ok, the wheels keep going through the planet and getting stuck
I'm going to need to do like raycasting from each wheel or something to do this right.
This commit is contained in:
Joe Ardent
commit
4708eabdd9
8 changed files with 754 additions and 77 deletions
452
Cargo.lock
generated
452
Cargo.lock
generated
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@ -35,6 +35,17 @@ dependencies = [
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"version_check",
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]
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@ -86,6 +97,26 @@ dependencies = [
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[[package]]
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@ -142,6 +173,12 @@ version = "4.3.0"
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@ -163,6 +200,44 @@ dependencies = [
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[[package]]
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[[package]]
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@ -297,6 +372,19 @@ dependencies = [
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"syn",
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]
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[[package]]
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[[package]]
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@ -745,7 +833,7 @@ version = "0.9.1"
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"instant",
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@ -847,6 +935,12 @@ version = "1.4.3"
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[[package]]
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@ -859,6 +953,12 @@ version = "1.0.78"
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"autocfg",
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"bevy",
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"hexasphere 7.2.1",
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"syn",
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[[package]]
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name = "euclid"
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"byteorder",
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|
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|
||||
version = "0.3.60"
|
||||
|
|
@ -1727,6 +1974,15 @@ version = "2.5.0"
|
|||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "2dffe52ecf27772e601905b7522cb4ef790d2cc203488bbd0e2fe85fcb74566d"
|
||||
|
||||
[[package]]
|
||||
name = "memoffset"
|
||||
version = "0.6.5"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "5aa361d4faea93603064a027415f07bd8e1d5c88c9fbf68bf56a285428fd79ce"
|
||||
dependencies = [
|
||||
"autocfg",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "memoffset"
|
||||
version = "0.7.1"
|
||||
|
|
@ -1880,6 +2136,18 @@ dependencies = [
|
|||
"jni-sys",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "nix"
|
||||
version = "0.24.3"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "fa52e972a9a719cecb6864fb88568781eb706bac2cd1d4f04a648542dbf78069"
|
||||
dependencies = [
|
||||
"bitflags",
|
||||
"cfg-if",
|
||||
"libc",
|
||||
"memoffset 0.6.5",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "nix"
|
||||
version = "0.25.1"
|
||||
|
|
@ -1892,6 +2160,12 @@ dependencies = [
|
|||
"libc",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "nohash-hasher"
|
||||
version = "0.2.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "2bf50223579dc7cdcfb3bfcacf7069ff68243f8c363f62ffa99cf000a6b9c451"
|
||||
|
||||
[[package]]
|
||||
name = "noise"
|
||||
version = "0.8.2"
|
||||
|
|
@ -1994,6 +2268,17 @@ dependencies = [
|
|||
"objc_exception",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "objc-foundation"
|
||||
