nebkor/cyber_rider
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity

has joint for steering, can't seem to control it

Browse source
This commit is contained in:
Joe Ardent 2023-02-15 17:53:46 -08:00
parent fd4155ceab
commit 4f60743192
2 changed files with 27 additions and 10 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

14
src/action/systems.rs
View file

@ -8,7 +8,7 @@ use bevy::prelude::{
use bevy_rapier3d::{
prelude::{
CollisionGroups, ExternalForce, Group, MultibodyJoint, QueryFilter, RapierConfiguration,
RapierContext, ReadMassProperties, Velocity,
RapierContext, ReadMassProperties, RevoluteJoint, Velocity,
},
rapier::prelude::JointAxis,
};
@ -87,12 +87,12 @@ pub(super) fn falling_cat(
pub(super) fn input_forces(
settings: Res<MovementSettings>,
input: Res<InputState>,
mut braking_query: Query<&mut MultibodyJoint, With<CyberWheel>>,
mut braking_query: Query<&mut MultibodyJoint, (Without<CyberSteering>, With<CyberWheel>)>,
mut body_query: Query<
(&Transform, &mut ExternalForce),
(With<CyberBikeBody>, Without<CyberSteering>),
>,
mut steering_query: Query<&mut Transform, With<CyberSteering>>,
mut steering_query: Query<&mut MultibodyJoint, With<CyberSteering>>,
) {
let (xform, mut forces) = body_query.single_mut();
@ -105,12 +105,16 @@ pub(super) fn input_forces(
// brake
for mut motor in braking_query.iter_mut() {
let factor = if input.brake { settings.accel } else { 0.0 };
motor.data.set_motor_velocity(JointAxis::X, 0.0, factor);
motor.data = *motor.data.set_motor_velocity(JointAxis::X, 0.0, factor);
//dbg!(&motor);
}
// steering
let angle = input.yaw * (PI / 2.0);
//let mut steering = steering_query.single_mut();
let mut steering = steering_query.single_mut();
steering.data = *steering
.data
.set_motor_position(JointAxis::AngY, angle, 20.0, 1.0);
//steering.rotation = Quat::from_axis_angle(Vec3::Y, angle +
// 90.0f32.to_radians()); dbg!(steering.rotation);
}

23
src/bike/wheels.rs
View file

@ -5,7 +5,7 @@ use bevy_rapier3d::prelude::{
RevoluteJointBuilder, RigidBody, Sleeping, TransformInterpolation,
};
use super::{CyberWheel, Meshterial, WheelConfig, BIKE_WHEEL_COLLISION_GROUP};
use super::{CyberSteering, CyberWheel, Meshterial, WheelConfig, BIKE_WHEEL_COLLISION_GROUP};
pub fn spawn_tires(
commands: &mut Commands,
@ -58,7 +58,7 @@ pub fn spawn_tires(
let wheel_x = 0.0;
let wheel_z = -conf.front_forward;
let offset = Vec3::new(wheel_x, wheel_y, wheel_z);
wheel_poses.push(offset);
wheel_poses.push((offset, Some(CyberSteering)));
}
// rear
@ -66,10 +66,10 @@ pub fn spawn_tires(
let wheel_x = 0.0;
let wheel_z = conf.rear_back;
let offset = Vec3::new(wheel_x, wheel_y, wheel_z);
wheel_poses.push(offset);
wheel_poses.push((offset, None));
}
for offset in wheel_poses {
for (offset, steering) in wheel_poses {
let wheel_damping = Damping {
linear_damping: 0.8,
..Default::default()
@ -88,8 +88,21 @@ pub fn spawn_tires(
.insert(prismatic_joint)
.id();
let axel_parent = if let Some(steering) = steering {
let neck_builder = RevoluteJointBuilder::new(Vec3::Y);
let neck_joint = MultibodyJoint::new(fork_rb_entity, neck_builder);
let hub = commands
.spawn(RigidBody::Dynamic)
.insert(neck_joint)
.insert(steering)
.id();
hub
} else {
fork_rb_entity
};
let revolute_builder = RevoluteJointBuilder::new(Vec3::X);
let axel_joint = MultibodyJoint::new(fork_rb_entity, revolute_builder);
let axel_joint = MultibodyJoint::new(axel_parent, revolute_builder);
commands.spawn(pbr_bundle.clone()).insert((
wheel_collider,