checkpoint, frictionless wheels

src/action/components.rs

@@ -4,6 +4,7 @@ use bevy::{
     prelude::{Component, ReflectResource, Resource, Vec3},
     reflect::Reflect,
 };
+use bevy_rapier3d::dynamics::Velocity;
 
 #[derive(Debug, Resource)]
 pub(crate) struct ActionDebugInstant(pub Instant);
@@ -26,20 +27,8 @@ impl ActionDebugInstant {
     }
 }
 
-#[derive(Debug, Component)]
+#[derive(Debug, Component, Default)]
-pub(super) struct Tunneling {
+pub struct PreviousVelocity(pub Velocity);
-    pub frames: usize,
-    pub dir: Vec3,
-}
-
-impl Default for Tunneling {
-    fn default() -> Self {
-        Tunneling {
-            frames: 15,
-            dir: Vec3::Y,
-        }
-    }
-}
 
 #[derive(Debug, Resource, Reflect)]
 #[reflect(Resource)]

src/action/mod.rs

@@ -29,18 +29,17 @@ impl Plugin for CyberActionPlugin {
             .register_type::<CyberLean>()
             .register_type::<CatControllerSettings>()
             .add_plugins(RapierPhysicsPlugin::<NoUserData>::default())
-            .add_systems(Startup, timestep_setup)
+            .add_systems(Startup, physics_init)
-            .add_plugins(FrameTimeDiagnosticsPlugin::default())
+            .add_plugins(FrameTimeDiagnosticsPlugin)
             .add_systems(
                 Update,
                 (
-                    gravity,
+                    reset_body_force,
+                    reset_wheel_forces,
                     cyber_lean,
                     falling_cat,
                     input_forces,
                     drag,
-                    //tunnel_out,
-                    //surface_fix,
                 )
                     .chain(),
             );

src/action/systems.rs

@@ -3,67 +3,60 @@ use std::f32::consts::{FRAC_PI_3, FRAC_PI_4};
 use bevy::prelude::{
     Commands, Entity, Local, Quat, Query, Res, ResMut, Time, Transform, Vec3, With, Without,
 };
-use bevy_rapier3d::prelude::{
+use bevy_rapier3d::{
-    CollisionGroups, ExternalForce, Group, MultibodyJoint, QueryFilter, RapierConfiguration,
+    dynamics::MassProperties,
-    RapierContext, ReadMassProperties, TimestepMode, Velocity,
+    prelude::{
+        CollisionGroups, ExternalForce, Group, MultibodyJoint, QueryFilter, RapierConfiguration,
+        RapierContext, ReadMassProperties, TimestepMode, Velocity,
+    },
 };
 
 #[cfg(feature = "inspector")]
 use super::ActionDebugInstant;
-use super::{CatControllerSettings, CatControllerState, CyberLean, MovementSettings, Tunneling};
+use super::{
+    CatControllerSettings, CatControllerState, CyberLean, MovementSettings, PreviousVelocity,
+};
 use crate::{
     bike::{CyberBikeBody, CyberSteering, CyberWheel, WheelConfig, BIKE_WHEEL_COLLISION_GROUP},
     input::InputState,
 };
 
-fn yaw_to_angle(yaw: f32) -> f32 {
+pub(super) fn physics_init(
-    let v = yaw.powi(5) * FRAC_PI_4;
+    mut config: ResMut<RapierConfiguration>,
-    if v.is_normal() {
-        v
-    } else {
-        0.0
-    }
-}
-
-fn rotate_point(pt: &Vec3, rot: &Quat) -> Vec3 {
-    // thanks to https://danceswithcode.net/engineeringnotes/quaternions/quaternions.html
-    let [x, y, z] = pt.normalize().to_array();
-    let qpt = Quat::from_xyzw(x, y, z, 0.0);
-    // p' = rot^-1 * qpt * rot
-    let rot_qpt = rot.inverse() * qpt * *rot;
-
-    // why does this need to be inverted???
-    -Vec3::from_array([rot_qpt.x, rot_qpt.y, rot_qpt.z])
-}
-
-pub(super) fn timestep_setup(mut config: ResMut<RapierConfiguration>) {
-    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<CyberBikeBody>>,
     settings: Res<MovementSettings>,
-    mut rapier_config: ResMut<RapierConfiguration>,
+) {
+    config.timestep_mode = TimestepMode::Variable {
+        max_dt: 1.0 / 60.0,
+        time_scale: 1.0,
+        substeps: 3,
+    };
+
+    config.gravity = Vec3::NEG_Y * settings.gravity;
+}
+
+pub(super) fn reset_body_force(
+    mut query: Query<&mut ExternalForce, With<CyberBikeBody>>,
     #[cfg(feature = "inspector")] mut debug_instant: ResMut<ActionDebugInstant>,
 ) {
-    let (xform, mut forces) = query.single_mut();
+    let mut body_force = query.single_mut();
 