version = "0.1.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "1add1b659e36c9607c7aab864a76c7a4c2760cd0cd2e120f3fb8b952c7e22bf9"
|
||||
dependencies = [
|
||||
"block",
|
||||
"objc",
|
||||
"objc_id",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "objc_exception"
|
||||
version = "0.1.2"
|
||||
|
|
@ -2003,6 +2288,15 @@ dependencies = [
|
|||
"cc",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "objc_id"
|
||||
version = "0.1.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "c92d4ddb4bd7b50d730c215ff871754d0da6b2178849f8a2a2ab69712d0c073b"
|
||||
dependencies = [
|
||||
"objc",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "once_cell"
|
||||
version = "1.17.0"
|
||||
|
|
@ -2151,6 +2445,12 @@ version = "0.2.17"
|
|||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "5b40af805b3121feab8a3c29f04d8ad262fa8e0561883e7653e024ae4479e6de"
|
||||
|
||||
[[package]]
|
||||
name = "pretty-type-name"
|
||||
version = "1.0.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "a8815d101cfb4cb491154896bdab292a395a7ac9ab185a9941a2f5be0135900d"
|
||||
|
||||
[[package]]
|
||||
name = "proc-macro-crate"
|
||||
version = "1.2.1"
|
||||
|
|
@ -2297,6 +2597,17 @@ dependencies = [
|
|||
"bitflags",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "redox_users"
|
||||
version = "0.4.3"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "b033d837a7cf162d7993aded9304e30a83213c648b6e389db233191f891e5c2b"
|
||||
dependencies = [
|
||||
"getrandom",
|
||||
"redox_syscall",
|
||||
"thiserror",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "regex"
|
||||
version = "1.7.1"
|
||||
|
|
@ -2367,6 +2678,15 @@ dependencies = [
|
|||
"bytemuck",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "same-file"
|
||||
version = "1.0.6"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "93fc1dc3aaa9bfed95e02e6eadabb4baf7e3078b0bd1b4d7b6b0b68378900502"
|
||||
dependencies = [
|
||||
"winapi-util",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "scoped_threadpool"
|
||||
version = "0.1.9"
|
||||
|
|
@ -2488,6 +2808,12 @@ version = "1.1.0"
|
|||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "a2eb9349b6444b326872e140eb1cf5e7c522154d69e7a0ffb0fb81c06b37543f"
|
||||
|
||||
[[package]]
|
||||
name = "str-buf"
|
||||
version = "1.0.6"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "9e08d8363704e6c71fc928674353e6b7c23dcea9d82d7012c8faf2a3a025f8d0"
|
||||
|
||||
[[package]]
|
||||
name = "strsim"
|
||||
version = "0.10.0"
|
||||
|
|
@ -2562,6 +2888,32 @@ dependencies = [
|
|||
"once_cell",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "tiff"
|
||||
version = "0.8.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "7449334f9ff2baf290d55d73983a7d6fa15e01198faef72af07e2a8db851e471"
|
||||
dependencies = [
|
||||
"flate2",
|
||||
"jpeg-decoder",
|
||||
"weezl",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "tinyvec"
|
||||
version = "1.6.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "87cc5ceb3875bb20c2890005a4e226a4651264a5c75edb2421b52861a0a0cb50"
|
||||
dependencies = [
|
||||
"tinyvec_macros",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "tinyvec_macros"
|
||||
version = "0.1.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "cda74da7e1a664f795bb1f8a87ec406fb89a02522cf6e50620d016add6dbbf5c"
|
||||
|
||||
[[package]]
|
||||
name = "toml"
|
||||
version = "0.5.11"
|
||||
|
|
@ -2656,12 +3008,27 @@ version = "1.16.0"
|
|||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "497961ef93d974e23eb6f433eb5fe1b7930b659f06d12dec6fc44a8f554c0bba"
|
||||
|
||||
[[package]]
|
||||
name = "unicode-bidi"
|
||||
version = "0.3.10"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "d54675592c1dbefd78cbd98db9bacd89886e1ca50692a0692baefffdeb92dd58"
|
||||
|
||||
[[package]]
|
