compiles and runs, but crashes
This commit is contained in:
Joe Ardent
parent
4d94f2bfa4
commit
3d0d86f24c
11 changed files with 172 additions and 121 deletions
23
Cargo.lock
generated
23
Cargo.lock
generated
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@ -284,9 +284,9 @@ checksum = "0c4b4d0bd25bd0b74681c0ad21497610ce1b7c91b1022cd21c80c6fbdd9476b0"
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[[package]]
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name = "avian3d"
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version = "0.1.0"
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version = "0.1.1"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "0a8da53296a1bc166b84f99aa7c6b9d8c10c71f0c022bc4fc72dd1fc49323b29"
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checksum = "54325576b6efa46576db611624db749b553d0c66e439862bdc60c43e01f012f9"
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dependencies = [
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"avian_derive",
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"bevy",
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@ -1223,9 +1223,9 @@ dependencies = [
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[[package]]
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name = "blake3"
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version = "1.5.2"
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version = "1.5.3"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "3d08263faac5cde2a4d52b513dadb80846023aade56fcd8fc99ba73ba8050e92"
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checksum = "e9ec96fe9a81b5e365f9db71fe00edc4fe4ca2cc7dcb7861f0603012a7caa210"
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dependencies = [
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"arrayref",
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"arrayvec",
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@ -1296,9 +1296,9 @@ checksum = "1fd0f2584146f6f2ef48085050886acf353beff7305ebd1ae69500e27c67f64b"
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[[package]]
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name = "bytes"
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version = "1.6.0"
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version = "1.6.1"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "514de17de45fdb8dc022b1a7975556c53c86f9f0aa5f534b98977b171857c2c9"
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checksum = "a12916984aab3fa6e39d655a33e09c0071eb36d6ab3aea5c2d78551f1df6d952"
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[[package]]
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name = "calloop"
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@ -1316,13 +1316,12 @@ dependencies = [
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[[package]]
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name = "cc"
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version = "1.1.2"
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version = "1.1.5"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "47de7e88bbbd467951ae7f5a6f34f70d1b4d9cfce53d5fd70f74ebe118b3db56"
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checksum = "324c74f2155653c90b04f25b2a47a8a631360cb908f92a772695f430c7e31052"
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dependencies = [
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"jobserver",
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"libc",
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"once_cell",
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]
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[[package]]
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@ -3067,7 +3066,7 @@ checksum = "1e401f977ab385c9e4e3ab30627d6f26d00e2c73eef317493c4ec6d468726cf8"
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dependencies = [
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"cfg-if",
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"libc",
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"redox_syscall 0.5.2",
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"redox_syscall 0.5.3",
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"smallvec",
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"windows-targets 0.52.6",
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]
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@ -3367,9 +3366,9 @@ dependencies = [
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[[package]]
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name = "redox_syscall"
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version = "0.5.2"
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version = "0.5.3"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "c82cf8cff14456045f55ec4241383baeff27af886adb72ffb2162f99911de0fd"
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checksum = "2a908a6e00f1fdd0dfd9c0eb08ce85126f6d8bbda50017e74bc4a4b7d4a926a4"
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dependencies = [
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"bitflags 2.6.0",
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]
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@ -1,7 +1,7 @@
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use std::time::{Duration, Instant};
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use bevy::{
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prelude::{Component, ReflectResource, Resource, Vec3},
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prelude::{Component, ReflectResource, Resource},
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reflect::Reflect,
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};
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@ -26,21 +26,6 @@ impl ActionDebugInstant {
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}
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}
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#[derive(Debug, Component)]
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pub(super) struct Tunneling {
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pub frames: usize,
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pub dir: Vec3,
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}
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impl Default for Tunneling {
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fn default() -> Self {
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Tunneling {
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frames: 15,
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dir: Vec3::ZERO,
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}
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}
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}
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#[derive(Debug, Resource, Reflect)]
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#[reflect(Resource)]
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pub struct MovementSettings {
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@ -1,6 +1,6 @@
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use avian3d::prelude::*;
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use avian3d::prelude::{PhysicsPlugins, SubstepCount};
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use bevy::{
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app::{Startup, Update},
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app::Update,
