merge from rolling2

Cargo.lock

@@ -4,9 +4,9 @@ version = 3
 
 [[package]]
 name = "ab_glyph"
-version = "0.2.19"
+version = "0.2.20"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e5568a4aa5ba8adf5175c5c460b030e27d8893412976cc37bef0e4fbc16cfbba"
+checksum = "fe21446ad43aa56417a767f3e2f3d7c4ca522904de1dd640529a76e9c5c3b33c"
 dependencies = [
  "ab_glyph_rasterizer",
  "owned_ttf_parser",
@@ -84,9 +84,9 @@ dependencies = [
 
 [[package]]
 name = "anyhow"
-version = "1.0.68"
+version = "1.0.69"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2cb2f989d18dd141ab8ae82f64d1a8cdd37e0840f73a406896cf5e99502fab61"
+checksum = "224afbd727c3d6e4b90103ece64b8d1b67fbb1973b1046c2281eed3f3803f800"
 
 [[package]]
 name = "approx"
@@ -1417,9 +1417,9 @@ checksum = "0206175f82b8d6bf6652ff7d71a1e27fd2e4efde587fd368662814d6ec1d9ce0"
 
 [[package]]
 name = "fastrand"
-version = "1.8.0"
+version = "1.9.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a7a407cfaa3385c4ae6b23e84623d48c2798d06e3e6a1878f7f59f17b3f86499"
+checksum = "e51093e27b0797c359783294ca4f0a911c270184cb10f85783b118614a1501be"
 dependencies = [
  "instant",
 ]
@@ -2012,14 +2012,14 @@ dependencies = [
 
 [[package]]
 name = "mio"
-version = "0.8.5"
+version = "0.8.6"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e5d732bc30207a6423068df043e3d02e0735b155ad7ce1a6f76fe2baa5b158de"
+checksum = "5b9d9a46eff5b4ff64b45a9e316a6d1e0bc719ef429cbec4dc630684212bfdf9"
 dependencies = [
  "libc",
  "log",
  "wasi",
- "windows-sys 0.42.0",
+ "windows-sys 0.45.0",
 ]
 
 [[package]]
@@ -2164,7 +2164,7 @@ checksum = "2bf50223579dc7cdcfb3bfcacf7069ff68243f8c363f62ffa99cf000a6b9c451"
 [[package]]
 name = "noise"
 version = "0.8.2"
-source = "git+https://github.com/Razaekel/noise-rs#a029579c8c1fc4a18f7c84a2f5298721e7f56f2a"
+source = "git+https://github.com/Razaekel/noise-rs#2ac0431bafd8016d6705f30cbee367bb7018c171"
 dependencies = [
  "num-traits",
  "rand",
@@ -2243,18 +2243,18 @@ dependencies = [
 
 [[package]]
 name = "num_enum"
-version = "0.5.9"
+version = "0.5.10"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "8d829733185c1ca374f17e52b762f24f535ec625d2cc1f070e34c8a9068f341b"
+checksum = "3e0072973714303aa6e3631c7e8e777970cf4bdd25dc4932e41031027b8bcc4e"
 dependencies = [
  "num_enum_derive",
 ]
 
 [[package]]
 name = "num_enum_derive"
-version = "0.5.9"
+version = "0.5.10"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "2be1598bf1c313dcdd12092e3f1920f463462525a21b7b4e11b4168353d0123e"
+checksum = "0629cbd6b897944899b1f10496d9c4a7ac5878d45fd61bc22e9e79bfbbc29597"
 dependencies = [
  "proc-macro-crate",
  "proc-macro2",
@@ -2303,9 +2303,9 @@ dependencies = [
 
 [[package]]
 name = "once_cell"
-version = "1.17.0"
+version = "1.17.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6f61fba1741ea2b3d6a1e3178721804bb716a68a6aeba1149b5d52e3d464ea66"
+checksum = "b7e5500299e16ebb147ae15a00a942af264cf3688f47923b8fc2cd5858f23ad3"
 
