From 4d94f2bfa4c1cd7191eef507afc4cb4c3be190aa Mon Sep 17 00:00:00 2001 From: Joe Ardent Date: Fri, 12 Jul 2024 15:35:37 -0700 Subject: [PATCH] update deps for switching to Avian3d --- Cargo.lock | 3344 ++++++++++++++++++++++++++-------------- Cargo.toml | 30 +- src/action/mod.rs | 23 +- src/action/systems.rs | 171 +- src/bike/body.rs | 43 +- src/bike/components.rs | 4 +- src/bike/mod.rs | 12 +- src/bike/wheels.rs | 128 +- src/glamor.rs | 35 +- src/input.rs | 22 +- src/planet.rs | 51 +- src/ui.rs | 20 +- 12 files changed, 2394 insertions(+), 1489 deletions(-) diff --git a/Cargo.lock b/Cargo.lock index 6ff6173..225511b 100644 --- a/Cargo.lock +++ b/Cargo.lock @@ -4,9 +4,9 @@ version = 3 [[package]] name = "ab_glyph" -version = "0.2.20" +version = "0.2.28" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "fe21446ad43aa56417a767f3e2f3d7c4ca522904de1dd640529a76e9c5c3b33c" +checksum = "79faae4620f45232f599d9bc7b290f88247a0834162c4495ab2f02d60004adfb" dependencies 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"bevy_reflect", "bevy_utils", "smallvec", @@ -555,33 +705,39 @@ dependencies = [ [[package]] name = "bevy_input" -version = "0.10.1" +version = "0.14.0" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "a15d40aa636bb656967ac16ca36066ab7a7bb9179e1b0390c5705e54208e8fd7" +checksum = "2d050f1433f48ca23f1ea078734ebff119a3f76eb7d221725ab0f1fd9f81230b" dependencies = [ "bevy_app", "bevy_ecs", "bevy_math", "bevy_reflect", "bevy_utils", + "smol_str", "thiserror", ] [[package]] name = "bevy_internal" -version = "0.10.1" +version = "0.14.0" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "862b11931c5874cb00778ffb715fc526ee49e52a493d3bcf50e8010f301858b3" +checksum = "8ddd2b23e44d3a1f8ae547cbee5b6661f8135cc456c5de206e8648789944e7a1" dependencies = [ "bevy_a11y", + "bevy_animation", "bevy_app", "bevy_asset", + "bevy_audio", + "bevy_color", "bevy_core", "bevy_core_pipeline", "bevy_derive", + "bevy_dev_tools", "bevy_diagnostic", "bevy_ecs", "bevy_gilrs", + "bevy_gizmos", "bevy_gltf", "bevy_hierarchy", "bevy_input", @@ -593,6 +749,7 @@ dependencies = [ "bevy_render", "bevy_scene", "bevy_sprite", + "bevy_state", "bevy_tasks", "bevy_text", "bevy_time", @@ -605,15 +762,14 @@ dependencies = [ [[package]] name = "bevy_log" -version = "0.10.1" +version = "0.14.0" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "25980c90ceaad34d09a53291e72ca56fcc754a974cd4654fffcf5b68b283b7a7" +checksum = "bab641fd0de254915ab746165a07677465b2d89b72f5b49367d73b9197548a35" dependencies = [ "android_log-sys", "bevy_app", "bevy_ecs", "bevy_utils", - "console_error_panic_hook", "tracing-log", "tracing-subscriber", "tracing-wasm", @@ -621,42 +777,47 @@ dependencies = [ [[package]] name = "bevy_macro_utils" -version = "0.10.1" +version = "0.14.0" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "5b2fee53b2497cdc3bffff2ddf52afa751242424a5fd0d51d227d4dab081d0d9" +checksum = 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"ruzstd", + "send_wrapper", "serde", "smallvec", "thiserror", - "thread_local", + "wasm-bindgen", + "web-sys", "wgpu", - "wgpu-hal", ] [[package]] name = "bevy_render_macros" -version = "0.10.1" +version = "0.14.0" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "652f8c4d9577c6e6a8b3dfd8a4ce331e8b6ecdbb99636a4b2701dec50104d6bc" +checksum = "72ddf4a96d71519c8eca3d74dabcb89a9c0d50ab5d9230638cb004145f46e9ed" dependencies = [ "bevy_macro_utils", "proc-macro2", "quote", - "syn 1.0.109", + "syn 2.0.71", ] [[package]] name = "bevy_scene" -version = "0.10.1" +version = "0.14.0" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "1de59637d27726251091120ce6f63917328ffd60aaccbda4d65a615873aff631" +checksum = "b7a9f0388612a116f02ab6187aeab66e52c9e91abbc21f919b8b50230c4d83e7" dependencies = [ - "anyhow", "bevy_app", "bevy_asset", "bevy_derive", @@ -796,7 +950,6 @@ dependencies = [ "bevy_render", "bevy_transform", "bevy_utils", - "ron", "serde", "thiserror", "uuid", @@ -804,54 +957,79 @@ dependencies = [ [[package]] name = "bevy_sprite" -version = "0.10.1" +version = "0.14.0" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "c110358fe3651a5796fd1c07989635680738f5b5c7e9b8a463dd50d12bb78410" +checksum = "d837e33ed27b9f2e5212eca4bdd5655a9ee64c52914112e6189c043cb25dd1ec" dependencies = [ "bevy_app", "bevy_asset", + "bevy_color", "bevy_core_pipeline", "bevy_derive", "bevy_ecs", - "bevy_log", "bevy_math", "bevy_reflect", "bevy_render", "bevy_transform", "bevy_utils", - "bitflags", + "bitflags 2.6.0", "bytemuck", - "fixedbitset", + "fixedbitset 