||||
name = "unicode-ident"
|
||||
version = "1.0.6"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "84a22b9f218b40614adcb3f4ff08b703773ad44fa9423e4e0d346d5db86e4ebc"
|
||||
|
||||
[[package]]
|
||||
name = "unicode-normalization"
|
||||
version = "0.1.22"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "5c5713f0fc4b5db668a2ac63cdb7bb4469d8c9fed047b1d0292cc7b0ce2ba921"
|
||||
dependencies = [
|
||||
"tinyvec",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "unicode-width"
|
||||
version = "0.1.10"
|
||||
|
|
@ -2674,6 +3041,17 @@ version = "0.2.4"
|
|||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "f962df74c8c05a667b5ee8bcf162993134c104e96440b663c8daa176dc772d8c"
|
||||
|
||||
[[package]]
|
||||
name = "url"
|
||||
version = "2.3.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "0d68c799ae75762b8c3fe375feb6600ef5602c883c5d21eb51c09f22b83c4643"
|
||||
dependencies = [
|
||||
"form_urlencoded",
|
||||
"idna",
|
||||
"percent-encoding",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "uuid"
|
||||
version = "1.2.2"
|
||||
|
|
@ -2708,6 +3086,17 @@ version = "1.1.0"
|
|||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "9d5b2c62b4012a3e1eca5a7e077d13b3bf498c4073e33ccd58626607748ceeca"
|
||||
|
||||
[[package]]
|
||||
name = "walkdir"
|
||||
version = "2.3.2"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "808cf2735cd4b6866113f648b791c6adc5714537bc222d9347bb203386ffda56"
|
||||
dependencies = [
|
||||
"same-file",
|
||||
"winapi",
|
||||
"winapi-util",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "wasi"
|
||||
version = "0.11.0+wasi-snapshot-preview1"
|
||||
|
|
@ -2790,6 +3179,30 @@ dependencies = [
|
|||
"wasm-bindgen",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "webbrowser"
|
||||
version = "0.8.4"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "e74f5ff7786c4c21f61ba8e30ea29c9745f06fca0a4a02d083b3c662583399e8"
|
||||
dependencies = [
|
||||
"core-foundation",
|
||||
"dirs",
|
||||
"jni",
|
||||
"log",
|
||||
"ndk-context",
|
||||
"objc",
|
||||
"raw-window-handle 0.5.0",
|
||||
"url",
|
||||
"web-sys",
|
||||
"windows",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "weezl"
|
||||
version = "0.1.7"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "9193164d4de03a926d909d3bc7c30543cecb35400c02114792c2cae20d5e2dbb"
|
||||
|
||||
[[package]]
|
||||
name = "wgpu"
|
||||
version = "0.14.2"
|
||||
|
|
@ -2919,6 +3332,15 @@ dependencies = [
|
|||
"winapi",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "winapi-wsapoll"
|
||||
version = "0.1.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "44c17110f57155602a80dca10be03852116403c9ff3cd25b079d666f2aa3df6e"
|
||||
dependencies = [
|
||||
"winapi",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "winapi-x86_64-pc-windows-gnu"
|
||||
version = "0.4.0"
|
||||
|
|
@ -3080,6 +3502,28 @@ dependencies = [
|
|||
"pkg-config",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "x11rb"
|
||||
version = "0.10.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "592b4883219f345e712b3209c62654ebda0bb50887f330cbd018d0f654bfd507"
|
||||
dependencies = [
|
||||
"gethostname",
|
||||
"nix 0.24.3",
|
||||
"winapi",
|
||||
"winapi-wsapoll",
|
||||
"x11rb-protocol",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "x11rb-protocol"
|
||||
version = "0.10.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "56b245751c0ac9db0e006dc812031482784e434630205a93c73cfefcaabeac67"
|
||||
dependencies = [
|
||||
"nix 0.24.3",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "xi-unicode"
|
||||
version = "0.3.0"
|
||||
|
|
|
|||
|
|
@ -9,10 +9,11 @@ bevy_polyline = "0.4"
|
|||
noise = { git = "https://github.com/Razaekel/noise-rs" }
|
||||
hexasphere = "7"
|
||||
wgpu = "0.14"
|
||||
bevy-inspector-egui = "0.17.0"