 [[package]]
 name = "optional"
@@ -2392,9 +2392,9 @@ checksum = "478c572c3d73181ff3c2539045f6eb99e5491218eae919370993b890cdbdd98e"
 
 [[package]]
 name = "petgraph"
-version = "0.6.2"
+version = "0.6.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "e6d5014253a1331579ce62aa67443b4a658c5e7dd03d4bc6d302b94474888143"
+checksum = "4dd7d28ee937e54fe3080c91faa1c3a46c06de6252988a7f4592ba2310ef22a4"
 dependencies = [
  "fixedbitset",
  "indexmap",
@@ -2457,9 +2457,9 @@ dependencies = [
 
 [[package]]
 name = "proc-macro2"
-version = "1.0.50"
+version = "1.0.51"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "6ef7d57beacfaf2d8aee5937dab7b7f28de3cb8b1828479bb5de2a7106f2bae2"
+checksum = "5d727cae5b39d21da60fa540906919ad737832fe0b1c165da3a34d6548c849d6"
 dependencies = [
  "unicode-ident",
 ]
@@ -2526,9 +2526,9 @@ dependencies = [
 
 [[package]]
 name = "range-alloc"
-version = "0.1.2"
+version = "0.1.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "63e935c45e09cc6dcf00d2f0b2d630a58f4095320223d47fc68918722f0538b6"
+checksum = "9c8a99fddc9f0ba0a85884b8d14e3592853e787d581ca1816c91349b10e4eeab"
 
 [[package]]
 name = "rapier3d"
@@ -2713,9 +2713,9 @@ dependencies = [
 
 [[package]]
 name = "serde_json"
-version = "1.0.91"
+version = "1.0.93"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "877c235533714907a8c2464236f5c4b2a17262ef1bd71f38f35ea592c8da6883"
+checksum = "cad406b69c91885b5107daf2c29572f6c8cdb3c66826821e286c533490c0bc76"
 dependencies = [
  "itoa",
  "ryu",
@@ -2872,10 +2872,11 @@ dependencies = [
 
 [[package]]
 name = "thread_local"
-version = "1.1.4"
+version = "1.1.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5516c27b78311c50bf42c071425c560ac799b11c30b31f87e3081965fe5e0180"
+checksum = "3fdd6f064ccff2d6567adcb3873ca630700f00b5ad3f060c25b5dcfd9a4ce152"
 dependencies = [
+ "cfg-if",
  "once_cell",
 ]
 
@@ -3388,21 +3389,6 @@ dependencies = [
  "windows_x86_64_msvc 0.36.1",
 ]
 
-[[package]]
-name = "windows-sys"
-version = "0.42.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "5a3e1820f08b8513f676f7ab6c1f99ff312fb97b553d30ff4dd86f9f15728aa7"
-dependencies = [
- "windows_aarch64_gnullvm",
- "windows_aarch64_msvc 0.42.1",
- "windows_i686_gnu 0.42.1",
- "windows_i686_msvc 0.42.1",
- "windows_x86_64_gnu 0.42.1",
- "windows_x86_64_gnullvm",
- "windows_x86_64_msvc 0.42.1",
-]
-
 [[package]]
 name = "windows-sys"
 version = "0.45.0"

src/action/components.rs

@@ -58,9 +58,9 @@ pub struct CatControllerSettings {
 impl Default for CatControllerSettings {
     fn default() -> Self {
         Self {
-            kp: 20.0,
+            kp: 40.0,
-            kd: 4.5,
+            kd: 5.0,
-            ki: 0.07,
+            ki: 0.1,
         }
     }
 }
@@ -85,7 +85,7 @@ impl Default for CatControllerState {
             pitch_prev: Default::default(),
             decay_factor: 0.99,
             roll_limit: 1.5,
-            pitch_limit: 1.0,
+            pitch_limit: 0.8,
         }
     }
 }

