works?

src/bike/body.rs

@@ -59,7 +59,7 @@ pub(super) fn spawn_cyberbike(
         .spawn(RigidBody::Dynamic)
         .insert(spatialbundle)
         .insert((
-            Collider::capsule(Vec3::new(0.0, 0.0, -0.65), Vec3::new(0.0, 0.0, 0.8), 0.50),
+            Collider::capsule(Vec3::new(0.0, 0.0, -0.65), Vec3::new(0.0, 0.0, 0.8), 0.40),
             bike_collision_group,
             mass_properties,
             damping,

src/bike/components.rs

@@ -37,8 +37,8 @@ impl Default for WheelConfig {
             limits: [-0.5, 0.1],
             stiffness: 50.0,
             damping: 8.0,
-            radius: 0.35,
+            radius: 0.3,
-            thickness: 0.10,
+            thickness: 0.06,
             friction: 1.2,
             restitution: 0.8,
             density: 0.6,

src/bike/wheels.rs

@@ -1,4 +1,4 @@
-use bevy::prelude::{shape::Torus as Tire, *};
+use bevy::prelude::{shape::UVSphere as Tire, *};
 use bevy_rapier3d::prelude::{
     Ccd, CoefficientCombineRule, Collider, ColliderMassProperties, CollisionGroups, Damping,
     ExternalForce, Friction, MultibodyJoint, PrismaticJointBuilder, Restitution,
@@ -27,9 +27,9 @@ pub fn spawn_tires(
 
     let tire = Tire {
         radius: wheel_rad,
-        ring_radius: tire_thickness,
         ..Default::default()
     };
+
     let material = StandardMaterial {
         base_color: Color::Rgba {
             red: 0.01,
@@ -82,18 +82,8 @@ pub fn spawn_tires(
         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
+        let wheel_collider = Collider::round_cylinder(tire_thickness, wheel_rad, tire_thickness);
-                .attribute(Mesh::ATTRIBUTE_POSITION)
-                .unwrap()
-                .as_float3()
-                .unwrap()
-                .iter()
-                .map(|v| Vec3::from_array(*v))
-                .collect::<Vec<_>>(),
-            &idxs,
-        );
-        //let wheel_collider = Collider::from_bevy_mesh(&mesh, computed_shape);
         let mass_props = ColliderMassProperties::Density(conf.density);
         let damping = conf.damping;
 
@@ -129,8 +119,11 @@ pub fn spawn_tires(
             fork_rb_entity
         };
 
-        let revolute_builder = RevoluteJointBuilder::new(Vec3::X);
+        let axel_builder = RevoluteJointBuilder::new(Vec3::Y);
-        let axel_joint = MultibodyJoint::new(axel_parent_entity, revolute_builder);
+        let mut axel_joint = MultibodyJoint::new(axel_parent_entity, axel_builder);
+        // re-orient the joint so that the wheel is correctly oriented
+        let real_axel = *axel_joint.data.set_local_axis1(Vec3::X);
+        axel_joint.data = real_axel;
 
         commands.spawn(pbr_bundle.clone()).insert((
             wheel_collider,
@@ -144,7 +137,6 @@ pub fn spawn_tires(
             CyberWheel,
             ExternalForce::default(),
             Restitution::new(conf.restitution),
-            SpatialBundle::default(),
             TransformInterpolation::default(),
             RigidBody::Dynamic,
         ));