     #[cfg(feature = "inspector")]
     {
-        if debug_instant.elapsed().as_millis() > 6000 {
+        if debug_instant.elapsed().as_millis() > 1000 {
-            dbg!(&forces);
+            //dbg!(&body_force);
             debug_instant.reset();
         }
     }
 
-    rapier_config.gravity = Vec3::Y * -settings.gravity;
+    body_force.force = Vec3::ZERO;
-    forces.force = Vec3::ZERO;
+    body_force.torque = Vec3::ZERO;
-    forces.torque = Vec3::ZERO;
+}
+
+pub(super) fn reset_wheel_forces(mut query: Query<&mut ExternalForce, With<CyberWheel>>) {
+    for mut force in query.iter_mut() {
+        force.force = Vec3::ZERO;
+        force.torque = Vec3::ZERO;
+    }
 }
 
 /// The desired lean angle, given steering input and speed.
@@ -117,8 +110,8 @@ pub(super) fn falling_cat(
 
     if *count < 30 {
         if *count == 0 {
-            dbg!(&xform.translation);
+            //dbg!(&xform.translation);
-            dbg!(&vel.linvel);
+            //dbg!(&vel.linvel);
         }
         *count += 1;
     } else {
@@ -141,10 +134,7 @@ pub(super) fn input_forces(
     settings: Res<MovementSettings>,
     input: Res<InputState>,
     mut braking_query: Query<&mut MultibodyJoint, (Without<CyberSteering>, With<CyberWheel>)>,
-    mut body_query: Query<
+    mut body_query: Query<(&Transform, &mut ExternalForce), With<CyberBikeBody>>,
-        (&Transform, &mut ExternalForce),
-        (With<CyberBikeBody>, Without<CyberSteering>),
-    >,
     mut steering_query: Query<&mut MultibodyJoint, With<CyberSteering>>,
 ) {
     let (xform, mut forces) = body_query.single_mut();
@@ -156,21 +146,21 @@ pub(super) fn input_forces(
     *forces += force;
 
     // brake + thrust
-    for mut motor in braking_query.iter_mut() {
+    // for mut motor in braking_query.iter_mut() {
-        let factor = if input.brake {
+    //     let factor = if input.brake {
-            500.00
+    //         500.00
-        } else {
+    //     } else {
-            input.throttle * settings.accel
+    //         input.throttle * settings.accel
-        };
+    //     };
-        let speed = if input.brake { 0.0 } else { -70.0 };
+    //     let speed = if input.brake { 0.0 } else { -70.0 };
-        motor.data = (*motor
+    //     motor.data = (*motor
-            .data
+    //         .data
-            .as_revolute_mut()
+    //         .as_revolute_mut()
-            .unwrap()
+    //         .unwrap()
-            .set_motor_max_force(factor)
+    //         .set_motor_max_force(factor)
-            .set_motor_velocity(speed, factor))
+    //         .set_motor_velocity(speed, factor))
-        .into();
+    //     .into();
-    }
+    // }
 
     // steering
     let angle = yaw_to_angle(input.yaw);
@@ -183,13 +173,32 @@ pub(super) fn input_forces(
     .into();
 }
 