src/action/systems.rs

@@ -1,9 +1,10 @@
+use std::f32::consts::PI;
 #[cfg(feature = "inspector")]
 use std::time::Instant;
 
 use bevy::prelude::{Commands, Entity, Query, Res, ResMut, Time, Transform, Vec3, With, Without};
 use bevy_rapier3d::prelude::{
-    CollisionGroups, ExternalForce, Friction, Group, QueryFilter, RapierConfiguration,
+    CollisionGroups, ExternalForce, Group, MultibodyJoint, QueryFilter, RapierConfiguration,
     RapierContext, ReadMassProperties, Velocity,
 };
 
@@ -11,7 +12,7 @@ use bevy_rapier3d::prelude::{
 use super::ActionDebugInstant;
 use super::{CatControllerSettings, CatControllerState, MovementSettings, Tunneling};
 use crate::{
-    bike::{CyberBikeBody, CyberWheel, BIKE_WHEEL_COLLISION_GROUP},
+    bike::{CyberBikeBody, CyberSteering, CyberWheel, BIKE_WHEEL_COLLISION_GROUP},
     input::InputState,
 };
 
@@ -61,7 +62,7 @@ pub(super) fn falling_cat(
     let (derivative, integral) = control_vars.update_pitch(pitch_error, time.delta_seconds());
     let mag = (settings.kp * pitch_error) + (settings.ki * integral) + (settings.kd * derivative);
     if mag.is_finite() {
-        forces.torque += wright * mag;
+        forces.torque += wright * mag * 0.25;
     }
 
     #[cfg(feature = "inspector")]
@@ -79,25 +80,42 @@ pub(super) fn falling_cat(
 pub(super) fn input_forces(
     settings: Res<MovementSettings>,
     input: Res<InputState>,
-    mut cquery: Query<&mut Friction, With<CyberWheel>>,
+    mut braking_query: Query<&mut MultibodyJoint, (Without<CyberSteering>, With<CyberWheel>)>,
-    mut bquery: Query<(&Transform, &mut ExternalForce), With<CyberBikeBody>>,
+    mut body_query: Query<
+        (&Transform, &mut ExternalForce),
+        (With<CyberBikeBody>, Without<CyberSteering>),
+    >,
+    mut steering_query: Query<&mut MultibodyJoint, With<CyberSteering>>,
 ) {
-    let (xform, mut forces) = bquery.single_mut();
+    let (xform, mut forces) = body_query.single_mut();
 
     // thrust
     let thrust = xform.forward() * input.throttle * settings.accel;
-    forces.force += thrust;
+    let point = xform.translation + xform.back() * 0.5;
+    let force = ExternalForce::at_point(thrust, point, xform.translation);
+    *forces += force;
 
     // brake
-    for mut friction in cquery.iter_mut() {
+    for mut motor in braking_query.iter_mut() {
-        friction.coefficient = if input.brake { 2.0 } else { 0.0 };
+        let factor = if input.brake { 100.00 } else { 0.0 };
+        motor.data = (*motor
+            .data
+            .as_revolute_mut()
+            .unwrap()
+            .set_motor_max_force(factor)
+            .set_motor_velocity(0.0, factor))
+        .into();
     }
 
     // steering
-    let force = xform.right() * input.yaw * settings.sensitivity;
+    let angle = input.yaw.powf(3.0) * (PI / 4.0);
-    let point = xform.translation + xform.forward();
+    let mut steering = steering_query.single_mut();
-    let force = ExternalForce::at_point(force, point, xform.translation);
+    steering.data = (*steering
-    *forces += force;
+        .data
+        .as_revolute_mut()
+        .unwrap()
+        .set_motor_position(-angle, 100.0, 0.5))
+    .into();
 }
 
