(&Transform, &mut ExternalForce, &mut CatControllerState)>,
+    mut bike_query: Query<(
+        &Transform,
+        &Velocity,
+        &mut ExternalForce,
+        &mut CatControllerState,
+    )>,
     time: Res<Time>,
     settings: Res<CatControllerSettings>,
     lean: Res<CyberLean>,
+    mut count: Local<usize>,
 ) {
-    let (xform, mut forces, mut control_vars) = bike_query.single_mut();
-    let world_up = xform.translation.normalize();
+    let (xform, vel, mut forces, mut control_vars) = bike_query.single_mut();
+    let world_up = Vec3::Y; //xform.translation.normalize();
     let rot = Quat::from_axis_angle(*xform.back(), lean.lean);
     let target_up = rotate_point(&world_up, &rot).normalize();
 
@@ -109,6 +115,16 @@ pub(super) fn falling_cat(
     let roll_error = bike_right.dot(target_up);
     let pitch_error = world_up.dot(*xform.back());
 
+    if *count < 30 {
+        if *count == 0 {
+            dbg!(&xform.translation);
+            dbg!(&vel.linvel);
+        }
+        *count += 1;
+    } else {
+        *count = 0;
+    }
+
     // only try to correct roll if we're not totally vertical
     if pitch_error.abs() < 0.95 {
         let (derivative, integral) = control_vars.update_roll(roll_error, time.delta_seconds());
@@ -186,18 +202,18 @@ pub(super) fn surface_fix(
 
     for (entity, xform, mut cgroups) in wheel_query.iter_mut() {
         //let ray_dir = xform.translation.normalize();
-        let ray_dir = xform.right().cross(span).normalize();
+        let ray_dir = Vec3::NEG_Y; //xform.right().cross(span).normalize();
         if let Some(hit) = context.cast_ray_and_get_normal(
             xform.translation,
             ray_dir,
-            config.radius * 1.1,
+            config.radius,
             false,
             QueryFilter::only_fixed(),
         ) {
-            cgroups.memberships = Group::NONE;
-            cgroups.filters = Group::NONE;
+            //cgroups.memberships = Group::NONE;
+            //cgroups.filters = Group::NONE;
             commands.entity(entity).insert(Tunneling {
-                frames: 3,
+                frames: 2,
                 dir: hit.1.normal,
             });
         }
@@ -227,7 +243,7 @@ pub(super) fn tunnel_out(
             continue;
         }
         tunneling.frames -= 1;
-        force.force = tunneling.dir * settings.gravity * 1.5 * mprops.get().mass;
+        force.force = tunneling.dir * settings.gravity * 1.1 * mprops.get().mass;
         #[cfg(feature = "inspector")]
         dbg!(&tunneling);
     }
diff --git a/src/bike/body.rs b/src/bike/body.rs
index bbf1b9d..cd7ca9e 100644
--- a/src/bike/body.rs
+++ b/src/bike/body.rs
@@ -16,7 +16,7 @@ pub(super) fn spawn_cyberbike(
     wheel_conf: Res<WheelConfig>,
     mut meshterials: Meshterial,
 ) {
-    let altitude = 53.0;
+    let altitude = 3.0;
 
     let mut xform = Transform::from_translation(Vec3::Y * altitude);
 
diff --git a/src/bike/components.rs b/src/bike/components.rs
index bd7f44f..8057f5e 100644
--- a/src/bike/components.rs
+++ b/src/bike/components.rs
@@ -35,9 +35,9 @@ impl Default for WheelConfig {
             rear_back: 1.0,
             y: -0.1,
             limits: [-0.5, 0.1],
-            stiffness: 190.0,
+            stiffness: 30.0,
             damping: 8.0,
-            radius: 0.25,
+            radius: 0.35,
             thickness: 0.11,
             friction: 1.2,
             restitution: 0.95,
diff --git a/src/bike/wheels.rs b/src/bike/wheels.rs
index 871a43c..c0118e1 100644
--- a/src/bike/wheels.rs
+++ b/src/bike/wheels.rs
@@ -51,9 +51,9 @@ pub fn spawn_wheels(
 
