update deps for switching to Avian3d
This commit is contained in:
Joe Ardent
parent
82f95cf070
commit
4d94f2bfa4
12 changed files with 2394 additions and 1489 deletions
3344
Cargo.lock
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3344
Cargo.lock
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30
Cargo.toml
30
Cargo.toml
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@ -6,32 +6,22 @@ edition = "2021"
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[dependencies]
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rand = "0.8"
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# bevy_polyline = "0.4"
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noise = { git = "https://github.com/Razaekel/noise-rs" }
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hexasphere = "8"
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wgpu = "0.15"
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bevy-inspector-egui = "0.18"
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noise = "0.9"
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hexasphere = "14"
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wgpu = "0.20"
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# bevy-inspector-egui = "0.18"
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[features]
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inspector = []
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[dependencies.bevy]
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version = "0.10"
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default-features = false
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features = [
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"bevy_gilrs",
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"bevy_winit",
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"png",
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"hdr",
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"x11",
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"bevy_ui",
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"bevy_text",
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"bevy_gltf",
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"bevy_sprite",
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]
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version = "0.14"
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default-features = true
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features = ["bevy_dev_tools"]
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[dependencies.bevy_rapier3d]
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features = ["debug-render-3d"]
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version = "0.21"
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[dependencies.avian3d]
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default-features = true
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version = "0.1"
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# Maybe also enable only a small amount of optimization for our code:
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[profile.dev]
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@ -1,10 +1,11 @@
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use avian3d::prelude::*;
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use bevy::{
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app::{Startup, Update},
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diagnostic::FrameTimeDiagnosticsPlugin,
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ecs::reflect::ReflectResource,
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prelude::{App, IntoSystemConfigs, Plugin, Resource},
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reflect::Reflect,
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};
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use bevy_rapier3d::prelude::{NoUserData, RapierPhysicsPlugin};
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mod components;
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mod systems;
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@ -28,20 +29,14 @@ impl Plugin for CyberActionPlugin {
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.init_resource::<CyberLean>()
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.register_type::<CyberLean>()
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.register_type::<CatControllerSettings>()
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.add_plugin(RapierPhysicsPlugin::<NoUserData>::default())
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.add_startup_system(timestep_setup)
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.add_plugin(FrameTimeDiagnosticsPlugin::default())
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.add_plugins((
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PhysicsPlugins::default(),
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FrameTimeDiagnosticsPlugin::default(),
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))
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.insert_resource(SubstepCount(12))
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.add_systems(
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(
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gravity,
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cyber_lean,
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falling_cat,
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input_forces,
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drag,
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tunnel_out,
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surface_fix,
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)
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.chain(),
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Update,
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(gravity, cyber_lean, falling_cat, input_forces).chain(),
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);
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}
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}
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@ -1,15 +1,14 @@
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use std::f32::consts::{FRAC_PI_3, FRAC_PI_4};
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use avian3d::{
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dynamics::solver::xpbd::AngularConstraint, parry::mass_properties::MassProperties, prelude::*,
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};
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use bevy::prelude::{
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Commands, Entity, Quat, Query, Res, ResMut, Time, Transform, Vec3, With, Without,
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};
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use bevy_rapier3d::prelude::{
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CollisionGroups, ExternalForce, Group, MultibodyJoint, QueryFilter, RapierConfiguration,
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RapierContext, ReadMassProperties, TimestepMode, Velocity,
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};
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#[cfg(feature = "inspector")]
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use super::ActionDebugInstant;
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//#[cfg(feature = "inspector")]
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//use super::ActionDebugInstant;
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use super::{CatControllerSettings, CatControllerState, CyberLean, MovementSettings, Tunneling};
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use crate::{
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bike::{CyberBikeBody, CyberSteering, CyberWheel, WheelConfig, BIKE_WHEEL_COLLISION_GROUP},
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@ -36,46 +35,28 @@ fn rotate_point(pt: &Vec3, rot: &Quat) -> Vec3 {
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-Vec3::from_array([rot_qpt.x, rot_qpt.y, rot_qpt.z])
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}
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pub(super) fn timestep_setup(mut config: ResMut<RapierConfiguration>) {
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let ts = TimestepMode::Fixed {
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dt: 1.0 / 60.0,
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substeps: 2,
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};
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config.timestep_mode = ts;
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}
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/// The gravity vector points from the cyberbike to the center of the planet.
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pub(super) fn gravity(
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mut query: Query<(&Transform, &mut ExternalForce), With<CyberBikeBody>>,
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settings: Res<MovementSettings>,
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mut rapier_config: ResMut<RapierConfiguration>,
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mut gravity: ResMut<Gravity>,
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#[cfg(feature = "inspector")] mut debug_instant: ResMut<ActionDebugInstant>,
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) {
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let (xform, mut forces) = query.single_mut();
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#[cfg(feature = "inspectorb")]
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{
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if debug_instant.elapsed().as_millis() > 6000 {
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dbg!(&forces);
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debug_instant.reset();
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}
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}
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rapier_config.gravity = xform.translation.normalize() * -settings.gravity;
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forces.force = Vec3::ZERO;
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forces.torque = Vec3::ZERO;
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*gravity = Gravity(xform.translation.normalize() * -settings.gravity);
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forces.clear();
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}
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/// The desired lean angle, given steering input and speed.