 /// Don't let the wheels get stuck underneat the planet
@@ -122,7 +140,7 @@ pub(super) fn surface_fix(
             cgroups.memberships = Group::NONE;
             cgroups.filters = Group::NONE;
             commands.entity(entity).insert(Tunneling {
-                frames: 6,
+                frames: 10,
                 dir: -hit.1.normal,
             });
         }
@@ -153,8 +171,8 @@ pub(super) fn tunnel_out(
         }
         tunneling.frames -= 1;
         force.force = tunneling.dir * settings.gravity * 1.5 * mprops.0.mass;
-        #[cfg(feature = "inspector")]
+        //#[cfg(feature = "inspector")]
-        dbg!(&tunneling);
+        //dbg!(&tunneling);
     }
 }
 

src/bike/body.rs

@@ -56,7 +56,7 @@ pub(super) fn spawn_cyberbike(
         .spawn(RigidBody::Dynamic)
         .insert(spatialbundle)
         .insert((
-            Collider::capsule(Vec3::new(0.0, 0.0, -1.0), Vec3::new(0.0, 0.0, 1.0), 0.50),
+            Collider::capsule(Vec3::new(0.0, 0.0, -0.65), Vec3::new(0.0, 0.0, 0.8), 0.50),
             bike_collision_group,
             mass_properties,
             damping,

src/bike/components.rs

@@ -6,6 +6,9 @@ use bevy::{
 #[derive(Component)]
 pub struct CyberBikeBody;
 
+#[derive(Component)]
+pub struct CyberSteering;
+
 #[derive(Debug, Component)]
 pub struct CyberWheel;
 
@@ -28,7 +31,7 @@ impl Default for WheelConfig {
             front_forward: 0.9,
             front_stance: 0.65,
             rear_back: 1.1,
-            y: -0.45,
+            y: -0.1,
             limits: [-0.7, 0.1],
             stiffness: 90.0,
             damping: 8.0,

src/bike/wheels.rs

@@ -1,21 +1,19 @@
 use bevy::prelude::{shape::UVSphere as Tire, *};
 use bevy_rapier3d::prelude::{
-    Ccd, Collider, ColliderMassProperties, CollisionGroups, Damping, ExternalForce, Friction,
+    Ccd, CoefficientCombineRule, Collider, ColliderMassProperties, CollisionGroups, Damping,
-    MultibodyJoint, PrismaticJointBuilder, Restitution, RigidBody, Sleeping,
+    ExternalForce, Friction, MultibodyJoint, PrismaticJointBuilder, Restitution,
-    TransformInterpolation,
+    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,
-    xform: &Transform,
+    _xform: &Transform,
     bike: Entity,
     conf: &WheelConfig,
     meshterials: &mut Meshterial,
 ) {
-    //return;
-    // re-set the collision group
     let (membership, filter) = BIKE_WHEEL_COLLISION_GROUP;
     let wheels_collision_group = CollisionGroups::new(membership, filter);
     let wheel_y = conf.y;
@@ -49,8 +47,8 @@ pub fn spawn_tires(
     };
 
     let friction = Friction {
-        coefficient: 0.0,
+        coefficient: 0.8,
-        ..Default::default()
+        combine_rule: CoefficientCombineRule::Min,
     };
 