+pub(super) fn wheel_forces(
+    mut wheels_query: Query<(&Transform, &Velocity, &mut PreviousVelocity), With<CyberWheel>>,
+    mut body_query: Query<
+        (
+            &Transform,
+            &Velocity,
+            &mut PreviousVelocity,
+            &ReadMassProperties,
+        ),
+        With<CyberBikeBody>,
+    >,
+    config: Res<WheelConfig>,
+    context: Res<RapierContext>,
+) {
+    let (body_xform, body_vel, mut body_pvel, body_mass) = body_query.single_mut();
+
+    for (xform, vel, mut pvel) in wheels_query.iter_mut() {
+        //
+    }
+
+    body_pvel.0 = *body_vel;
+}
+
 /// Don't let the wheels get stuck underneat the planet
 pub(super) fn surface_fix(
-    mut commands: Commands,
+    mut wheel_query: Query<(Entity, &Transform, &mut CollisionGroups), With<CyberWheel>>,
-    mut wheel_query: Query<
-        (Entity, &Transform, &mut CollisionGroups),
-        (With<CyberWheel>, Without<Tunneling>),
-    >,
     span_query: Query<&Transform, With<CyberWheel>>,
     config: Res<WheelConfig>,
     context: Res<RapierContext>,
@@ -212,43 +221,10 @@ pub(super) fn surface_fix(
         ) {
             //cgroups.memberships = Group::NONE;
             //cgroups.filters = Group::NONE;
-            commands.entity(entity).insert(Tunneling {
-                frames: 2,
-                dir: hit.1.normal,
-            });
         }
     }
 }
 
-pub(super) fn tunnel_out(
-    mut commands: Commands,
-    mut wheel_query: Query<
-        (
-            Entity,
-            &mut Tunneling,
-            &mut ExternalForce,
-            &mut CollisionGroups,
-        ),
-        With<CyberWheel>,
-    >,
-    mprops: Query<&ReadMassProperties, With<CyberBikeBody>>,
-    settings: Res<MovementSettings>,
-) {
-    let mprops = mprops.single();
-    for (entity, mut tunneling, mut force, mut cgroups) in wheel_query.iter_mut() {
-        if tunneling.frames == 0 {
-            commands.entity(entity).remove::<Tunneling>();
-            force.force = Vec3::ZERO;
-            (cgroups.memberships, cgroups.filters) = BIKE_WHEEL_COLLISION_GROUP;
-            continue;
-        }
-        tunneling.frames -= 1;
-        force.force = tunneling.dir * settings.gravity * 1.1 * mprops.get().mass;
-        #[cfg(feature = "inspector")]
-        dbg!(&tunneling);
-    }
-}
-
 /// General velocity-based drag-force calculation; does not take orientation
 /// into account.
 pub(super) fn drag(mut query: Query<(&Velocity, &mut ExternalForce), With<CyberBikeBody>>) {
@@ -259,3 +235,24 @@ pub(super) fn drag(mut query: Query<(&Velocity, &mut ExternalForce), With<CyberB
         forces.force -= vel * (v2 * 0.02);
     }
 }
+
+// helpers
+fn yaw_to_angle(yaw: f32) -> f32 {
+    let v = yaw.powi(5) * FRAC_PI_4;
+    if v.is_normal() {
+        v
+    } else {
+        0.0
+    }
+}
+
+fn rotate_point(pt: &Vec3, rot: &Quat) -> Vec3 {
+    // thanks to https://danceswithcode.net/engineeringnotes/quaternions/quaternions.html
+    let [x, y, z] = pt.normalize().to_array();
+    let qpt = Quat::from_xyzw(x, y, z, 0.0);
+    // p' = rot^-1 * qpt * rot
+    let rot_qpt = rot.inverse() * qpt * *rot;
+
+    // why does this need to be inverted???
+    -Vec3::from_array([rot_qpt.x, rot_qpt.y, rot_qpt.z])
+}

src/bike/components.rs

@@ -22,7 +22,6 @@ pub struct WheelConfig {
     pub stiffness: f32,
     pub damping: f32,
     pub radius: f32,
-    pub thickness: f32,
     pub friction: f32,
     pub restitution: f32,
     pub density: f32,
@@ -37,9 +36,8 @@ impl Default for WheelConfig {
             limits: [-0.5, 0.1],
             stiffness: 30.0,
             damping: 8.0,
-            radius: 0.35,
+            radius: 0.3,
-            thickness: 0.11,
+            friction: 0.0,
-            friction: 1.2,
             restitution: 0.95,
             density: 0.05,
         }