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pub(super) fn cyber_lean(
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bike_state: Query<(&Velocity, &Transform), With<CyberBikeBody>>,
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bike_state: Query<(&LinearVelocity, &Transform), With<CyberBikeBody>>,
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wheels: Query<&Transform, With<CyberWheel>>,
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input: Res<InputState>,
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gravity_settings: Res<MovementSettings>,
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mut lean: ResMut<CyberLean>,
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) {
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let (velocity, xform) = bike_state.single();
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let vel = velocity.linvel.dot(xform.forward());
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let vel = velocity.dot(*xform.forward());
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let v_squared = vel.powi(2);
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let steering_angle = yaw_to_angle(input.yaw);
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let wheels: Vec<_> = wheels.iter().map(|w| w.translation).collect();
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@ -94,20 +75,20 @@ pub(super) fn cyber_lean(
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/// PID-based controller for stabilizing attitude; keeps the cyberbike upright.
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pub(super) fn falling_cat(
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mut bike_query: Query<(&Transform, &mut ExternalForce, &mut CatControllerState)>,
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mut bike_query: Query<(&Transform, &mut ExternalTorque, &mut CatControllerState)>,
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time: Res<Time>,
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settings: Res<CatControllerSettings>,
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lean: Res<CyberLean>,
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) {
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let (xform, mut forces, mut control_vars) = bike_query.single_mut();
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let (xform, mut torque, mut control_vars) = bike_query.single_mut();
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let world_up = xform.translation.normalize();
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let rot = Quat::from_axis_angle(xform.back(), lean.lean);
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let rot = Quat::from_axis_angle(*xform.back(), lean.lean);
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let target_up = rotate_point(&world_up, &rot).normalize();
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let bike_right = xform.right();
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let roll_error = bike_right.dot(target_up);
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let pitch_error = world_up.dot(xform.back());
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let pitch_error = world_up.dot(*xform.back());
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// only try to correct roll if we're not totally vertical
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if pitch_error.abs() < 0.95 {
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@ -115,7 +96,7 @@ pub(super) fn falling_cat(
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let mag =
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(settings.kp * roll_error) + (settings.ki * integral) + (settings.kd * derivative);
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if mag.is_finite() {
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forces.torque += xform.back() * mag;
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torque.apply_torque(*xform.back() * mag);
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}
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}
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}
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@ -124,20 +105,27 @@ pub(super) fn falling_cat(
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pub(super) fn input_forces(
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settings: Res<MovementSettings>,
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input: Res<InputState>,
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mut braking_query: Query<&mut MultibodyJoint, (Without<CyberSteering>, With<CyberWheel>)>,
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time: Res<Time>,
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axle: Query<Entity, With<CyberSteering>>,
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mut braking_query: Query<&mut ExternalTorque, With<CyberWheel>>,
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mut body_query: Query<
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(&Transform, &mut ExternalForce),
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(With<CyberBikeBody>, Without<CyberSteering>),
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(
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Entity,
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&Transform,
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&ColliderMassProperties,
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&mut ExternalForce,
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),
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With<CyberBikeBody>,
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>,
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mut steering_query: Query<&mut MultibodyJoint, With<CyberSteering>>,
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) {
