Bring in wheels from rolling2, and shorten the body collider.
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parent
18615e9ac8
commit
421f34fab7
3 changed files with 54 additions and 95 deletions
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@ -108,9 +108,9 @@ pub(super) fn input_forces(
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// steering
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let angle = input.yaw * (PI / 2.0);
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let mut steering = steering_query.single_mut();
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steering.rotation = Quat::from_axis_angle(Vec3::Y, angle + 90.0f32.to_radians());
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//dbg!(steering.rotation);
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//let mut steering = steering_query.single_mut();
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//steering.rotation = Quat::from_axis_angle(Vec3::Y, angle +
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// 90.0f32.to_radians()); dbg!(steering.rotation);
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}
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/// Don't let the wheels get stuck underneat the planet
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@ -51,7 +51,7 @@ pub(super) fn spawn_cyberbike(
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.spawn(RigidBody::Dynamic)
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.insert(spatialbundle)
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.insert((
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Collider::capsule(Vec3::new(0.0, 0.0, -1.0), Vec3::new(0.0, 0.0, 1.0), 0.50),
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Collider::capsule(Vec3::new(0.0, 0.0, -0.7), Vec3::new(0.0, 0.0, 1.0), 0.50),
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bike_collision_group,
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mass_properties,
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damping,
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@ -77,5 +77,5 @@ pub(super) fn spawn_cyberbike(
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.insert(CatControllerState::default())
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.id();
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spawn_tires(&mut commands, bike, xform, &wheel_conf, &mut meshterials);
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spawn_tires(&mut commands, &xform, bike, &wheel_conf, &mut meshterials);
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}
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@ -1,22 +1,16 @@
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use bevy::prelude::{
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shape::Capsule as Tire, AlphaMode, BuildChildren, Color, Commands, Entity, Mesh, PbrBundle,
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Quat, SpatialBundle, StandardMaterial, Transform, Vec3,
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};
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use bevy_rapier3d::{
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prelude::{
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Ccd, CoefficientCombineRule, Collider, ColliderMassProperties, CollisionGroups, Damping,
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ExternalForce, Friction, LockedAxes, MultibodyJoint, PrismaticJointBuilder, Restitution,
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RevoluteJointBuilder, RigidBody, Sleeping, TransformInterpolation,
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},
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render::ColliderDebugColor,
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use bevy::prelude::{shape::UVSphere as Tire, *};
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use bevy_rapier3d::prelude::{
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Ccd, Collider, ColliderMassProperties, CollisionGroups, Damping, ExternalForce, Friction,
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MultibodyJoint, PrismaticJointBuilder, Restitution, RigidBody, Sleeping,
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TransformInterpolation,
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};
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use super::{CyberSteering, CyberWheel, Meshterial, WheelConfig, BIKE_WHEEL_COLLISION_GROUP};
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use super::{CyberWheel, Meshterial, WheelConfig, BIKE_WHEEL_COLLISION_GROUP};
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pub fn spawn_tires(
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commands: &mut Commands,
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xform: &Transform,
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bike: Entity,
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xform: Transform,
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conf: &WheelConfig,
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meshterials: &mut Meshterial,
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) {
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@ -53,13 +47,8 @@ pub fn spawn_tires(
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};
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let friction = Friction {
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coefficient: 1.0,
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combine_rule: CoefficientCombineRule::Min,
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};
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let restitution = Restitution {
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coefficient: 0.8,
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combine_rule: CoefficientCombineRule::Average,
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coefficient: 0.0,
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..Default::default()
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};
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let mut wheel_poses = Vec::with_capacity(2);
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@ -69,7 +58,7 @@ pub fn spawn_tires(
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let wheel_x = 0.0;
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let wheel_z = -conf.front_forward;
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let offset = Vec3::new(wheel_x, wheel_y, wheel_z);
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wheel_poses.push((offset, Some(CyberSteering)));
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wheel_poses.push(offset);
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}
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// rear
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@ -77,89 +66,59 @@ pub fn spawn_tires(
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let wheel_x = 0.0;
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let wheel_z = conf.rear_back;
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let offset = Vec3::new(wheel_x, wheel_y, wheel_z);
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wheel_poses.push((offset, None));
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wheel_poses.push(offset);
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}
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for (offset, steering) in wheel_poses {
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for offset in wheel_poses {
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let trans = xform.translation + offset;
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let wheel_pos_in_world = Transform::from_rotation(xform.rotation).with_translation(trans);
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let wheel_damping = Damping {
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linear_damping: 0.8,
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..Default::default()
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};
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let wheel_collider = Collider::capsule(-Vec3::Y, Vec3::Y, 0.3);
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let wheel_collider = Collider::ball(wheel_rad);
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let mass_props = ColliderMassProperties::Density(0.1);
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let damping = conf.damping;
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let prismatic = PrismaticJointBuilder::new(Vec3::Y)
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.local_anchor1(offset)
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.limits(limits)
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.motor_position(limits[0], stiffness, damping);
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.motor_position(-0.1, stiffness, damping);
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let joint = MultibodyJoint::new(bike, prismatic);
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let fork = commands
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.spawn(SpatialBundle {
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transform: Transform::from_translation(offset),
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let spatial_bundle = SpatialBundle {
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transform: wheel_pos_in_world,
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..Default::default()
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})
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.set_parent(bike)
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.id();
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};
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let suspension = MultibodyJoint::new(fork, prismatic);
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let sentity = commands
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let tire_spundle = SpatialBundle {
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transform: Transform::IDENTITY,
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..Default::default()
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};
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commands
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.spawn(RigidBody::Dynamic)
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.insert(suspension)
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.insert(SpatialBundle {
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transform: Transform::from_translation(offset),
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..Default::default()
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})
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.set_parent(bike)
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.id();
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if let Some(steering) = steering {
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commands.entity(sentity).insert(steering);
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}
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let revolute = RevoluteJointBuilder::new(Vec3::Y);
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let axel = MultibodyJoint::new(sentity, revolute);
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let wheel_bundle = (
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.insert(spatial_bundle)
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.insert((
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wheel_collider,
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mass_props,
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wheel_damping,
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ccd,
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not_sleeping,
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joint,
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wheels_collision_group,
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friction,
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restitution,
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CyberWheel,
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ExternalForce::default(),
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not_sleeping,
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ColliderDebugColor(Color::Rgba {
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red: 0.1,
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green: 0.1,
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blue: 0.1,
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alpha: 0.5,
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}), //axel,
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Restitution::new(0.2),
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))
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.with_children(|wheel| {
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wheel.spawn(tire_spundle).insert(pbr_bundle.clone()).insert(
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TransformInterpolation {
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start: None,
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end: None,
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},
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);
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let _wentity = commands
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.spawn(RigidBody::Dynamic)
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.insert(SpatialBundle {
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// transform: Transform::from_rotation(xform.rotation)
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// .with_translation(xform.translation)
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transform: Transform::from_rotation(Quat::from_axis_angle(
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Vec3::Z,
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90.0f32.to_radians(),
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)),
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..Default::default()
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})
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.insert(wheel_bundle)
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// .with_children(|wheel| {
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// wheel
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// .spawn(SpatialBundle::default())
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// .insert(pbr_bundle.clone())
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// .insert(TransformInterpolation {
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// start: None,
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// end: None,
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// });
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// })
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.set_parent(sentity)
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.id();
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});
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}
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}
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