src/bike/mod.rs

@@ -1,5 +1,6 @@
 mod body;
 mod components;
+//mod controller;
 mod wheels;
 
 use bevy::prelude::{App, Assets, Mesh, Plugin, PostStartup, ResMut, StandardMaterial};
@@ -9,7 +10,7 @@ pub(crate) use self::components::*;
 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_WHEEL_COLLISION_GROUP: (Group, Group) = (Group::GROUP_2, Group::GROUP_2);
 
 type Meshterial<'a> = (
     ResMut<'a, Assets<Mesh>>,

src/bike/wheels.rs

@@ -1,13 +1,17 @@
-use bevy::prelude::{shape::Torus as Tire, *};
+use bevy::prelude::*;
-use bevy_rapier3d::prelude::{
+use bevy_rapier3d::{
-    Ccd, CoefficientCombineRule, Collider, ColliderMassProperties, CollisionGroups, Damping,
+    dynamics::{FixedJointBuilder, Velocity},
-    ExternalForce, Friction, MultibodyJoint, PrismaticJointBuilder, Restitution,
+    prelude::{
-    RevoluteJointBuilder, RigidBody, Sleeping, TransformInterpolation,
+        Ccd, CoefficientCombineRule, Collider, ColliderMassProperties, CollisionGroups, Damping,
+        ExternalForce, Friction, MultibodyJoint, PrismaticJointBuilder, Restitution,
+        RevoluteJointBuilder, RigidBody, Sleeping, TransformInterpolation,
+    },
 };
 
 use super::{CyberSteering, CyberWheel, Meshterial, WheelConfig, BIKE_WHEEL_COLLISION_GROUP};
+use crate::action::PreviousVelocity;
 
-pub fn spawn_wheels(
+pub(crate) fn spawn_wheels(
     commands: &mut Commands,
     bike: Entity,
     conf: &WheelConfig,
@@ -25,7 +29,7 @@ pub fn spawn_wheels(
 
     let friction = Friction {
         coefficient: conf.friction,
-        combine_rule: CoefficientCombineRule::Average,
+        combine_rule: CoefficientCombineRule::Min,
     };
 
     let mut wheel_poses = Vec::with_capacity(2);
@@ -50,14 +54,9 @@ pub fn spawn_wheels(
         let (mesh, collider) = gen_tires(conf);
 
         let material = StandardMaterial {
-            base_color: Color::Rgba {
+            base_color: Color::YELLOW,
-                red: 0.99,
-                green: 0.99,
-                blue: 0.05,
-                alpha: 1.0,
-            },
             alpha_mode: AlphaMode::Opaque,
-            perceptual_roughness: 0.5,
+            perceptual_roughness: 0.1,
             ..Default::default()
         };
 
@@ -102,10 +101,10 @@ pub fn spawn_wheels(
             fork_rb_entity
         };
 
-        let axel_builder = RevoluteJointBuilder::new(Vec3::X);
+        let axel_builder = FixedJointBuilder::new(); //RevoluteJointBuilder::new(Vec3::X);
         let axel_joint = MultibodyJoint::new(axel_parent_entity, axel_builder);
         let wheel_damping = Damping {
-            linear_damping: 0.8,
+            //linear_damping: 0.8,
             ..Default::default()
         };
 
@@ -119,8 +118,9 @@ pub fn spawn_wheels(
             wheels_collision_group,
             friction,
             CyberWheel,
+            Velocity::default(),
+            PreviousVelocity::default(),
             ExternalForce::default(),
-            Restitution::new(conf.restitution),
             SpatialBundle::default(),
             TransformInterpolation::default(),
             RigidBody::Dynamic,
@@ -132,7 +132,7 @@ pub fn spawn_wheels(
 fn gen_tires(conf: &WheelConfig) -> (Mesh, Collider) {
     let wheel_rad = conf.radius;
     let tire = Sphere::new(wheel_rad);
-    let mut mesh = Mesh::from(tire);
+    let mesh = Mesh::from(tire);
     let wheel_collider = Collider::ball(wheel_rad);
 