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let (xform, mut forces) = body_query.single_mut();
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let (bike, xform, mass, mut forces) = body_query.single_mut();
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let dt = time.delta_seconds();
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// thrust
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let thrust = xform.forward() * input.throttle * settings.accel;
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let point = xform.translation + xform.back();
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let force = ExternalForce::at_point(thrust, point, xform.translation);
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*forces += force;
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let point = xform.translation + *xform.back();
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*forces.apply_force_at_point(dt * thrust, point, mass.center_of_mass.0);
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// brake + thrust
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for mut motor in braking_query.iter_mut() {
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@ -147,99 +135,14 @@ pub(super) fn input_forces(
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input.throttle * settings.accel
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};
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let speed = if input.brake { 0.0 } else { -70.0 };
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motor.data = (*motor
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.data
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.as_revolute_mut()
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.unwrap()
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.set_motor_max_force(factor)
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.set_motor_velocity(speed, factor))
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.into();
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let target = dt * factor * speed;
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let torque = target * Vec3::X;
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motor.apply_torque(torque);
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}
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// steering
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let angle = yaw_to_angle(input.yaw);
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let mut steering = steering_query.single_mut();
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steering.data = (*steering
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.data
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.as_revolute_mut()
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.unwrap()
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.set_motor_position(-angle, 100.0, 0.5))
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.into();
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}
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/// Don't let the wheels get stuck underneat the planet
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pub(super) fn surface_fix(
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mut commands: Commands,
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mut wheel_query: Query<
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(Entity, &Transform, &mut CollisionGroups),
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(With<CyberWheel>, Without<Tunneling>),
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>,
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span_query: Query<&Transform, With<CyberWheel>>,
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config: Res<WheelConfig>,
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context: Res<RapierContext>,
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) {
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let mut wheels = Vec::new();
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for xform in span_query.iter() {
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wheels.push(xform);
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}
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let span = (wheels[1].translation - wheels[0].translation).normalize();
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for (entity, xform, mut cgroups) in wheel_query.iter_mut() {
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//let ray_dir = xform.translation.normalize();
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let ray_dir = xform.right().cross(span).normalize();
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if let Some(hit) = context.cast_ray_and_get_normal(
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xform.translation,
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ray_dir,
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config.radius * 1.1,
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false,
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QueryFilter::only_fixed(),
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) {
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cgroups.memberships = Group::NONE;
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cgroups.filters = Group::NONE;
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commands.entity(entity).insert(Tunneling {
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frames: 3,
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dir: hit.1.normal,
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});
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}
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}
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}
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pub(super) fn tunnel_out(