     let mut wheel_poses = Vec::with_capacity(2);
@@ -60,7 +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
@@ -68,58 +66,60 @@ 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 trans = xform.translation + offset;
-        let wheel_pos_in_world = Transform::from_rotation(xform.rotation).with_translation(trans);
         let wheel_damping = Damping {
             linear_damping: 0.8,
             ..Default::default()
         };
         let wheel_collider = Collider::ball(wheel_rad);
         let mass_props = ColliderMassProperties::Density(0.1);
-
         let damping = conf.damping;
-        let prismatic = PrismaticJointBuilder::new(Vec3::Y)
+
+        let prismatic_builder = PrismaticJointBuilder::new(Vec3::Y)
             .local_anchor1(offset)
             .limits(limits)
-            .motor_position(-0.1, stiffness, damping);
+            .motor_position(limits[0], stiffness, damping);
-        let joint = MultibodyJoint::new(bike, prismatic);
+        let prismatic_joint = MultibodyJoint::new(bike, prismatic_builder);
-
+        let fork_rb_entity = commands
-        let spatial_bundle = SpatialBundle {
-            transform: wheel_pos_in_world,
-            ..Default::default()
-        };
-
-        let tire_spundle = SpatialBundle {
-            transform: Transform::IDENTITY,
-            ..Default::default()
-        };
-
-        commands
             .spawn(RigidBody::Dynamic)
-            .insert(spatial_bundle)
+            .insert(prismatic_joint)
-            .insert((
+            .id();
-                wheel_collider,
+
-                mass_props,
+        let axel_parent = if let Some(steering) = steering {
-                wheel_damping,
+            let neck_builder = RevoluteJointBuilder::new(Vec3::Y);
-                ccd,
+            let neck_joint = MultibodyJoint::new(fork_rb_entity, neck_builder);
-                not_sleeping,
+            let hub = commands
-                joint,
+                .spawn(RigidBody::Dynamic)
-                wheels_collision_group,
+                .insert(neck_joint)
-                friction,
+                .insert(steering)
-                CyberWheel,
+                .id();
-                ExternalForce::default(),
+            dbg!(hub);
-            ))
+            hub
-            .with_children(|wheel| {
+        } else {
-                wheel.spawn(tire_spundle).insert(pbr_bundle.clone()).insert(
+            fork_rb_entity
-                    TransformInterpolation {
+        };
-                        start: None,
+
-                        end: None,
+        let revolute_builder = RevoluteJointBuilder::new(Vec3::X);
-                    },
+        let axel_joint = MultibodyJoint::new(axel_parent, revolute_builder);
-                );
+
-            });
+        commands.spawn(pbr_bundle.clone()).insert((
+            wheel_collider,
+            mass_props,
+            wheel_damping,
+            ccd,
+            not_sleeping,
+            axel_joint,
+            wheels_collision_group,
+            friction,
+            CyberWheel,
+            ExternalForce::default(),
+            Restitution::new(0.2),
+            SpatialBundle::default(),
+            TransformInterpolation::default(),
+            RigidBody::Dynamic,
+        ));
     }
 }

src/camera.rs

@@ -120,12 +120,15 @@ pub struct CyberCamPlugin;
 
 impl Plugin for CyberCamPlugin {
     fn build(&self, app: &mut bevy::prelude::App) {
-        // common stuff
+        common(app);
-        app.insert_resource(DebugCamOffset::default())
-            .add_startup_system(setup_cybercams)
-            .add_state(CyberCameras::Hero)
-            .add_system(cycle_cam_state)
-            .add_system(update_active_camera)
-            .add_system(follow_cyberbike);
     }
 }
+
+fn common(app: &mut bevy::prelude::App) {
+    app.insert_resource(DebugCamOffset::default())
+        .add_startup_system(setup_cybercams)
+        .add_state(CyberCameras::Hero)
+        .add_system(cycle_cam_state)
+        .add_system(update_active_camera)
+        .add_system(follow_cyberbike);
+}

src/input.rs

@@ -16,8 +16,8 @@ fn update_debug_cam(mut offset: ResMut<DebugCamOffset>, mut keys: ResMut<Input<K
 
     for key in keyset {
         match key {
-            KeyCode::Left => offset.rot += 5.0,
+            KeyCode::Left => offset.rot -= 5.0,
-            KeyCode::Right => offset.rot -= 5.0,
+            KeyCode::Right => offset.rot += 5.0,
             KeyCode::Up => {
                 if shifted {
                     offset.alt += 0.5;

src/planet.rs

@@ -32,10 +32,10 @@ fn spawn_planet(
     let pcollide = (
         shape,
         Friction {
-            coefficient: 0.05,
+            coefficient: 0.8,
             ..Default::default()
         },
-        Restitution::new(0.0),
+        Restitution::new(0.8),
     );
 
     commands