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diagnostic::FrameTimeDiagnosticsPlugin,
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ecs::reflect::ReflectResource,
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prelude::{App, IntoSystemConfigs, Plugin, Resource},
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@ -29,14 +29,14 @@ impl Plugin for CyberActionPlugin {
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.init_resource::<CyberLean>()
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.register_type::<CyberLean>()
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.register_type::<CatControllerSettings>()
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.add_plugins((
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PhysicsPlugins::default(),
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FrameTimeDiagnosticsPlugin::default(),
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))
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.add_plugins((PhysicsPlugins::default(), FrameTimeDiagnosticsPlugin))
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.insert_resource(SubstepCount(12))
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.add_systems(
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Update,
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(gravity, cyber_lean, falling_cat, input_forces).chain(),
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(
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gravity,
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(cyber_lean, suspension, falling_cat, input_forces).after(clear_forces),
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),
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);
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}
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}
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@ -1,17 +1,17 @@
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use std::f32::consts::{FRAC_PI_3, FRAC_PI_4};
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use avian3d::{
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dynamics::solver::xpbd::AngularConstraint, parry::mass_properties::MassProperties, prelude::*,
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};
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use bevy::prelude::{
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Commands, Entity, Quat, Query, Res, ResMut, Time, Transform, Vec3, With, Without,
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dynamics::solver::xpbd::AngularConstraint,
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prelude::{
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ColliderMassProperties, ExternalForce, ExternalTorque, Gravity, LinearVelocity,
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PrismaticJoint, RigidBodyQuery,
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},
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};
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use bevy::prelude::{Quat, Query, Res, ResMut, Time, Transform, Vec3, With, Without};
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//#[cfg(feature = "inspector")]
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//use super::ActionDebugInstant;
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use super::{CatControllerSettings, CatControllerState, CyberLean, MovementSettings, Tunneling};
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use super::{CatControllerSettings, CatControllerState, CyberLean, MovementSettings};
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use crate::{
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bike::{CyberBikeBody, CyberSteering, CyberWheel, WheelConfig, BIKE_WHEEL_COLLISION_GROUP},
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bike::{CyberBikeBody, CyberFork, CyberSpring, CyberSteering, CyberWheel, WheelConfig},
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input::InputState,
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};
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@ -37,14 +37,42 @@ fn rotate_point(pt: &Vec3, rot: &Quat) -> Vec3 {
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/// The gravity vector points from the cyberbike to the center of the planet.
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pub(super) fn gravity(
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mut query: Query<(&Transform, &mut ExternalForce), With<CyberBikeBody>>,
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xform: Query<&Transform, With<CyberBikeBody>>,
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settings: Res<MovementSettings>,
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mut gravity: ResMut<Gravity>,
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#[cfg(feature = "inspector")] mut debug_instant: ResMut<ActionDebugInstant>,
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) {
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let (xform, mut forces) = query.single_mut();
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let xform = xform.single();
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*gravity = Gravity(xform.translation.normalize() * -settings.gravity);
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forces.clear();
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// clear all external forces
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}
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pub(super) fn clear_forces(mut forces: Query<(&mut ExternalForce, &mut ExternalTorque)>) {
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for (mut force, mut torque) in forces.iter_mut() {
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force.clear();
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torque.clear();
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}
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}
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pub(super) fn suspension(
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movment_settings: Res<MovementSettings>,
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wheel_config: Res<WheelConfig>,
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mass: Query<&ColliderMassProperties, With<CyberBikeBody>>,
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mut axels: Query<(&mut ExternalForce, &CyberSpring, &Transform)>,
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) {
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let mass = if let Ok(mass) = mass.get_single() {
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mass.mass.0
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} else {
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1.0
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};
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let gravity = movment_settings.gravity;
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let mag = -wheel_config.stiffness * mass * gravity;
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for (mut force, spring, xform) in axels.iter_mut() {
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let spring = mag * spring.0;
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let spring = xform.translation + spring;
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let _ = force.apply_force(spring);
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}
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}
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/// The desired lean angle, given steering input and speed.
