still not working

src/bike/body.rs

@@ -1,7 +1,4 @@
-use avian3d::prelude::{
+use avian3d::prelude::*;
-    Ccd, Collider, ColliderMassProperties, CollisionGroups, Damping, ExternalForce, Friction,
-    ReadMassProperties, Restitution, RigidBody, Sleeping, TransformInterpolation, Velocity,
-};
 use bevy::{
     prelude::{AssetServer, BuildChildren, Commands, Quat, Res, SpatialBundle, Transform, Vec3},
     scene::SceneBundle,
@@ -24,14 +21,10 @@ pub(super) fn spawn_cyberbike(
     let right = xform.right() * 350.0;
     xform.translation += right;
 
-    let damping = Damping {
-        angular_damping: 2.0,
-        linear_damping: 0.1,
-    };
-
     let friction = Friction {
-        coefficient: 0.01,
+        dynamic_coefficient: 0.1,
-        ..Default::default()
+        static_coefficient: 0.6,
+        combine_rule: CoefficientCombine::Average,
     };
 
     let restitution = Restitution {
@@ -39,10 +32,8 @@ pub(super) fn spawn_cyberbike(
         ..Default::default()
     };
 
-    let mass_properties = ColliderMassProperties::Density(1.5);
-
     let (membership, filter) = BIKE_BODY_COLLISION_GROUP;
-    let bike_collision_group = CollisionGroups::new(membership, filter);
+    let bike_collision_group = CollisionLayers::new(membership, filter);
 
     let scene = asset_server.load("cb-no-y_up.glb#Scene0");
 
@@ -51,26 +42,23 @@ pub(super) fn spawn_cyberbike(
         ..Default::default()
     };
 
+    let body =
+        Collider::capsule_endpoints(0.5, Vec3::new(0.0, 0.0, -0.65), Vec3::new(0.0, 0.0, 0.8));
     let bike = commands
         .spawn(RigidBody::Dynamic)
         .insert(spatialbundle)
         .insert((
-            Collider::capsule(Vec3::new(0.0, 0.0, -0.65), Vec3::new(0.0, 0.0, 0.8), 0.5),
+            body,
             bike_collision_group,
-            mass_properties,
-            damping,
             restitution,
             friction,
-            Sleeping::disabled(),
+            SleepingDisabled,
-            Ccd { enabled: true },
+            LinearDamping(0.1),
-            ReadMassProperties::default(),
+            AngularDamping(2.0),
+            LinearVelocity::ZERO,
+            AngularVelocity::ZERO,
+            ExternalForce::ZERO,
         ))
-        .insert(TransformInterpolation {
-            start: None,
-            end: None,
-        })
-        .insert(Velocity::zero())
-        .insert(ExternalForce::default())
         .with_children(|rider| {
             rider.spawn(SceneBundle {
                 scene,

src/bike/wheels.rs

@@ -1,9 +1,5 @@
-use avian3d::prelude::{
+use avian3d::prelude::*;
-    Ccd, CoefficientCombineRule, Collider, ColliderMassProperties, CollisionGroups, Damping,
+use bevy::prelude::{Torus as Tire, *};
-    ExternalForce, Friction, MultibodyJoint, PrismaticJointBuilder, Restitution,
-    RevoluteJointBuilder, RigidBody, Sleeping, TransformInterpolation,
-};
-use bevy::prelude::{shape::Torus as Tire, *};
 
 use super::{CyberSteering, CyberWheel, Meshterial, WheelConfig, BIKE_WHEEL_COLLISION_GROUP};
 
@@ -14,18 +10,19 @@ pub fn spawn_wheels(
     meshterials: &mut Meshterial,
 ) {
     let (membership, filter) = BIKE_WHEEL_COLLISION_GROUP;
-    let wheels_collision_group = CollisionGroups::new(membership, filter);
+    let wheels_collision_group = CollisionLayers::new(membership, filter);
     let wheel_y = conf.y;
     let stiffness = conf.stiffness;
-    let not_sleeping = Sleeping::disabled();
+    let not_sleeping = SleepingDisabled;
-    let ccd = Ccd { enabled: true };
+    let ccd = SweptCcd::NON_LINEAR.include_dynamic(false);
     let limits = conf.limits;
     let (meshes, materials) = meshterials;
     let rake_vec: Vec3 = Vec3::new(0.0, 1.0, 0.57).normalize(); // about 30 degrees of rake
 
     let friction = Friction {
-        coefficient: conf.friction,
+        dynamic_coefficient: conf.friction,
-        combine_rule: CoefficientCombineRule::Average,
+        static_coefficient: conf.friction,
+        combine_rule: CoefficientCombine::Average,
     };
 
     let mut wheel_poses = Vec::with_capacity(2);
@@ -50,12 +47,7 @@ pub fn spawn_wheels(
         let (mesh, collider) = gen_tires(conf);
 
         let material = StandardMaterial {
-            base_color: Color::Rgba {
+            base_color: Color::linear_rgba(0.01, 0.01, 0.01, 1.0),
-                red: 0.01,
-                green: 0.01,
-                blue: 0.01,
-                alpha: 1.0,
-            },
             alpha_mode: AlphaMode::Opaque,
             perceptual_roughness: 0.5,
             ..Default::default()
@@ -67,7 +59,6 @@ pub fn spawn_wheels(
             ..Default::default()
         };
 
-        let mass_props = ColliderMassProperties::Density(conf.density);
         let suspension_damping = conf.damping;
 
         let suspension_axis = if steering.is_some() {
@@ -111,7 +102,6 @@ pub fn spawn_wheels(
 
         commands.spawn(pbr_bundle).insert((
             collider,
-            mass_props,
             wheel_damping,
             ccd,
             not_sleeping,
@@ -122,8 +112,8 @@ pub fn spawn_wheels(
             ExternalForce::default(),
             Restitution::new(conf.restitution),
             SpatialBundle::default(),
-            TransformInterpolation::default(),
             RigidBody::Dynamic,
+            ColliderDensity(0.1),
         ));
     }
 }
@@ -133,9 +123,8 @@ fn gen_tires(conf: &WheelConfig) -> (Mesh, Collider) {
     let wheel_rad = conf.radius;
     let tire_thickness = conf.thickness;
     let tire = Tire {
-        radius: wheel_rad,
+        minor_radius: tire_thickness,
-        ring_radius: tire_thickness,
+        major_radius: wheel_rad,
-        ..Default::default()
     };
 
     let mut mesh = Mesh::from(tire);
@@ -161,17 +150,7 @@ fn gen_tires(conf: &WheelConfig) -> (Mesh, Collider) {
     for idx in indices.as_slice().chunks_exact(3) {
         idxs.push([idx[0] as u32, idx[1] as u32, idx[2] as u32]);
     }
-    let wheel_collider = Collider::convex_decomposition(
+    let wheel_collider = Collider::convex_decomposition_from_mesh(&mesh).unwrap();
-        &mesh
-            .attribute(Mesh::ATTRIBUTE_POSITION)
-            .unwrap()
-            .as_float3()
-            .unwrap()
-            .iter()
-            .map(|v| Vec3::from_array(*v))
-            .collect::<Vec<_>>(),
-        &idxs,
-    );
 
     (mesh, wheel_collider)
 }