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mut commands: Commands,
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mut wheel_query: Query<
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(
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Entity,
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&mut Tunneling,
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&mut ExternalForce,
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&mut CollisionGroups,
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),
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With<CyberWheel>,
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>,
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mprops: Query<&ReadMassProperties, With<CyberBikeBody>>,
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settings: Res<MovementSettings>,
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) {
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let mprops = mprops.single();
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for (entity, mut tunneling, mut force, mut cgroups) in wheel_query.iter_mut() {
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if tunneling.frames == 0 {
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commands.entity(entity).remove::<Tunneling>();
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force.force = Vec3::ZERO;
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(cgroups.memberships, cgroups.filters) = BIKE_WHEEL_COLLISION_GROUP;
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continue;
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}
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tunneling.frames -= 1;
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force.force = tunneling.dir * settings.gravity * 1.5 * mprops.0.mass;
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#[cfg(feature = "inspector")]
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dbg!(&tunneling);
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}
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}
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/// General velocity-based drag-force calculation; does not take orientation
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/// into account.
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pub(super) fn drag(mut query: Query<(&Velocity, &mut ExternalForce), With<CyberBikeBody>>) {
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let (vels, mut forces) = query.single_mut();
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if let Some(vel) = vels.linvel.try_normalize() {
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let v2 = vels.linvel.length_squared();
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forces.force -= vel * (v2 * 0.02);
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}
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let _angle = yaw_to_angle(input.yaw);
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let _axle = axle.single();
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//steering.align_orientation(bike, steering, rotation_difference, lagrange,
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// compliance, dt)
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}
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@ -1,11 +1,8 @@
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use avian3d::prelude::*;
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use bevy::{
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prelude::{AssetServer, BuildChildren, Commands, Quat, Res, SpatialBundle, Transform, Vec3},
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scene::SceneBundle,
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};
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use bevy_rapier3d::prelude::{
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Ccd, Collider, ColliderMassProperties, CollisionGroups, Damping, ExternalForce, Friction,
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ReadMassProperties, Restitution, RigidBody, Sleeping, TransformInterpolation, Velocity,
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};
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use super::{spawn_wheels, CyberBikeBody, Meshterial, WheelConfig, BIKE_BODY_COLLISION_GROUP};
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use crate::{action::CatControllerState, planet::PLANET_RADIUS};
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@ -24,14 +21,10 @@ pub(super) fn spawn_cyberbike(
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let right = xform.right() * 350.0;
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xform.translation += right;
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let damping = Damping {
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angular_damping: 2.0,
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linear_damping: 0.1,
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};
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let friction = Friction {
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coefficient: 0.01,
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..Default::default()
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dynamic_coefficient: 0.1,
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static_coefficient: 0.6,
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combine_rule: CoefficientCombine::Average,
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};
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let restitution = Restitution {
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@ -39,10 +32,8 @@ pub(super) fn spawn_cyberbike(
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..Default::default()
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};