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@ -106,26 +134,30 @@ pub(super) fn input_forces(
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settings: Res<MovementSettings>,
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input: Res<InputState>,
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time: Res<Time>,
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axle: Query<Entity, With<CyberSteering>>,
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fork: Query<&PrismaticJoint, With<CyberFork>>,
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mut axle: Query<(RigidBodyQuery, &Transform), With<CyberSteering>>,
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mut braking_query: Query<&mut ExternalTorque, With<CyberWheel>>,
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mut body_query: Query<
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(
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Entity,
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RigidBodyQuery,
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&Transform,
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&ColliderMassProperties,
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&mut ExternalForce,
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),
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With<CyberBikeBody>,
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(With<CyberBikeBody>, Without<CyberSteering>),
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>,
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) {
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let (bike, xform, mass, mut forces) = body_query.single_mut();
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let Ok((mut bike, xform, mass, mut forces)) = body_query.get_single_mut() else {
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bevy::log::warn!("no bike body found");
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return;
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};
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let dt = time.delta_seconds();
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// thrust
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let thrust = xform.forward() * input.throttle * settings.accel;
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let point = xform.translation + *xform.back();
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*forces.apply_force_at_point(dt * thrust, point, mass.center_of_mass.0);
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let _ = *forces.apply_force_at_point(dt * thrust, point, mass.center_of_mass.0);
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// brake + thrust
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for mut motor in braking_query.iter_mut() {
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@ -142,7 +174,14 @@ pub(super) fn input_forces(
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// steering
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let _angle = yaw_to_angle(input.yaw);
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let _axle = axle.single();
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//steering.align_orientation(bike, steering, rotation_difference, lagrange,
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// compliance, dt)
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let (mut axle, xform) = axle.single_mut();
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let cur_rot = xform.rotation;
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let fork = fork.single();
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let axis = fork.free_axis.normalize();
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let new = Quat::from_axis_angle(axis, _angle);
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let diff = (new - cur_rot).to_scaled_axis();
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let mut compliance = 1.0;
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fork.align_orientation(&mut axle, &mut bike, diff, &mut compliance, 1.0, dt);
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}
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@ -37,24 +37,20 @@ pub(super) fn spawn_cyberbike(
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let scene = asset_server.load("cb-no-y_up.glb#Scene0");
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let spatialbundle = SpatialBundle {
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transform: xform,
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..Default::default()
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};
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let body =
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let body_collider =
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Collider::capsule_endpoints(0.5, Vec3::new(0.0, 0.0, -0.65), Vec3::new(0.0, 0.0, 0.8));
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let mass_props = MassPropertiesBundle::new_computed(&body, 0.6);
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let bike = commands
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.spawn(RigidBody::Dynamic)
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.insert(spatialbundle)
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.spawn(SpatialBundle::from_transform(xform))