0.5.7", "guillotiere", + "radsort", "rectangle-pack", "thiserror", ] [[package]] -name = "bevy_tasks" -version = "0.10.1" +name = "bevy_state" +version = "0.14.0" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "3de86364316e151aeb0897eaaa917c3ad5ee5ef1471a939023cf7f2d5ab76955" +checksum = 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+version = "0.14" +default-features = true +features = ["bevy_dev_tools"] -[dependencies.bevy_rapier3d] -features = ["debug-render-3d"] -version = "0.21" +[dependencies.avian3d] +default-features = true +version = "0.1" # Maybe also enable only a small amount of optimization for our code: [profile.dev] diff --git a/src/action/mod.rs b/src/action/mod.rs index 8937120..233d6a2 100644 --- a/src/action/mod.rs +++ b/src/action/mod.rs @@ -1,10 +1,11 @@ +use avian3d::prelude::*; use bevy::{ + app::{Startup, Update}, diagnostic::FrameTimeDiagnosticsPlugin, ecs::reflect::ReflectResource, prelude::{App, IntoSystemConfigs, Plugin, Resource}, reflect::Reflect, }; -use bevy_rapier3d::prelude::{NoUserData, RapierPhysicsPlugin}; mod components; mod systems; @@ -28,20 +29,14 @@ impl Plugin for CyberActionPlugin { .init_resource::() .register_type::() .register_type::() - .add_plugin(RapierPhysicsPlugin::::default()) - .add_startup_system(timestep_setup) - .add_plugin(FrameTimeDiagnosticsPlugin::default()) + .add_plugins(( + PhysicsPlugins::default(), + FrameTimeDiagnosticsPlugin::default(), + )) + .insert_resource(SubstepCount(12)) .add_systems( - ( - gravity, - cyber_lean, - falling_cat, - input_forces, - drag, - tunnel_out, - surface_fix, - ) - .chain(), + Update, + (gravity, cyber_lean, falling_cat, input_forces).chain(), ); } } diff --git a/src/action/systems.rs b/src/action/systems.rs index e55670d..e1d9048 100644 --- a/src/action/systems.rs +++ b/src/action/systems.rs @@ -1,15 +1,14 @@ use std::f32::consts::{FRAC_PI_3, FRAC_PI_4}; +use avian3d::{ + dynamics::solver::xpbd::AngularConstraint, parry::mass_properties::MassProperties, prelude::*, +}; use bevy::prelude::{ Commands, Entity, Quat, Query, Res, ResMut, Time, Transform, Vec3, With, Without, }; -use bevy_rapier3d::prelude::{ - CollisionGroups, ExternalForce, Group, MultibodyJoint, QueryFilter, RapierConfiguration, - RapierContext, ReadMassProperties, TimestepMode, Velocity, -}; -#[cfg(feature = "inspector")] -use super::ActionDebugInstant; +//#[cfg(feature = "inspector")] +//use super::ActionDebugInstant; use super::{CatControllerSettings, CatControllerState, CyberLean, MovementSettings, Tunneling}; use crate::{ bike::{CyberBikeBody, CyberSteering, CyberWheel, WheelConfig, BIKE_WHEEL_COLLISION_GROUP}, @@ -36,46 +35,28 @@ fn rotate_point(pt: &Vec3, rot: &Quat) -> Vec3 { -Vec3::from_array([rot_qpt.x, rot_qpt.y, rot_qpt.z]) } -pub(super) fn timestep_setup(mut config: ResMut) { - let ts = TimestepMode::Fixed { - dt: 1.0 / 60.0, - substeps: 2, - }; - config.timestep_mode = ts; -} - /// The gravity vector points from the cyberbike to the center of the planet. pub(super) fn gravity( mut query: Query<(&Transform, &mut ExternalForce), With>, settings: Res, - mut rapier_config: ResMut, + mut gravity: ResMut, #[cfg(feature = "inspector")] mut debug_instant: ResMut, ) { let (xform, mut forces) = query.single_mut(); - - #[cfg(feature = "inspectorb")] - { - if debug_instant.elapsed().as_millis() > 6000 { - dbg!(&forces); - debug_instant.reset(); - } - } - - rapier_config.gravity = xform.translation.normalize() * -settings.gravity; - forces.force = Vec3::ZERO; - forces.torque = Vec3::ZERO; + *gravity = Gravity(xform.translation.normalize() * -settings.gravity); + forces.clear(); } /// The desired lean angle, given steering input and speed. pub(super) fn cyber_lean( - bike_state: Query<(&Velocity, &Transform), With>, + bike_state: Query<(&LinearVelocity, &Transform), With>, wheels: Query<&Transform, With>, input: Res, gravity_settings: Res, mut lean: ResMut, ) { let (velocity, xform) = bike_state.single(); - let vel = velocity.linvel.dot(xform.forward()); + let vel = velocity.dot(*xform.forward()); let v_squared = vel.powi(2); let steering_angle = yaw_to_angle(input.yaw); let wheels: Vec<_> = wheels.iter().map(|w| w.translation).collect(); @@ -94,20 +75,20 @@ pub(super) fn cyber_lean( /// PID-based controller for stabilizing attitude; keeps the cyberbike upright. pub(super) fn falling_cat( - mut bike_query: Query<(&Transform, &mut ExternalForce, &mut CatControllerState)>, + mut bike_query: Query<(&Transform, &mut ExternalTorque, &mut CatControllerState)>, time: Res