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

src/action/systems.rs

@@ -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);
 }

src/bike/wheels.rs

@@ -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,