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

src/action/systems.rs

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

src/bike/body.rs

@@ -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);
 }

src/bike/wheels.rs

@@ -1,22 +1,16 @@
-use bevy::prelude::{
+use bevy::prelude::{shape::UVSphere as Tire, *};
-    shape::Capsule as Tire, AlphaMode, BuildChildren, Color, Commands, Entity, Mesh, PbrBundle,
+use bevy_rapier3d::prelude::{
-    Quat, SpatialBundle, StandardMaterial, Transform, Vec3,
+    Ccd, Collider, ColliderMassProperties, CollisionGroups, Damping, ExternalForce, Friction,
-};
+    MultibodyJoint, PrismaticJointBuilder, Restitution, RigidBody, Sleeping,
-use bevy_rapier3d::{
+    TransformInterpolation,
-    prelude::{
-        Ccd, CoefficientCombineRule, Collider, ColliderMassProperties, CollisionGroups, Damping,
-        ExternalForce, Friction, LockedAxes, MultibodyJoint, PrismaticJointBuilder, Restitution,
-        RevoluteJointBuilder, RigidBody, Sleeping, TransformInterpolation,
-    },
-    render::ColliderDebugColor,
 };
 
-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,
+        coefficient: 0.0,
-        combine_rule: CoefficientCombineRule::Min,
+        ..Default::default()
-    };
-
-    let restitution = Restitution {
-        coefficient: 0.8,
-        combine_rule: CoefficientCombineRule::Average,
     };
 
     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
+        let spatial_bundle = SpatialBundle {
-            .spawn(SpatialBundle {
+            transform: wheel_pos_in_world,
-                transform: Transform::from_translation(offset),
             ..Default::default()
-            })
+        };
-            .set_parent(bike)
-            .id();
 
-        let suspension = MultibodyJoint::new(fork, prismatic);
+        let tire_spundle = SpatialBundle {
-        let sentity = commands
+            transform: Transform::IDENTITY,
+            ..Default::default()
+        };
+
+        commands
             .spawn(RigidBody::Dynamic)
-            .insert(suspension)
+            .insert(spatial_bundle)
-            .insert(SpatialBundle {
+            .insert((
-                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,
+                not_sleeping,
+                joint,
                 wheels_collision_group,
                 friction,
-            restitution,
                 CyberWheel,
                 ExternalForce::default(),
-            not_sleeping,
+                Restitution::new(0.2),
-            ColliderDebugColor(Color::Rgba {
+            ))
-                red: 0.1,
+            .with_children(|wheel| {
-                green: 0.1,
+                wheel.spawn(tire_spundle).insert(pbr_bundle.clone()).insert(
-                blue: 0.1,
+                    TransformInterpolation {
-                alpha: 0.5,
+                        start: None,
-            }), //axel,
+                        end: None,
+                    },
                 );
-
+            });
-        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();
     }
 }