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let mass_properties = ColliderMassProperties::Density(1.5);
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let (membership, filter) = BIKE_BODY_COLLISION_GROUP;
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let bike_collision_group = CollisionGroups::new(membership, filter);
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let bike_collision_group = CollisionLayers::new(membership, filter);
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let scene = asset_server.load("cb-no-y_up.glb#Scene0");
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@ -51,26 +42,26 @@ pub(super) fn spawn_cyberbike(
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..Default::default()
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};
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let body =
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Collider::capsule_endpoints(0.5, Vec3::new(0.0, 0.0, -0.65), Vec3::new(0.0, 0.0, 0.8));
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let mass_props = MassPropertiesBundle::new_computed(&body, 0.6);
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let bike = commands
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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, -0.65), Vec3::new(0.0, 0.0, 0.8), 0.5),
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body,
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mass_props.clone(),
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bike_collision_group,
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mass_properties,
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damping,
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restitution,
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friction,
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Sleeping::disabled(),
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Ccd { enabled: true },
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ReadMassProperties::default(),
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SleepingDisabled,
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LinearDamping(0.1),
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AngularDamping(2.0),
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LinearVelocity::ZERO,
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AngularVelocity::ZERO,
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ExternalForce::ZERO,
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ExternalTorque::ZERO,
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))
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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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.insert(Velocity::zero())
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.insert(ExternalForce::default())
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.with_children(|rider| {
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rider.spawn(SceneBundle {
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scene,
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|
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@ -6,10 +6,10 @@ use bevy::{
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#[derive(Component)]
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pub struct CyberBikeBody;
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#[derive(Component)]
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#[derive(Clone, Component)]
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pub struct CyberSteering;
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#[derive(Debug, Component)]
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#[derive(Clone, Debug, Component)]
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pub struct CyberWheel;
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#[derive(Resource, Reflect)]
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|
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@ -2,16 +2,16 @@ mod body;
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mod components;
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mod wheels;
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use bevy::prelude::{
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App, Assets, IntoSystemConfig, Mesh, Plugin, ResMut, StandardMaterial, StartupSet,
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use bevy::{
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app::PostStartup,
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prelude::{App, Assets, Mesh, Plugin, ResMut, StandardMaterial},
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};
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use bevy_rapier3d::prelude::Group;
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pub(crate) use self::components::*;
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||||
use self::{body::spawn_cyberbike, wheels::spawn_wheels};
|
||||
|
||||
pub const BIKE_BODY_COLLISION_GROUP: (Group, Group) = (Group::GROUP_1, Group::GROUP_1);
|
||||
pub const BIKE_WHEEL_COLLISION_GROUP: (Group, Group) = (Group::GROUP_10, Group::GROUP_10);
|
||||
pub const BIKE_BODY_COLLISION_GROUP: (u32, u32) = (0b01, 0b01);
|
||||
pub const BIKE_WHEEL_COLLISION_GROUP: (u32, u32) = (0b10, 0b10);
|
||||
|
||||
type Meshterial<'a> = (
|
||||
ResMut<'a, Assets<Mesh>>,
|
||||
|
|
@ -23,6 +23,6 @@ impl Plugin for CyberBikePlugin {
|
|||
fn build(&self, app: &mut App) {
|
||||
app.insert_resource(WheelConfig::default())
|
||||
.register_type::<WheelConfig>()
|
||||
.add_startup_system(spawn_cyberbike.in_base_set(StartupSet::PostStartup));
|
||||
.add_systems(PostStartup, spawn_cyberbike);
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,9 +1,5 @@
|
|||
use bevy::prelude::{shape::Torus as Tire, *};
|
||||
use bevy_rapier3d::prelude::{