|
||||
# wgpu = "0.12"
|
||||
|
||||
[features]
|
||||
debug_render = []
|
||||
inspector = []
|
||||
|
||||
[dependencies.bevy]
|
||||
version = "0.9"
|
||||
|
|
@ -27,7 +28,7 @@ features = [
|
|||
]
|
||||
|
||||
[dependencies.bevy_rapier3d]
|
||||
features = ["simd-nightly"]
|
||||
features = ["simd-nightly", "debug-render-3d"]
|
||||
version = "0.20"
|
||||
|
||||
# Maybe also enable only a small amount of optimization for our code:
|
||||
|
|
|
|||
|
|
@ -2,11 +2,8 @@ use bevy::{
|
|||
diagnostic::{Diagnostics, FrameTimeDiagnosticsPlugin},
|
||||
prelude::*,
|
||||
};
|
||||
use bevy_rapier3d::{
|
||||
prelude::{
|
||||
ExternalForce, Friction, NoUserData, RapierConfiguration, RapierPhysicsPlugin, Velocity,
|
||||
},
|
||||
render::{DebugRenderMode, RapierDebugRenderPlugin},
|
||||
use bevy_rapier3d::prelude::{
|
||||
ExternalForce, Friction, NoUserData, RapierConfiguration, RapierPhysicsPlugin, Velocity,
|
||||
};
|
||||
|
||||
use crate::{
|
||||
|
|
@ -31,6 +28,24 @@ impl Default for MovementSettings {
|
|||
}
|
||||
}
|
||||
|
||||
#[derive(Debug, Resource, Reflect)]
|
||||
#[reflect(Resource)]
|
||||
struct CatControllerSettings {
|
||||
pub kp: f32,
|
||||
pub kd: f32,
|
||||
pub kws: f32,
|
||||
}
|
||||
|
||||
impl Default for CatControllerSettings {
|
||||
fn default() -> Self {
|
||||
Self {
|
||||
kp: 10.0,
|
||||
kd: 4.0,
|
||||
kws: 0.85,
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
fn zero_gravity(mut config: ResMut<RapierConfiguration>) {
|
||||
config.gravity = Vec3::ZERO;
|
||||
}
|
||||
|
|
@ -44,9 +59,10 @@ fn gravity(
|
|||
forces.force = grav;
|
||||
}
|
||||
|
||||
fn falling_cat_pid(
|
||||
fn falling_cat(
|
||||
mut bike_query: Query<(&Transform, &mut ExternalForce, &mut CyberBikeControl)>,
|
||||
diagnostics: Res<Diagnostics>,
|
||||
_diagnostics: Res<Diagnostics>,
|
||||
settings: Res<CatControllerSettings>,
|
||||
) {
|
||||
let (xform, mut forces, mut control_vars) = bike_query.single_mut();
|
||||
let up = xform.translation.normalize();
|
||||
|
|
@ -54,27 +70,26 @@ fn falling_cat_pid(
|
|||
|
||||
let torque = bike_up.cross(up).normalize_or_zero();
|
||||
let cos = up.dot(bike_up);
|
||||
let cos = if cos.is_finite() { cos } else { 0.0 };
|
||||
let cos = if cos.is_finite() { cos } else { 1.0 };
|
||||
|
||||
let error = 1.0 - cos;
|
||||
|
||||
let derivative = error - control_vars.prev_error;
|
||||
control_vars.prev_error = error;
|
||||
// this integral term is not an integral, it's more like a weighted moving sum
|
||||
let integral = (control_vars.error_sum + error) * 0.8;
|
||||
control_vars.error_sum = integral; //.min(2.0).max(-2.0);
|
||||
let weighted_sum = control_vars.error_sum + error;
|
||||
control_vars.error_sum = weighted_sum * 0.8;
|
||||
|
||||
let kp = 13.1;
|
||||
let ki = 1.1;
|
||||
let kd = 8.1;
|
||||
let mag = (kp * error) + (ki * integral) + (kd * derivative);
|
||||
let mag = (settings.kp * error) + (settings.kws * weighted_sum) + (settings.kd * derivative);
|
||||
|
||||
if let Some(count) = diagnostics
|
||||
#[cfg(feature = "inspector")]
|
||||
if let Some(count) = _diagnostics
|
||||
.get(FrameTimeDiagnosticsPlugin::FRAME_COUNT)
|
||||
.and_then(|d| d.smoothed())
|
||||
.map(|x| x as u64)
|
||||
{
|
||||
if count % 30 == 0 {
|
||||
dbg!(&control_vars, mag);
|
||||
dbg!(&control_vars, mag, cos, derivative);
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -114,23 +129,14 @@ fn drag(mut query: Query<(&Velocity, &mut ExternalForce), With<CyberBikeBody>>)
|
|||
pub struct CyberActionPlugin;
|
||||
impl Plugin for CyberActionPlugin {
|
||||
fn build(&self, app: &mut App) {
|
||||
let mut mode = DebugRenderMode::RIGID_BODY_AXES;
|
||||
//mode.insert(DebugRenderMode::COLLIDER_SHAPES);
|
||||
mode.insert(DebugRenderMode::CONTACTS);