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.insert((
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body,
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mass_props.clone(),
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RigidBody::Dynamic,
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body_collider,
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bike_collision_group,
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restitution,
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friction,
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SleepingDisabled,
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CyberBikeBody,
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CatControllerState::default(),
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ColliderDensity(0.6),
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LinearDamping(0.1),
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AngularDamping(2.0),
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LinearVelocity::ZERO,
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@ -68,8 +64,6 @@ pub(super) fn spawn_cyberbike(
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..Default::default()
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});
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})
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.insert(CyberBikeBody)
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.insert(CatControllerState::default())
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.id();
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spawn_wheels(&mut commands, bike, &wheel_conf, &mut meshterials);
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@ -1,4 +1,5 @@
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use bevy::{
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math::Vec3,
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prelude::{Component, ReflectResource, Resource},
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reflect::Reflect,
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};
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@ -6,12 +7,18 @@ use bevy::{
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#[derive(Component)]
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pub struct CyberBikeBody;
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#[derive(Clone, Component)]
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#[derive(Clone, Copy, Component)]
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pub struct CyberSteering;
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#[derive(Clone, Debug, Component)]
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#[derive(Clone, Copy, Debug, Component)]
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pub struct CyberWheel;
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#[derive(Clone, Debug, Component)]
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pub struct CyberSpring(pub Vec3);
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#[derive(Clone, Debug, Component)]
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pub struct CyberFork;
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#[derive(Resource, Reflect)]
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#[reflect(Resource)]
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pub struct WheelConfig {
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@ -35,7 +42,7 @@ impl Default for WheelConfig {
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rear_back: 1.0,
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y: -0.1,
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limits: [-0.5, 0.1],
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stiffness: 190.0,
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stiffness: 3.0,
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damping: 8.0,
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radius: 0.25,
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thickness: 0.11,
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@ -3,7 +3,7 @@ mod components;
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mod wheels;
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use bevy::{
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app::PostStartup,
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app::{PostStartup, Startup},
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prelude::{App, Assets, Mesh, Plugin, ResMut, StandardMaterial},
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};
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@ -23,6 +23,6 @@ impl Plugin for CyberBikePlugin {
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fn build(&self, app: &mut App) {
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app.insert_resource(WheelConfig::default())
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.register_type::<WheelConfig>()
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.add_systems(PostStartup, spawn_cyberbike);
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.add_systems(Startup, spawn_cyberbike);
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}
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}
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@ -1,7 +1,10 @@
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use avian3d::prelude::*;