|
||||
Ccd, CoefficientCombineRule, Collider, ColliderMassProperties, CollisionGroups, Damping,
|
||||
ExternalForce, Friction, MultibodyJoint, PrismaticJointBuilder, Restitution,
|
||||
RevoluteJointBuilder, RigidBody, Sleeping, TransformInterpolation,
|
||||
};
|
||||
use avian3d::prelude::*;
|
||||
use bevy::prelude::{Torus as Tire, *};
|
||||
|
||||
use super::{CyberSteering, CyberWheel, Meshterial, WheelConfig, BIKE_WHEEL_COLLISION_GROUP};
|
||||
|
||||
|
|
@ -14,18 +10,19 @@ pub fn spawn_wheels(
|
|||
meshterials: &mut Meshterial,
|
||||
) {
|
||||
let (membership, filter) = BIKE_WHEEL_COLLISION_GROUP;
|
||||
let wheels_collision_group = CollisionGroups::new(membership, filter);
|
||||
let wheels_collision_group = CollisionLayers::new(membership, filter);
|
||||
let wheel_y = conf.y;
|
||||
let stiffness = conf.stiffness;
|
||||
let not_sleeping = Sleeping::disabled();
|
||||
let ccd = Ccd { enabled: true };
|
||||
let not_sleeping = SleepingDisabled;
|
||||
let ccd = SweptCcd::NON_LINEAR.include_dynamic(false);
|
||||
let limits = conf.limits;
|
||||
let (meshes, materials) = meshterials;
|
||||
let rake_vec: Vec3 = Vec3::new(0.0, 1.0, 0.57).normalize(); // about 30 degrees of rake
|
||||
|
||||
let friction = Friction {
|
||||
coefficient: conf.friction,
|
||||
combine_rule: CoefficientCombineRule::Average,
|
||||
dynamic_coefficient: conf.friction,
|
||||
static_coefficient: conf.friction,
|
||||
combine_rule: CoefficientCombine::Average,
|
||||
};
|
||||
|
||||
let mut wheel_poses = Vec::with_capacity(2);
|
||||
|
|
@ -50,12 +47,7 @@ pub fn spawn_wheels(
|
|||
let (mesh, collider) = gen_tires(conf);
|
||||
|
||||
let material = StandardMaterial {
|
||||
base_color: Color::Rgba {
|
||||
red: 0.01,
|
||||
green: 0.01,
|
||||
blue: 0.01,
|
||||
alpha: 1.0,
|
||||
},
|
||||
base_color: Color::linear_rgba(0.01, 0.01, 0.01, 1.0),
|
||||
alpha_mode: AlphaMode::Opaque,
|
||||
perceptual_roughness: 0.5,
|
||||
..Default::default()
|
||||
|
|
@ -67,64 +59,55 @@ pub fn spawn_wheels(
|
|||
..Default::default()
|
||||
};
|
||||
|
||||
let mass_props = ColliderMassProperties::Density(conf.density);
|
||||
let suspension_damping = conf.damping;
|
||||
|
||||
let suspension_axis = if steering.is_some() {
|
||||
rake_vec
|
||||
} else {
|
||||
Vec3::Y
|
||||
};
|
||||
|
||||
let suspension_joint_builder = PrismaticJointBuilder::new(suspension_axis)
|
||||
.local_anchor1(offset)
|
||||
.limits(limits)
|
||||
.motor_position(limits[0], stiffness, suspension_damping);
|
||||
let suspension_joint = MultibodyJoint::new(bike, suspension_joint_builder);
|
||||
let fork_rb_entity = commands
|
||||
.spawn(RigidBody::Dynamic)
|
||||
.insert(suspension_joint)
|
||||
.insert(not_sleeping)
|
||||
.id();
|
||||
|
||||
let axel_parent_entity = if let Some(steering) = steering {
|
||||
let neck_builder =
|
||||
RevoluteJointBuilder::new(rake_vec).local_anchor1(Vec3::new(0.0, 0.0, 0.1)); // this adds another 0.1m of trail
|
||||
let neck_joint = MultibodyJoint::new(fork_rb_entity, neck_builder);
|
||||
let neck = commands
|
||||
.spawn(RigidBody::Dynamic)
|
||||
.insert(neck_joint)
|
||||
.insert(steering)
|
||||
.insert(not_sleeping)
|
||||
.id();
|
||||
neck
|
||||
} else {
|
||||
fork_rb_entity
|
||||
};
|
||||
|
||||
let axel_builder = RevoluteJointBuilder::new(Vec3::X);
|
||||
let axel_joint = MultibodyJoint::new(axel_parent_entity, axel_builder);
|
||||
let wheel_damping = Damping {
|
||||
linear_damping: 0.8,
|
||||
..Default::default()
|
||||
};
|
||||
|
||||
commands.spawn(pbr_bundle).insert((
|
||||
let wheel = commands
|
||||
.spawn(pbr_bundle)
|
||||
.insert((
|
||||
collider,
|
||||
mass_props,
|
||||
wheel_damping,
|
||||
ccd,
|
||||
not_sleeping,
|
||||
axel_joint,
|
||||
wheels_collision_group,
|
||||
friction,
|
||||
CyberWheel,
|
||||
ExternalForce::default(),
|
||||
Restitution::new(conf.restitution),
|
||||
SpatialBundle::default(),
|
||||
TransformInterpolation::default(),
|
||||
RigidBody::Dynamic,
|
||||
));
|
||||
ColliderDensity(0.1),
|
||||
AngularVelocity::ZERO,
|
||||
ExternalTorque::ZERO,
|
||||
))
|
||||
.id();
|
||||
|
||||
let axel = if let Some(ref steering) = steering {
|
||||
commands.spawn((RigidBody::Dynamic, ExternalForce::ZERO, steering.clone()))
|
||||
} else {
|
||||
commands.spawn((RigidBody::Dynamic, ExternalForce::ZERO))
|
||||
}
|
||||
.id();
|
||||
let axel_joint = RevoluteJoint::new(axel, wheel).with_aligned_axis(Vec3::NEG_X);
|
||||
commands.spawn(axel_joint);
|
||||
|
||||
// suspension and steering:
|
||||
if steering.is_some() {
|
||||
let joint = PrismaticJoint::new(axel, bike)
|
||||
.with_free_axis(suspension_axis)
|
||||
.with_local_anchor_1(Vec3::new(0.0, 0.0, 0.1))
|
||||
.with_local_anchor_2(offset)
|
||||
.with_limits(limits[0], limits[1]);
|
||||
commands.spawn(joint);
|
||||
} else {
|
||||
let joint = PrismaticJoint::new(axel, bike)
|
||||
.with_free_axis(suspension_axis)
|
||||
.with_local_anchor_2(offset)
|
||||
.with_limits(limits[0], limits[1]);
|
||||
commands.spawn(joint);
|
||||
};
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -133,9 +116,8 @@ fn gen_tires(conf: &WheelConfig) -> (Mesh, Collider) {
|
|||
let wheel_rad = conf.radius;
|
||||
let tire_thickness = conf.thickness;
|
||||
let tire = Tire {
|
||||
radius: wheel_rad,
|
||||
ring_radius: tire_thickness,
|
||||
..Default::default()
|
||||
minor_radius: tire_thickness,
|
||||
major_radius: wheel_rad,
|
||||
};
|
||||
|
||||
let mut mesh = Mesh::from(tire);
|
||||
|
|
@ -161,17 +143,7 @@ fn gen_tires(conf: &WheelConfig) -> (Mesh, Collider) {
|
|||
for idx in indices.as_slice().chunks_exact(3) {
|
||||
idxs.push([idx[0] as u32, idx[1] as u32, idx[2] as u32]);
|
||||
}
|
||||
let wheel_collider = Collider::convex_decomposition(
|
||||
&mesh
|
||||
.attribute(Mesh::ATTRIBUTE_POSITION)
|
||||
.unwrap()
|
||||
.as_float3()
|
||||
.unwrap()
|
||||
.iter()
|
||||
.map(|v| Vec3::from_array(*v))
|
||||