         let material = StandardMaterial {
             base_color: Color::Rgba {
-                red: 0.01,
-                green: 0.01,
-                blue: 0.01,
+                red: 0.99,
+                green: 0.99,
+                blue: 0.05,
                 alpha: 1.0,
             },
             alpha_mode: AlphaMode::Opaque,
diff --git a/src/camera.rs b/src/camera.rs
index 76d8318..0d1a744 100644
--- a/src/camera.rs
+++ b/src/camera.rs
@@ -67,7 +67,7 @@ fn follow_cyberbike(
     offset: Res<DebugCamOffset>,
 ) {
     let bike_xform = *query.p0().single();
-    let up = bike_xform.translation.normalize();
+    let up = Vec3::Y; //bike_xform.translation.normalize();
 
     for (mut cam_xform, cam_type) in query.p1().iter_mut() {
         match *cam_type {
diff --git a/src/glamor.rs b/src/glamor.rs
index 9f11594..8b46ce4 100644
--- a/src/glamor.rs
+++ b/src/glamor.rs
@@ -19,6 +19,7 @@ impl Plugin for CyberGlamorPlugin {
             let mode = DebugRenderMode::CONTACTS
                 | DebugRenderMode::SOLVER_CONTACTS
                 | DebugRenderMode::JOINTS
+                | DebugRenderMode::COLLIDER_SHAPES
                 | DebugRenderMode::RIGID_BODY_AXES;
 
             let rplugin = RapierDebugRenderPlugin {
diff --git a/src/lights.rs b/src/lights.rs
index 66eabae..515efa1 100644
--- a/src/lights.rs
+++ b/src/lights.rs
@@ -20,7 +20,7 @@ fn spawn_static_lights(
 
     commands.insert_resource(AmbientLight {
         color: Color::WHITE,
-        brightness: 1.0,
+        brightness: 100.0,
     });
 
     // let _cascade_shadow_config = CascadeShadowConfigBuilder {
diff --git a/src/main.rs b/src/main.rs
index 4154b40..b8fbe25 100644
--- a/src/main.rs
+++ b/src/main.rs
@@ -1,5 +1,5 @@
 use bevy::prelude::*;
-#[cfg(feature = "inspector")]
+//#[cfg(feature = "inspector")]
 use cyber_rider::glamor::CyberGlamorPlugin;
 use cyber_rider::{
     action::CyberActionPlugin, bike::CyberBikePlugin, camera::CyberCamPlugin, disable_mouse_trap,
@@ -33,7 +33,7 @@ fn main() {
         .add_systems(Startup, disable_mouse_trap)
         .add_systems(Update, bevy::window::close_on_esc);
 
-    #[cfg(feature = "inspector")]
+    //#[cfg(feature = "inspector")]
     app.add_plugins(CyberGlamorPlugin);
 
     app.run();
diff --git a/src/planet.rs b/src/planet.rs
index 35c098e..db3c947 100644
--- a/src/planet.rs
+++ b/src/planet.rs
@@ -24,7 +24,11 @@ fn spawn_planet(
 
     let (mesh, shape) = gen_planet(999.9);
 
-    let pbody = (RigidBody::Fixed, Ccd { enabled: true });
+    let pbody = (
+        RigidBody::Fixed,
+        Ccd { enabled: true },
+        Transform::from_xyz(0.0, 0.1, 0.0),
+    );
 
     let pcollide = (
         shape,
@@ -33,6 +37,7 @@ fn spawn_planet(
             ..Default::default()
         },
         Restitution::new(0.8),
+        Transform::from_xyz(0.0, 0.1, 0.0),
     );
 
     commands
@@ -42,6 +47,7 @@ fn spawn_planet(
                 base_color: Color::GREEN,
                 ..Default::default()
             }),
+            transform: Transform::from_xyz(0.0, 0.1, 0.0),
             ..Default::default()
         })
         .insert(pbody)
@@ -61,9 +67,9 @@ impl Plugin for CyberPlanetPlugin {
 //---------------------------------------------------------------------
 
 fn gen_planet(span: f32) -> (Mesh, Collider) {
-    let mesh = Cuboid::new(span, 50.0, span);
+    let mesh = Cuboid::new(span, 0.1, span);
 
-    let collider = Collider::cuboid(span, 50.0, span);
+    let collider = Collider::cuboid(span / 2.0, 0.05, span / 2.0);
 
     (mesh.mesh(), collider)
 }