|
||||
mode.insert(DebugRenderMode::JOINTS);
|
||||
let rplugin = RapierDebugRenderPlugin {
|
||||
always_on_top: true,
|
||||
enabled: true,
|
||||
mode,
|
||||
..Default::default()
|
||||
};
|
||||
app.init_resource::<MovementSettings>()
|
||||
.init_resource::<CatControllerSettings>()
|
||||
.register_type::<CatControllerSettings>()
|
||||
.add_plugin(RapierPhysicsPlugin::<NoUserData>::default())
|
||||
.add_plugin(rplugin)
|
||||
.add_plugin(FrameTimeDiagnosticsPlugin::default())
|
||||
.add_startup_system(zero_gravity)
|
||||
.add_system(gravity.before("cat"))
|
||||
.add_system(falling_cat_pid.label("cat"))
|
||||
.add_system(falling_cat.label("cat"))
|
||||
.add_system(input_forces.label("iforces").after("cat"))
|
||||
.add_system(drag.label("drag").after("iforces"));
|
||||
}
|
||||
|
|
|
|||
199
src/bike.rs
199
src/bike.rs
|
|
@ -1,9 +1,21 @@
|
|||
use bevy::prelude::*;
|
||||
use bevy_rapier3d::{geometry::Group, prelude::*};
|
||||
use std::fmt::Debug;
|
||||
|
||||
use bevy::prelude::{shape::UVSphere as Tire, *};
|
||||
use bevy_rapier3d::{
|
||||
geometry::Group,
|
||||
prelude::{
|
||||
Ccd, Collider, ColliderMassProperties, CollisionGroups, Damping, ExternalForce, Friction,
|
||||
ImpulseJoint, PrismaticJointBuilder, Restitution, RigidBody, Sleeping,
|
||||
TransformInterpolation, Velocity,
|
||||
},
|
||||
};
|
||||
|
||||
use crate::planet::PLANET_RADIUS;
|
||||
|
||||
pub(crate) const SPAWN_ALTITUDE: f32 = PLANET_RADIUS * 1.01;
|
||||
type Meshterial<'a> = (
|
||||
ResMut<'a, Assets<Mesh>>,
|
||||
ResMut<'a, Assets<StandardMaterial>>,
|
||||
);
|
||||
|
||||
#[derive(Component)]
|
||||
pub struct CyberBikeBody;
|
||||
|
|
@ -14,29 +26,70 @@ pub struct CyberBikeCollider;
|
|||
#[derive(Component, Debug)]
|
||||
pub struct CyberBikeModel;
|
||||
|
||||
#[derive(Debug, Component)]
|
||||
pub struct CyberWheel;
|
||||
|
||||
#[derive(Component, Debug, Default, Clone, Copy)]
|
||||
pub struct CyberBikeControl {
|
||||
pub error_sum: f32,
|
||||
pub prev_error: f32,
|
||||
}
|
||||
|
||||
#[derive(Resource, Reflect)]
|
||||
#[reflect(Resource)]
|
||||
pub struct WheelConfig {
|
||||
pub front_forward: f32,
|
||||
pub front_stance: f32,
|
||||
pub rear_back: f32,
|
||||
pub y: f32,
|
||||
pub limits: [f32; 2],
|
||||
pub stiffness: f32,
|
||||
pub damping: f32,
|
||||
pub radius: f32,
|
||||
}
|
||||
|
||||
impl Default for WheelConfig {
|
||||
fn default() -> Self {
|
||||
Self {
|
||||
front_forward: 0.9,
|
||||
front_stance: 0.65,
|
||||
rear_back: 1.1,
|
||||
y: -1.5,
|
||||
limits: [-1.0, 0.0],
|
||||
stiffness: 80.0,
|
||||
damping: 0.6,
|
||||
radius: 0.4,
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
const BIKE_BODY_COLLISION_GROUP: (Group, Group) = (Group::GROUP_1, Group::GROUP_1);
|
||||
const BIKE_WHEEL_COLLISION_GROUP: (Group, Group) = (Group::GROUP_10, Group::GROUP_10);
|
||||
|
||||
fn spawn_cyberbike(mut commands: Commands, asset_server: Res<AssetServer>) {
|
||||
let xform = Transform::from_translation(Vec3::X * SPAWN_ALTITUDE)
|
||||
fn spawn_cyberbike(
|
||||
mut commands: Commands,
|
||||
asset_server: Res<AssetServer>,
|
||||
wheel_conf: Res<WheelConfig>,
|
||||
mut meshterials: Meshterial,
|
||||
) {
|
||||
let altitude = PLANET_RADIUS - 220.0;
|
||||
|
||||
let mut xform = Transform::from_translation(Vec3::X * altitude)
|
||||
.with_rotation(Quat::from_axis_angle(Vec3::Z, -89.0f32.to_radians()));
|
||||
//.with_rotation(Quat::from_axis_angle(Vec3::X, -90.0f32.to_radians()));
|
||||
|
||||
let right = xform.right() * 350.0;
|
||||
xform.translation += right;
|
||||
|
||||
let damping = Damping {
|
||||
angular_damping: 0.5,
|
||||
linear_damping: 0.1,
|
||||
};
|
||||
let not_sleeping = Sleeping::disabled();
|
||||
|
||||
let ccd = Ccd { enabled: true };
|