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use bevy::prelude::{Torus as Tire, *};
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use super::{CyberSteering, CyberWheel, Meshterial, WheelConfig, BIKE_WHEEL_COLLISION_GROUP};
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use super::{
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CyberFork, CyberSpring, CyberSteering, CyberWheel, Meshterial, WheelConfig,
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BIKE_WHEEL_COLLISION_GROUP,
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};
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pub fn spawn_wheels(
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commands: &mut Commands,
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@ -12,7 +15,6 @@ pub fn spawn_wheels(
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let (membership, filter) = BIKE_WHEEL_COLLISION_GROUP;
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let wheels_collision_group = CollisionLayers::new(membership, filter);
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let wheel_y = conf.y;
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let stiffness = conf.stiffness;
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let not_sleeping = SleepingDisabled;
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let ccd = SweptCcd::NON_LINEAR.include_dynamic(false);
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let limits = conf.limits;
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@ -84,11 +86,26 @@ pub fn spawn_wheels(
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))
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.id();
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let axel = if let Some(ref steering) = steering {
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commands.spawn((RigidBody::Dynamic, ExternalForce::ZERO, steering.clone()))
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let spring = CyberSpring(suspension_axis);
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let axel = if let Some(steering) = steering {
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commands.spawn((
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RigidBody::Dynamic,
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ExternalForce::ZERO,
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steering,
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spring,
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Collider::sphere(0.1),
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ColliderDensity(0.1),
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))
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} else {
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commands.spawn((RigidBody::Dynamic, ExternalForce::ZERO))
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commands.spawn((
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RigidBody::Dynamic,
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ExternalForce::ZERO,
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spring,
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Collider::sphere(0.1),
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ColliderDensity(0.1),
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))
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}
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.insert(SpatialBundle::default())
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.id();
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let axel_joint = RevoluteJoint::new(axel, wheel).with_aligned_axis(Vec3::NEG_X);
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commands.spawn(axel_joint);
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@ -100,7 +117,7 @@ pub fn spawn_wheels(
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.with_local_anchor_1(Vec3::new(0.0, 0.0, 0.1))
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.with_local_anchor_2(offset)
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.with_limits(limits[0], limits[1]);
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commands.spawn(joint);
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commands.spawn((joint, CyberFork));
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} else {
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let joint = PrismaticJoint::new(axel, bike)
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.with_free_axis(suspension_axis)
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|
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@ -81,7 +81,7 @@ fn follow_cyberbike(
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// handle input pitch
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let angle = input.pitch.powi(3) * MAX_PITCH;
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let axis = cam_xform.right();
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cam_xform.rotate(Quat::from_axis_angle(axis, angle));
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cam_xform.rotate(Quat::from_axis_angle(*axis, angle));
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}
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CyberCameras::Debug => {
|
||||
let mut ncx = bike_xform.to_owned();
|
||||
|
|
@ -101,7 +101,7 @@ fn update_active_camera(
|
|||
) {
|
||||
// find the camera with the current state, set it as the ActiveCamera