.collect::<Vec<_>>(),
|
||||
&idxs,
|
||||
);
|
||||
let wheel_collider = Collider::convex_decomposition_from_mesh(&mesh).unwrap();
|
||||
|
||||
(mesh, wheel_collider)
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,4 +1,9 @@
|
|||
use bevy::prelude::{App, Color, Plugin};
|
||||
use avian3d::debug_render::PhysicsGizmos;
|
||||
use bevy::{
|
||||
color::Srgba,
|
||||
gizmos::AppGizmoBuilder,
|
||||
prelude::{App, Color, GizmoConfig, Plugin},
|
||||
};
|
||||
|
||||
// use crate::planet::CyberPlanet;
|
||||
|
||||
|
|
@ -9,26 +14,16 @@ pub struct CyberGlamorPlugin;
|
|||
impl Plugin for CyberGlamorPlugin {
|
||||
fn build(&self, app: &mut App) {
|
||||
{
|
||||
use bevy_rapier3d::render::{
|
||||
DebugRenderMode, DebugRenderStyle, RapierDebugRenderPlugin,
|
||||
};
|
||||
let style = DebugRenderStyle {
|
||||
multibody_joint_anchor_color: Color::GREEN.as_rgba_f32(),
|
||||
let plugin = avian3d::debug_render::PhysicsDebugPlugin::default();
|
||||
|
||||
app.add_plugins(plugin).insert_gizmo_config(
|
||||
PhysicsGizmos {
|
||||
contact_point_color: Some(Srgba::GREEN.into()),
|
||||
contact_normal_color: Some(Srgba::WHITE.into()),
|
||||
..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);
|
||||
},
|
||||
GizmoConfig::default(),
|
||||
);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
|
|||
22
src/input.rs
22
src/input.rs
|
|
@ -14,22 +14,22 @@ pub(crate) struct InputState {
|
|||
pub pitch: f32,
|
||||
}
|
||||
|
||||
fn update_debug_cam(mut offset: ResMut<DebugCamOffset>, mut keys: ResMut<Input<KeyCode>>) {
|
||||
fn update_debug_cam(mut offset: ResMut<DebugCamOffset>, mut keys: ResMut<ButtonInput<KeyCode>>) {
|
||||
let keyset: HashSet<_> = keys.get_pressed().collect();
|
||||
let shifted = keyset.contains(&KeyCode::LShift) || keyset.contains(&KeyCode::RShift);
|
||||
let shifted = keyset.contains(&KeyCode::ShiftLeft) || keyset.contains(&KeyCode::ShiftRight);
|
||||
|
||||
for key in keyset {
|
||||
match key {
|
||||
KeyCode::Left => offset.rot -= 5.0,
|
||||
KeyCode::Right => offset.rot += 5.0,
|
||||
KeyCode::Up => {
|
||||
KeyCode::ArrowLeft => offset.rot -= 5.0,
|
||||
KeyCode::ArrowRight => offset.rot += 5.0,
|
||||
KeyCode::ArrowUp => {
|
||||
if shifted {
|
||||
offset.alt += 0.5;
|
||||
} else {
|
||||
offset.dist -= 0.5;
|
||||
}
|
||||
}
|
||||
KeyCode::Down => {
|
||||
KeyCode::ArrowDown => {
|
||||
if shifted {
|
||||
offset.alt -= 0.5;
|
||||
} else {
|
||||
|
|
@ -41,16 +41,17 @@ fn update_debug_cam(mut offset: ResMut<DebugCamOffset>, mut keys: ResMut<Input<K
|
|||
}
|
||||
|
||||
if keys.get_just_released().len() > 0 {
|
||||
let unpressed = keys.just_released(KeyCode::LShift) || keys.just_released(KeyCode::RShift);
|
||||
let unpressed =
|
||||
keys.just_released(KeyCode::ShiftLeft) || keys.just_released(KeyCode::ShiftRight);
|
||||
keys.reset_all();
|
||||
if shifted && !unpressed {
|
||||
keys.press(KeyCode::LShift);
|
||||
keys.press(KeyCode::ShiftLeft);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
fn update_input(mut events: EventReader<GamepadEvent>, mut istate: ResMut<InputState>) {
|
||||
for pad_event in events.iter() {
|
||||
for pad_event in events.read() {
|
||||
match pad_event {
|
||||
GamepadEvent::Button(button_event) => {
|
||||
let GamepadButtonChangedEvent {
|
||||
|
|
@ -92,7 +93,6 @@ pub struct CyberInputPlugin;
|
|||
impl Plugin for CyberInputPlugin {
|
||||
fn build(&self, app: &mut App) {
|
||||
app.init_resource::<InputState>()
|
||||
.add_system(update_input)
|
||||
.add_system(update_debug_cam);
|
||||
.add_systems(Update, (update_input, update_debug_cam));
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,8 +1,8 @@
|
|||
use avian3d::prelude::*;
|
||||
use bevy::{
|
||||
prelude::{shape::Icosphere, *},
|
||||
render::{color::Color, mesh::Indices},
|
||||
prelude::*,
|
||||
render::{mesh::Indices, render_asset::RenderAssetUsages},
|
||||
};
|
||||
use bevy_rapier3d::prelude::*;
|
||||
use hexasphere::shapes::IcoSphere;
|
||||
use noise::{HybridMulti, NoiseFn, SuperSimplex};
|
||||
use rand::{Rng, SeedableRng};
|
||||
|
|
@ -20,20 +20,12 @@ fn spawn_planet(
|
|||
mut meshes: ResMut<Assets<Mesh>>,
|
||||
mut materials: ResMut<Assets<StandardMaterial>>,
|
||||
) {
|
||||
//let color = Color::rgb(0.74, 0.5334, 0.176);
|
||||
let isphere = Icosphere {
|
||||
radius: PLANET_RADIUS,
|
||||
subdivisions: 88,
|
||||
};
|
||||
|
||||
let (mesh, shape) = gen_planet(isphere);
|
||||
|
||||
let pbody = (RigidBody::Fixed, Ccd { enabled: true });
|
||||
let (mesh, shape) = gen_planet(PLANET_RADIUS);
|
||||
|
||||
let pcollide = (
|
||||
shape,
|
||||
Friction {
|
||||
coefficient: 1.2,
|
||||
static_coefficient: 1.2,
|
||||
..Default::default()
|
||||
},
|
||||
Restitution::new(0.8),
|
||||
|
|
@ -42,18 +34,22 @@ fn spawn_planet(
|
|||
commands
|
||||
.spawn(PbrBundle {
|
||||
mesh: meshes.add(mesh),
|
||||
material: materials.add(Color::WHITE.into()),
|
||||
material: materials.add(Color::WHITE),
|
||||
..Default::default()
|
||||
})
|
||||
.insert(pbody)
|
||||
.insert(pcollide)
|
||||
.insert(CyberPlanet);
|
||||
.insert((
|
||||
RigidBody::Static,
|
||||
pcollide,
|
||||
CyberPlanet,
|
||||
CollisionLayers::new(u32::MAX, u32::MAX),
|
||||
CollisionMargin(0.2),
|
||||
));
|
||||
}
|
||||
|
||||
pub struct CyberPlanetPlugin;
|
||||
impl Plugin for CyberPlanetPlugin {
|
||||
fn build(&self, app: &mut App) {
|
||||
app.add_startup_system(spawn_planet);
|
||||
app.add_systems(Startup, spawn_planet);
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -61,10 +57,10 @@ impl Plugin for CyberPlanetPlugin {
|
|||
// utils
|
||||
//---------------------------------------------------------------------
|
||||
|
||||
fn gen_planet(sphere: Icosphere) -> (Mesh, Collider) {
|
||||
fn gen_planet(radius: f32) -> (Mesh, Collider) {
|
||||
// straight-up stolen from Bevy's impl of Mesh from Icosphere, so I can do the
|
||||
// displacement before normals are calculated.