||||
|
||||
let bcollider_shape =
|
||||
Collider::capsule(Vec3::new(0.0, 0.0, -1.0), Vec3::new(0.0, 0.0, 1.0), 0.7);
|
||||
Collider::capsule(Vec3::new(0.0, 0.0, -1.0), Vec3::new(0.0, 0.0, 1.0), 0.50);
|
||||
|
||||
let friction = Friction {
|
||||
coefficient: 0.0,
|
||||
|
|
@ -91,41 +144,122 @@ fn spawn_cyberbike(mut commands: Commands, asset_server: Res<AssetServer>) {
|
|||
.insert(CyberBikeControl::default())
|
||||
.id();
|
||||
|
||||
//return;
|
||||
let wheel_z_positions = vec![-1.0, 1.2, -1.0];
|
||||
let wheel_y = -1.0f32;
|
||||
spawn_tires(&mut commands, &xform, bike, &wheel_conf, &mut meshterials);
|
||||
}
|
||||
|
||||
fn re_tire(
|
||||
mut commands: Commands,
|
||||
wheel_conf: ResMut<WheelConfig>,
|
||||
mut meshterials: Meshterial,
|
||||
bquery: Query<(Entity, &Transform), With<CyberBikeBody>>,
|
||||
wheels: Query<Entity, With<CyberWheel>>,
|
||||
) {
|
||||
// we fuck with values in the egui inspector
|
||||
let (bike, xform) = bquery.single();
|
||||
if wheel_conf.is_changed() {
|
||||
for wheel in wheels.iter() {
|
||||
commands.entity(wheel).despawn_recursive();
|
||||
}
|
||||
spawn_tires(&mut commands, xform, bike, &wheel_conf, &mut meshterials);
|
||||
}
|
||||
}
|
||||
|
||||
fn spawn_tires(
|
||||
commands: &mut Commands,
|
||||
xform: &Transform,
|
||||
bike: Entity,
|
||||
conf: &WheelConfig,
|
||||
meshterials: &mut Meshterial,
|
||||
) {
|
||||
// re-set the collision group
|
||||
let (membership, filter) = BIKE_WHEEL_COLLISION_GROUP;
|
||||
let wheels_collision_group = CollisionGroups::new(membership, filter);
|
||||
let wheel_y = conf.y;
|
||||
let wheel_rad = conf.radius;
|
||||
let stiffness = conf.stiffness;
|
||||
let not_sleeping = Sleeping::disabled();
|
||||
let ccd = Ccd { enabled: true };
|
||||
let limits = conf.limits;
|
||||
let (meshes, materials) = meshterials;
|
||||
|
||||
for (i, &wheel_z) in wheel_z_positions.iter().enumerate() {
|
||||
let (wheel_x, wheel_rad, stiffness) = match i {
|
||||
0 => (-1.1, 0.5, 2.0),
|
||||
2 => (1.1, 0.5, 2.0),
|
||||
1 => (0.0, 0.5, 1.8),
|
||||
_ => unreachable!(),
|
||||
};
|
||||
let tire = Tire {
|
||||
radius: wheel_rad,
|
||||
..Default::default()
|
||||
};
|
||||
let material = StandardMaterial {
|
||||
base_color: Color::Rgba {
|
||||
red: 0.01,
|
||||
green: 0.01,
|
||||
blue: 0.01,
|
||||
alpha: 1.0,
|
||||
},
|
||||
alpha_mode: AlphaMode::Opaque,
|
||||
perceptual_roughness: 0.5,
|
||||
..Default::default()
|
||||
};
|
||||
|
||||
let pbr_bundle = PbrBundle {
|
||||
material: materials.add(material),
|
||||
mesh: meshes.add(Mesh::from(tire)),
|
||||
..Default::default()
|
||||
};
|
||||
|
||||
let mut wheel_poses = Vec::with_capacity(3);
|
||||
|
||||
// left front
|
||||
{
|
||||
let wheel_x = -conf.front_stance;
|
||||
let wheel_z = -conf.front_forward;
|
||||
let offset = Vec3::new(wheel_x, wheel_y, wheel_z);
|
||||
wheel_poses.push(offset);
|
||||
}
|
||||
|
||||
// right front
|
||||
{
|
||||
let wheel_x = conf.front_stance;
|
||||
let wheel_z = -conf.front_forward;
|
||||
let offset = Vec3::new(wheel_x, wheel_y, wheel_z);
|
||||
wheel_poses.push(offset);
|
||||
}
|
||||
|
||||
// rear
|
||||
{
|
||||
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);
|
||||
}
|
||||
|
||||
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 {
|
||||
angular_damping: 0.8,
|
||||
linear_damping: 0.8,
|
||||
..Default::default()
|
||||
};
|
||||
let wheel_collider = Collider::ball(wheel_rad);
|
||||
let mass_props = ColliderMassProperties::Density(0.001);
|
||||
|
||||
let damping = 0.3;
|
||||
let damping = conf.damping;
|
||||
let prismatic = PrismaticJointBuilder::new(Vec3::Y)
|
||||
.local_anchor2(offset)
|
||||
.limits([-1.0, 0.9])
|
||||
.motor_position(0.0, stiffness, damping);
|
||||
.local_anchor1(offset)
