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Bring in wheels from rolling2, and shorten the body collider.

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This commit is contained in:
Joe Ardent 2023-02-15 11:38:36 -08:00
parent 18615e9ac8
commit 421f34fab7
3 changed files with 54 additions and 95 deletions
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6
src/action/systems.rs
View file

@ -108,9 +108,9 @@ pub(super) fn input_forces(
// steering
let angle = input.yaw * (PI / 2.0);
let mut steering = steering_query.single_mut();
steering.rotation = Quat::from_axis_angle(Vec3::Y, angle + 90.0f32.to_radians());
//dbg!(steering.rotation);
//let mut steering = steering_query.single_mut();
//steering.rotation = Quat::from_axis_angle(Vec3::Y, angle +
// 90.0f32.to_radians()); dbg!(steering.rotation);
}
/// Don't let the wheels get stuck underneat the planet

4
src/bike/body.rs
View file

@ -51,7 +51,7 @@ pub(super) fn spawn_cyberbike(
.spawn(RigidBody::Dynamic)
.insert(spatialbundle)
.insert((
Collider::capsule(Vec3::new(0.0, 0.0, -1.0), Vec3::new(0.0, 0.0, 1.0), 0.50),
Collider::capsule(Vec3::new(0.0, 0.0, -0.7), Vec3::new(0.0, 0.0, 1.0), 0.50),
bike_collision_group,
mass_properties,
damping,
@ -77,5 +77,5 @@ pub(super) fn spawn_cyberbike(
.insert(CatControllerState::default())
.id();
spawn_tires(&mut commands, bike, xform, &wheel_conf, &mut meshterials);
spawn_tires(&mut commands, &xform, bike, &wheel_conf, &mut meshterials);
}

139
src/bike/wheels.rs
View file

@ -1,22 +1,16 @@
use bevy::prelude::{
shape::Capsule as Tire, AlphaMode, BuildChildren, Color, Commands, Entity, Mesh, PbrBundle,
Quat, SpatialBundle, StandardMaterial, Transform, Vec3,
};
use bevy_rapier3d::{
prelude::{
Ccd, CoefficientCombineRule, Collider, ColliderMassProperties, CollisionGroups, Damping,
ExternalForce, Friction, LockedAxes, MultibodyJoint, PrismaticJointBuilder, Restitution,
RevoluteJointBuilder, RigidBody, Sleeping, TransformInterpolation,
},
render::ColliderDebugColor,
use bevy::prelude::{shape::UVSphere as Tire, *};
use bevy_rapier3d::prelude::{
Ccd, Collider, ColliderMassProperties, CollisionGroups, Damping, ExternalForce, Friction,
MultibodyJoint, PrismaticJointBuilder, Restitution, RigidBody, Sleeping,
TransformInterpolation,
};
use super::{CyberSteering, CyberWheel, Meshterial, WheelConfig, BIKE_WHEEL_COLLISION_GROUP};
use super::{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,
) {
@ -53,13 +47,8 @@ pub fn spawn_tires(
};
let friction = Friction {
coefficient: 1.0,
combine_rule: CoefficientCombineRule::Min,
};
let restitution = Restitution {
coefficient: 0.8,
combine_rule: CoefficientCombineRule::Average,
coefficient: 0.0,
..Default::default()
};
let mut wheel_poses = Vec::with_capacity(2);
@ -69,7 +58,7 @@ 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, Some(CyberSteering)));
wheel_poses.push(offset);
}
// rear
@ -77,89 +66,59 @@ 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, None));
wheel_poses.push(offset);
}
for (offset, steering) in wheel_poses {
for offset 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()
};
let wheel_collider = Collider::capsule(-Vec3::Y, Vec3::Y, 0.3);
let wheel_collider = Collider::ball(wheel_rad);
let mass_props = ColliderMassProperties::Density(0.1);
let damping = conf.damping;
let prismatic = PrismaticJointBuilder::new(Vec3::Y)
.local_anchor1(offset)
.limits(limits)
.motor_position(limits[0], stiffness, damping);
.motor_position(-0.1, stiffness, damping);
let joint = MultibodyJoint::new(bike, prismatic);
let fork = commands
.spawn(SpatialBundle {
transform: Transform::from_translation(offset),
..Default::default()
})
.set_parent(bike)
.id();
let spatial_bundle = SpatialBundle {
transform: wheel_pos_in_world,
..Default::default()
};
let suspension = MultibodyJoint::new(fork, prismatic);
let sentity = commands
let tire_spundle = SpatialBundle {
transform: Transform::IDENTITY,
..Default::default()
};
commands
.spawn(RigidBody::Dynamic)
.insert(suspension)
.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::Y);
let axel = MultibodyJoint::new(sentity, revolute);
let wheel_bundle = (
wheel_collider,
mass_props,
wheel_damping,
ccd,
wheels_collision_group,
friction,
restitution,
CyberWheel,
ExternalForce::default(),
not_sleeping,
ColliderDebugColor(Color::Rgba {
red: 0.1,
green: 0.1,
blue: 0.1,
alpha: 0.5,
}), //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(SpatialBundle::default())
// .insert(pbr_bundle.clone())
// .insert(TransformInterpolation {
// start: None,
// end: None,
// });
// })
.set_parent(sentity)
.id();
.insert(spatial_bundle)
.insert((
wheel_collider,
mass_props,
wheel_damping,
ccd,
not_sleeping,
joint,
wheels_collision_group,
friction,
CyberWheel,
ExternalForce::default(),
Restitution::new(0.2),
))
.with_children(|wheel| {
wheel.spawn(tire_spundle).insert(pbr_bundle.clone()).insert(
TransformInterpolation {
start: None,
end: None,
},
);
});
}
}