     (mesh, wheel_collider)

src/lights.rs

@@ -10,7 +10,7 @@ fn spawn_static_lights(
     mut materials: ResMut<Assets<StandardMaterial>>,
 ) {
     let pink_light = PointLight {
-        //intensity: 1_00.0,
+        intensity: 10_00.0,
         range: LIGHT_RANGE,
         color: Color::WHITE,
         radius: 10.0,

src/main.rs

@@ -1,5 +1,5 @@
 use bevy::prelude::*;
-//#[cfg(feature = "inspector")]
+#[cfg(feature = "inspector")]
 use cyber_rider::glamor::CyberGlamorPlugin;
 use cyber_rider::{
     action::CyberActionPlugin, bike::CyberBikePlugin, camera::CyberCamPlugin, disable_mouse_trap,
@@ -33,7 +33,7 @@ fn main() {
         .add_systems(Startup, disable_mouse_trap)
         .add_systems(Update, bevy::window::close_on_esc);
 
-    //#[cfg(feature = "inspector")]
+    #[cfg(feature = "inspector")]
     app.add_plugins(CyberGlamorPlugin);
 
     app.run();

src/planet.rs

@@ -1,12 +1,6 @@
-use bevy::{
+use bevy::{prelude::*, render::color::Color};
-    prelude::{shape::Icosphere, *},
-    render::{color::Color, mesh::Indices, render_asset::RenderAssetUsages},
-};
 use bevy_rapier3d::prelude::*;
-use hexasphere::shapes::IcoSphere;
+// use noise::{HybridMulti, NoiseFn, SuperSimplex};
-use noise::{HybridMulti, NoiseFn, SuperSimplex};
-use rand::{Rng, SeedableRng};
-use wgpu::PrimitiveTopology;
 
 pub const PLANET_RADIUS: f32 = 2_000.0;
 pub const PLANET_HUE: f32 = 31.0;
@@ -22,7 +16,7 @@ fn spawn_planet(
 ) {
     //let color = Color::rgb(0.74, 0.5334, 0.176);
 
-    let (mesh, shape) = gen_planet(999.9);
+    let (mesh, shape) = gen_planet(2999.9);
 
     let pbody = (
         RigidBody::Fixed,
@@ -37,7 +31,9 @@ fn spawn_planet(
             ..Default::default()
         },
         Restitution::new(0.8),
-        Transform::from_xyz(0.0, 0.1, 0.0),
+        Transform::from_xyz(0.0, 1.0, 0.0),
+        // same as the bike body
+        CollisionGroups::new(Group::GROUP_1, Group::GROUP_1),
     );
 
     commands
@@ -67,9 +63,9 @@ impl Plugin for CyberPlanetPlugin {
 //---------------------------------------------------------------------
 
 fn gen_planet(span: f32) -> (Mesh, Collider) {
-    let mesh = Cuboid::new(span, 0.1, span);
+    let mut mesh = Cuboid::new(span, 1.0, span);
 
-    let collider = Collider::cuboid(span / 2.0, 0.05, span / 2.0);
+    let collider = Collider::cuboid(span / 2.0, 0.5, span / 2.0);
 
     (mesh.mesh(), collider)
 }

src/ui.rs

@@ -5,8 +5,8 @@ use bevy::{
         TextBundle, TextSection, TextStyle, Transform, With,
     },
 };
-#[cfg(feature = "inspector")]
+//#[cfg(feature = "inspector")]
-use bevy_inspector_egui::quick::WorldInspectorPlugin;
+//use bevy_inspector_egui::quick::WorldInspectorPlugin;
 use bevy_rapier3d::prelude::Velocity;
 
 use crate::bike::CyberBikeBody;
@@ -54,7 +54,7 @@ pub struct CyberUIPlugin;
 impl Plugin for CyberUIPlugin {
     fn build(&self, app: &mut App) {
         #[cfg(feature = "inspector")]
-        //app.add_plugins(WorldInspectorPlugin);
+        //app.add_plugins(WorldInspectorPlugin::new());
 
         //
         app.add_systems(Startup, setup_ui)