|
||||
.limits(limits)
|
||||
.motor_position(-1.0, stiffness, damping);
|
||||
let joint = ImpulseJoint::new(bike, prismatic);
|
||||
|
||||
let _wheel_rb = commands
|
||||
let spatial_bundle = SpatialBundle {
|
||||
transform: wheel_pos_in_world,
|
||||
..Default::default()
|
||||
};
|
||||
|
||||
let tire_spundle = SpatialBundle {
|
||||
transform: wheel_pos_in_world,
|
||||
..Default::default()
|
||||
};
|
||||
|
||||
commands
|
||||
.spawn(RigidBody::Dynamic)
|
||||
.insert((wheel_pos_in_world, GlobalTransform::default()))
|
||||
.insert(spatial_bundle)
|
||||
.insert((
|
||||
wheel_collider,
|
||||
mass_props,
|
||||
|
|
@ -135,20 +269,19 @@ fn spawn_cyberbike(mut commands: Commands, asset_server: Res<AssetServer>) {
|
|||
joint,
|
||||
wheels_collision_group,
|
||||
))
|
||||
.id();
|
||||
.with_children(|wheel| {
|
||||
wheel.spawn(tire_spundle).insert(pbr_bundle.clone());
|
||||
})
|
||||
.insert(CyberWheel);
|
||||
}
|
||||
}
|
||||
|
||||
pub struct CyberBikePlugin;
|
||||
impl Plugin for CyberBikePlugin {
|
||||
#[cfg(feature = "debug_render")]
|
||||
fn build(&self, app: &mut App) {
|
||||
app.add_plugin(RapierDebugRenderPlugin::default())
|
||||
.add_startup_system_to_stage(StartupStage::PostStartup, spawn_cyberbike);
|
||||
}
|
||||
|
||||
#[cfg(not(feature = "debug_render"))]
|
||||
fn build(&self, app: &mut App) {
|
||||
app.add_startup_system_to_stage(StartupStage::PostStartup, spawn_cyberbike);
|
||||
app.insert_resource(WheelConfig::default())
|
||||
.register_type::<WheelConfig>()
|
||||
.add_startup_system_to_stage(StartupStage::PostStartup, spawn_cyberbike)
|
||||
.add_system(re_tire);
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -11,6 +11,23 @@ enum CyberCameras {
|
|||
Debug,
|
||||
}
|
||||
|
||||
#[derive(Debug, Resource)]
|
||||
pub struct DebugCamOffset {
|
||||
pub rot: f32,
|
||||
pub dist: f32,
|
||||
pub alt: f32,
|
||||
}
|
||||
|
||||
impl Default for DebugCamOffset {
|
||||
fn default() -> Self {
|
||||
DebugCamOffset {
|
||||
rot: 60.0,
|
||||
dist: 10.0,
|
||||
alt: 4.0,
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
impl CyberCameras {
|
||||
fn next(self) -> Self {
|
||||
match self {
|
||||
|
|
@ -45,6 +62,7 @@ fn follow_cyberbike(
|
|||
Query<(&mut Transform, &CyberCameras)>,
|
||||
)>,
|
||||
input: Res<InputState>,
|
||||
offset: Res<DebugCamOffset>,
|
||||
) {
|
||||
let bike_xform = *query.p0().single();
|
||||
let up = bike_xform.translation.normalize();
|
||||
|
|
@ -64,11 +82,11 @@ fn follow_cyberbike(
|
|||
cam_xform.rotate(Quat::from_axis_angle(axis, angle));
|
||||
}
|
||||
CyberCameras::Debug => {
|
||||
let pos = bike_xform.translation
|
||||
+ (bike_xform.forward() * 20.0)
|
||||
+ (bike_xform.left() * 2.0)
|
||||
+ (bike_xform.up() * 5.0);
|
||||
cam_xform.translation = pos;
|
||||
let mut ncx = bike_xform.to_owned();
|
||||
ncx.rotate(Quat::from_axis_angle(up, offset.rot.to_radians()));
|
||||
ncx.translation += ncx.forward() * offset.dist;
|
||||
ncx.translation += ncx.up() * offset.alt;
|
||||
*cam_xform = ncx;
|
||||
cam_xform.look_at(bike_xform.translation, up);
|
||||
}
|
||||
}
|
||||
|
|
@ -99,9 +117,12 @@ fn cycle_cam_state(mut state: ResMut<State<CyberCameras>>, mut keys: ResMut<Inpu
|
|||
}
|
||||
|
||||
pub struct CyberCamPlugin;
|
||||
|
||||
impl Plugin for CyberCamPlugin {
|
||||
fn build(&self, app: &mut bevy::prelude::App) {
|
||||
app.add_startup_system(setup_cybercams)
|
||||
// common stuff
|
||||
app.insert_resource(DebugCamOffset::default())
|
||||
.add_startup_system(setup_cybercams)
|
||||
.add_state(CyberCameras::Hero)
|
||||
.add_system(cycle_cam_state)
|
||||
.add_system(update_active_camera)
|
||||
|
|
|
|||
|
|
@ -74,6 +74,30 @@ fn wireframify_lights(mut lights: Query<&mut AnimateCyberLightWireframe>) {