|
||||
query.iter_mut().for_each(|(mut cam, cyber)| {
|
||||
if cyber.eq(&state.0) {
|
||||
if cyber.eq(&state.get()) {
|
||||
cam.is_active = true;
|
||||
} else {
|
||||
cam.is_active = false;
|
||||
|
|
@ -112,13 +112,13 @@ fn update_active_camera(
|
|||
fn cycle_cam_state(
|
||||
state: Res<State<CyberCameras>>,
|
||||
mut next: ResMut<NextState<CyberCameras>>,
|
||||
mut keys: ResMut<Input<KeyCode>>,
|
||||
mut keys: ResMut<ButtonInput<KeyCode>>,
|
||||
) {
|
||||
if keys.just_pressed(KeyCode::D) {
|
||||
let new_state = state.0.next();
|
||||
if keys.just_pressed(KeyCode::KeyD) {
|
||||
let new_state = state.get().next();
|
||||
info!("{:?}", new_state);
|
||||
next.set(new_state);
|
||||
keys.reset(KeyCode::D);
|
||||
keys.reset(KeyCode::KeyD);
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -132,9 +132,10 @@ impl Plugin for CyberCamPlugin {
|
|||
|
||||
fn common(app: &mut bevy::prelude::App) {
|
||||
app.insert_resource(DebugCamOffset::default())
|
||||
.add_startup_system(setup_cybercams)
|
||||
.add_state::<CyberCameras>()
|
||||
.add_system(cycle_cam_state)
|
||||
.add_system(update_active_camera)
|
||||
.add_system(follow_cyberbike);
|
||||
.add_systems(Startup, setup_cybercams)
|
||||
.init_state::<CyberCameras>()
|
||||
.add_systems(
|
||||
Update,
|
||||
(cycle_cam_state, update_active_camera, follow_cyberbike),
|
||||
);
|
||||
}
|
||||
|
|
|
|||
|
|
@ -4,6 +4,9 @@ use crate::planet::PLANET_RADIUS;
|
|||
|
||||
pub const LIGHT_RANGE: f32 = 90.0;
|
||||
|
||||
static BLUE: Color = Color::linear_rgb(0.0, 0.0, 1.0);
|
||||
static PINK: Color = Color::linear_rgb(199.0 / 255.0, 21.0 / 255.0, 113.0 / 255.0);
|
||||
|
||||
fn spawn_static_lights(
|
||||
mut commands: Commands,
|
||||
mut meshes: ResMut<Assets<Mesh>>,
|
||||
|
|
@ -12,7 +15,7 @@ fn spawn_static_lights(
|
|||
let pink_light = PointLight {
|
||||
intensity: 1_00.0,
|
||||
range: LIGHT_RANGE,
|
||||
color: Color::PINK,
|
||||
color: PINK,
|
||||
radius: 1.0,
|
||||
shadows_enabled: true,
|
||||
..Default::default()
|
||||
|
|
@ -21,7 +24,7 @@ fn spawn_static_lights(
|
|||
let blue_light = PointLight {
|
||||
intensity: 1_000.0,
|
||||
range: LIGHT_RANGE,
|
||||
color: Color::BLUE,
|
||||
color: BLUE,
|
||||
radius: 1.0,
|
||||
shadows_enabled: true,
|
||||
..Default::default()
|
||||
|
|
@ -48,16 +51,10 @@ fn spawn_static_lights(
|
|||
})
|
||||
.with_children(|builder| {
|
||||
builder.spawn(PbrBundle {
|
||||
mesh: meshes.add(
|
||||
Mesh::try_from(shape::Icosphere {
|
||||
radius: 10.0,
|
||||
subdivisions: 2,
|
||||
})
|
||||
.unwrap(),
|
||||
),
|
||||
mesh: meshes.add(Mesh::from(Sphere::new(10.0))),
|
||||
material: materials.add(StandardMaterial {
|
||||
base_color: Color::BLUE,
|
||||
emissive: Color::PINK,
|
||||
base_color: BLUE,
|
||||
emissive: PINK.into(),
|
||||
..Default::default()
|
||||
}),
|
||||
..Default::default()
|
||||
|
|
@ -72,16 +69,10 @@ fn spawn_static_lights(
|
|||
})
|
||||
.with_children(|builder| {
|
||||
builder.spawn(PbrBundle {
|
||||
mesh: meshes.add(
|
||||
Mesh::try_from(shape::Icosphere {
|
||||
radius: 10.0,
|
||||
subdivisions: 2,
|
||||
})
|
||||
.unwrap(),
|
||||
),
|
||||
mesh: meshes.add(Mesh::from(Sphere::new(10.0))),
|
||||
material: materials.add(StandardMaterial {
|
||||
base_color: Color::PINK,
|
||||
emissive: Color::BLUE,
|
||||
base_color: PINK,
|
||||
emissive: BLUE.into(),
|
||||
..Default::default()
|
||||
}),
|
||||
..Default::default()
|
||||
|
|
@ -92,6 +83,6 @@ fn spawn_static_lights(
|
|||
pub struct CyberSpaceLightsPlugin;
|
||||
impl Plugin for CyberSpaceLightsPlugin {
|
||||
fn build(&self, app: &mut App) {
|
||||
app.add_startup_system(spawn_static_lights);
|
||||
app.add_systems(Startup, spawn_static_lights);
|
||||
}
|
||||
}
|
||||
|
|
|
|||
38
src/main.rs
38
src/main.rs
|
|
@ -8,7 +8,7 @@ use cyber_rider::{
|
|||
};
|
||||
|
||||
//const CYBER_SKY: Color = Color::rgb(0.07, 0.001, 0.02);
|
||||
const CYBER_SKY: Color = Color::rgb(0.64, 0.745, 0.937); // a light blue sky
|
||||
const CYBER_SKY: Color = Color::srgb(0.64, 0.745, 0.937); // a light blue sky
|
||||
|
||||
fn main() {
|
||||
let mut app = App::new();
|
||||
|
|
@ -21,18 +21,36 @@ fn main() {
|
|||
}),
|
||||
..Default::default()
|
||||
}))
|
||||
.add_plugin(CyberPlanetPlugin)
|
||||
.add_plugin(CyberInputPlugin)
|
||||
.add_plugin(CyberActionPlugin)
|
||||
.add_plugin(CyberCamPlugin)
|
||||
.add_plugin(CyberSpaceLightsPlugin)
|
||||
.add_plugin(CyberUIPlugin)
|
||||
.add_plugin(CyberBikePlugin)
|
||||
.add_startup_system(disable_mouse_trap)
|
||||
.add_system(bevy::window::close_on_esc);
|
||||
.add_plugins((
|
||||
CyberPlanetPlugin,
|
||||
CyberInputPlugin,
|
||||
CyberActionPlugin,
|
||||
CyberCamPlugin,
|
||||
CyberSpaceLightsPlugin,
|
||||
CyberUIPlugin,
|
||||
CyberBikePlugin,
|
||||
))
|
||||
.add_systems(Startup, disable_mouse_trap)
|
||||
.add_systems(Update, close_on_esc);
|
||||
|
||||
#[cfg(feature = "inspector")]
|
||||
app.add_plugin(CyberGlamorPlugin);
|
||||
|
||||
app.run();
|
||||
}
|
||||
|
||||
fn close_on_esc(
|
||||
mut commands: Commands,
|
||||
focused_windows: Query<(Entity, &Window)>,
|
||||
input: Res<ButtonInput<KeyCode>>,
|
||||
) {
|
||||
for (window, focus) in focused_windows.iter() {
|
||||
if !focus.focused {
|
||||
continue;
|
||||
}
|
||||
|
||||
if input.just_pressed(KeyCode::Escape) {
|
||||
commands.entity(window).despawn();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in a new issue