|
||||
let generated = IcoSphere::new(sphere.subdivisions, |point| {
|
||||
let generated = IcoSphere::new(79, |point| {
|
||||
let inclination = point.y.acos();
|
||||
let azimuth = point.z.atan2(point.x);
|
||||
|
||||
|
|
@ -90,7 +86,7 @@ fn gen_planet(sphere: Icosphere) -> (Mesh, Collider) {
|
|||
|
||||
let points = noisy_points
|
||||
.iter()
|
||||
.map(|&p| (Vec3::from_slice(&p) * sphere.radius).into())
|
||||
.map(|&p| (Vec3::from_slice(&p) * radius).into())
|
||||
.collect::<Vec<[f32; 3]>>();
|
||||
|
||||
for p in &points {
|
||||
|
|
@ -108,10 +104,13 @@ fn gen_planet(sphere: Icosphere) -> (Mesh, Collider) {
|
|||
}
|
||||
|
||||
let indices = Indices::U32(indices);
|
||||
let collider = Collider::trimesh(points.iter().map(|p| Vect::from_slice(p)).collect(), idxs);
|
||||
let collider = Collider::trimesh(points.iter().map(|p| Vec3::from_slice(p)).collect(), idxs);
|
||||
|
||||
let mut mesh = Mesh::new(PrimitiveTopology::TriangleList);
|
||||
mesh.set_indices(Some(indices));
|
||||
let mut mesh = Mesh::new(
|
||||
PrimitiveTopology::TriangleList,
|
||||
RenderAssetUsages::default(),
|
||||
);
|
||||
mesh.insert_indices(indices);
|
||||
mesh.insert_attribute(Mesh::ATTRIBUTE_POSITION, points);
|
||||
//mesh.insert_attribute(Mesh::ATTRIBUTE_UV_0, uvs);
|
||||
mesh.duplicate_vertices();
|
||||
|
|
@ -129,7 +128,9 @@ fn gen_planet(sphere: Icosphere) -> (Mesh, Collider) {
|
|||
let l = 0.41;
|
||||
let jitter = rng.gen_range(-0.0..=360.0f32);
|
||||
let h = jitter;
|
||||
let color = Color::hsl(h, PLANET_SATURATION, l).as_linear_rgba_f32();
|
||||
let color = Color::hsl(h, PLANET_SATURATION, l)
|
||||
.to_linear()
|
||||
.to_f32_array();
|
||||
for _ in 0..3 {
|
||||
colors.push(color);
|
||||
}
|
||||
|
|
|
|||
16
src/ui.rs
16
src/ui.rs
|
|
@ -1,10 +1,13 @@
|
|||
use bevy::prelude::{
|
||||
use avian3d::prelude::LinearVelocity;
|
||||
use bevy::{
|
||||
app::{Startup, Update},
|
||||
prelude::{
|
||||
AlignSelf, App, AssetServer, Color, Commands, Component, Plugin, Query, Res, Style, Text,
|
||||
TextBundle, TextSection, TextStyle, Transform, With,
|
||||
},
|
||||
};
|
||||
#[cfg(feature = "inspector")]
|
||||
use bevy_inspector_egui::quick::WorldInspectorPlugin;
|
||||
use bevy_rapier3d::prelude::Velocity;
|
||||
|
||||
use crate::bike::CyberBikeBody;
|
||||
|
||||
|
|
@ -26,7 +29,7 @@ fn setup_ui(mut commands: Commands, asset_server: Res<AssetServer>) {
|
|||
style: TextStyle {
|
||||
font: asset_server.load("fonts/FiraMono-Medium.ttf"),
|
||||
font_size: 40.0,
|
||||
color: Color::GOLD,
|
||||
color: Color::srgba_u8(255, 215, 0, 230),
|
||||
},
|
||||
}],
|
||||
..Default::default()
|
||||
|
|
@ -37,12 +40,12 @@ fn setup_ui(mut commands: Commands, asset_server: Res<AssetServer>) {
|
|||
}
|
||||
|
||||
fn update_ui(
|
||||
state_query: Query<(&Velocity, &Transform), With<CyberBikeBody>>,
|
||||
state_query: Query<(&LinearVelocity, &Transform), With<CyberBikeBody>>,
|
||||
mut text_query: Query<&mut Text, With<UpText>>,
|
||||
) {
|
||||
let mut text = text_query.single_mut();
|
||||
let (velocity, xform) = state_query.single();
|
||||
let speed = velocity.linvel.dot(xform.forward());
|
||||
let speed = velocity.dot(*xform.forward());
|
||||
text.sections[0].value = format!("spd: {:.2}", speed);
|
||||
}
|
||||
|
||||
|
|
@ -53,6 +56,7 @@ impl Plugin for CyberUIPlugin {
|
|||
#[cfg(feature = "inspector")]
|
||||
app.add_plugin(WorldInspectorPlugin);
|
||||
|
||||
app.add_startup_system(setup_ui).add_system(update_ui);
|
||||
app.add_systems(Startup, setup_ui)
|
||||
.add_systems(Update, update_ui);
|
||||
}
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in a new issue