|
|||
pub struct CyberGlamorPlugin;
|
||||
impl Plugin for CyberGlamorPlugin {
|
||||
fn build(&self, app: &mut App) {
|
||||
#[cfg(feature = "inspector")]
|
||||
{
|
||||
use bevy_rapier3d::render::{
|
||||
DebugRenderMode, DebugRenderStyle, RapierDebugRenderPlugin,
|
||||
};
|
||||
let style = DebugRenderStyle {
|
||||
multibody_joint_anchor_color: Color::GREEN.as_rgba_f32(),
|
||||
..Default::default()
|
||||
};
|
||||
let mode = DebugRenderMode::CONTACTS
|
||||
| DebugRenderMode::SOLVER_CONTACTS
|
||||
| DebugRenderMode::JOINTS
|
||||
| DebugRenderMode::RIGID_BODY_AXES;
|
||||
|
||||
let rplugin = RapierDebugRenderPlugin {
|
||||
style,
|
||||
always_on_top: true,
|
||||
enabled: true,
|
||||
mode,
|
||||
};
|
||||
|
||||
app.add_plugin(rplugin);
|
||||
}
|
||||
|
||||
app.add_startup_system_to_stage(StartupStage::PostStartup, wireframe_planet)
|
||||
.add_system(wireframify_lights)
|
||||
.add_plugin(PolylinePlugin);
|
||||
|
|
|
|||
44
src/input.rs
44
src/input.rs
|
|
@ -1,4 +1,7 @@
|
|||
use bevy::prelude::*;
|
||||
use bevy::{prelude::*, utils::HashSet};
|
||||
|
||||
use crate::camera::DebugCamOffset;
|
||||
|
||||
#[derive(Default, Debug, Resource)]
|
||||
pub(crate) struct InputState {
|
||||
pub yaw: f32,
|
||||
|
|
@ -7,6 +10,41 @@ pub(crate) struct InputState {
|
|||
pub pitch: f32,
|
||||
}
|
||||
|
||||
fn update_debug_cam(mut offset: ResMut<DebugCamOffset>, mut keys: ResMut<Input<KeyCode>>) {
|
||||
let keyset: HashSet<_> = keys.get_pressed().collect();
|
||||
let shifted = keyset.contains(&KeyCode::LShift) || keyset.contains(&KeyCode::RShift);
|
||||
|
||||
for key in keyset {
|
||||
match key {
|
||||
KeyCode::Left => offset.rot += 5.0,
|
||||
KeyCode::Right => offset.rot -= 5.0,
|
||||
KeyCode::Up => {
|
||||
if shifted {
|
||||
offset.alt += 0.5;
|
||||
} else {
|
||||
offset.dist -= 0.5;
|
||||
}
|
||||
}
|
||||
KeyCode::Down => {
|
||||
if shifted {
|
||||
offset.alt -= 0.5;
|
||||
} else {
|
||||
offset.dist += 0.5;
|
||||
}
|
||||
}
|
||||
_ => continue,
|
||||
}
|
||||
}
|
||||
|
||||
if keys.get_just_released().len() > 0 {
|
||||
let unpressed = keys.just_released(KeyCode::LShift) || keys.just_released(KeyCode::RShift);
|
||||
keys.reset_all();
|
||||
if shifted && !unpressed {
|
||||
keys.press(KeyCode::LShift);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
fn update_input(mut events: EventReader<GamepadEvent>, mut istate: ResMut<InputState>) {
|
||||
for GamepadEvent {
|
||||
gamepad: _,
|
||||
|
|
@ -46,6 +84,8 @@ fn update_input(mut events: EventReader<GamepadEvent>, mut istate: ResMut<InputS
|
|||
pub struct CyberInputPlugin;
|
||||
impl Plugin for CyberInputPlugin {
|
||||
fn build(&self, app: &mut App) {
|
||||
app.init_resource::<InputState>().add_system(update_input);
|
||||
app.init_resource::<InputState>()
|
||||
.add_system(update_input)
|
||||
.add_system(update_debug_cam);
|
||||
}
|
||||
}
|
||||
|
|
|
|||
12
src/ui.rs
12
src/ui.rs
|
|
@ -1,5 +1,10 @@
|
|||
use bevy::prelude::*;
|
||||
use bevy_rapier3d::prelude::*;
|
||||
use bevy::prelude::{
|
||||
AlignSelf, App, AssetServer, Color, Commands, Component, Plugin, Query, Res, Style, Text,
|
||||
TextBundle, TextSection, TextStyle, With,
|
||||
};
|
||||
#[cfg(feature = "inspector")]
|
||||
use bevy_inspector_egui::quick::WorldInspectorPlugin;
|
||||
use bevy_rapier3d::prelude::Velocity;
|
||||
|
||||
use crate::bike::CyberBikeBody;
|
||||
|
||||
|
|
@ -46,6 +51,9 @@ pub struct CyberUIPlugin;
|
|||
|
||||
impl Plugin for CyberUIPlugin {
|
||||
fn build(&self, app: &mut App) {
|
||||
#[cfg(feature = "inspector")]
|
||||
app.add_plugin(WorldInspectorPlugin);
|
||||
|
||||
app.add_startup_system(setup_ui).add_system(update_ui);
|
||||
}
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in a new issue