works less bad

src/action/mod.rs

@@ -25,16 +25,17 @@ impl Plugin for CyberActionPlugin {
         app.init_resource::<MovementSettings>()
             .register_type::<MovementSettings>()
             .init_resource::<CatControllerSettings>()
-            .init_resource::<ActionDebugInstant>()
             .init_resource::<CyberLean>()
             .register_type::<CyberLean>()
             .register_type::<CatControllerSettings>()
             .add_plugins((PhysicsPlugins::default(), FrameTimeDiagnosticsPlugin))
-            .insert_resource(SubstepCount(12))
+            .insert_resource(SubstepCount(24))
             .add_systems(
                 Update,
                 (
                     gravity,
+                    #[cfg(feature = "inspector")]
+                    debug_bodies,
                     (cyber_lean, suspension, falling_cat, input_forces).after(clear_forces),
                 ),
             );

src/action/systems.rs

@@ -7,6 +7,8 @@ use avian3d::{
         PrismaticJoint, RigidBodyQuery,
     },
 };
+#[cfg(feature = "inspector")]
+use bevy::prelude::Entity;
 use bevy::prelude::{Quat, Query, Res, ResMut, Time, Transform, Vec3, With, Without};
 
 use super::{CatControllerSettings, CatControllerState, CyberLean, MovementSettings};
@@ -148,7 +150,7 @@ pub(super) fn input_forces(
     >,
 ) {
     let Ok((mut bike, xform, mass, mut forces)) = body_query.get_single_mut() else {
-        bevy::log::warn!("no bike body found");
+        bevy::log::debug!("no bike body found");
         return;
     };
     let dt = time.delta_seconds();
@@ -185,3 +187,11 @@ pub(super) fn input_forces(
 
     fork.align_orientation(&mut axle, &mut bike, diff, &mut compliance, 1.0, dt);
 }
+
+#[cfg(feature = "inspector")]
+pub(super) fn debug_bodies(bodies: Query<(Entity, RigidBodyQuery)>) {
+    for (entity, rbq) in bodies.iter().filter(|(_, r)| r.rb.is_dynamic()) {
+        let line = format!("{entity:?} at {:?}", rbq.current_position());
+        bevy::log::info!(line);
+    }
+}

src/bike/body.rs

@@ -66,5 +66,5 @@ pub(super) fn spawn_cyberbike(
         })
         .id();
 
-    spawn_wheels(&mut commands, bike, &wheel_conf, &mut meshterials);
+    spawn_wheels(&mut commands, bike, &xform, &wheel_conf, &mut meshterials);
 }

src/bike/mod.rs

@@ -3,7 +3,7 @@ mod components;
 mod wheels;
 
 use bevy::{
-    app::{PostStartup, Startup},
+    app::PostStartup,
     prelude::{App, Assets, Mesh, Plugin, ResMut, StandardMaterial},
 };
 
@@ -23,6 +23,6 @@ impl Plugin for CyberBikePlugin {
     fn build(&self, app: &mut App) {
         app.insert_resource(WheelConfig::default())
             .register_type::<WheelConfig>()
-            .add_systems(Startup, spawn_cyberbike);
+            .add_systems(PostStartup, spawn_cyberbike);
     }
 }

src/bike/wheels.rs

@@ -9,6 +9,7 @@ use super::{
 pub fn spawn_wheels(
     commands: &mut Commands,
     bike: Entity,
+    xform: &Transform,
     conf: &WheelConfig,
     meshterials: &mut Meshterial,
 ) {
@@ -84,6 +85,9 @@ pub fn spawn_wheels(
                 AngularVelocity::ZERO,
                 ExternalTorque::ZERO,
             ))
+            .insert(SpatialBundle::from_transform(
+                xform.with_translation(xform.translation + offset),
+            ))
             .id();
 
         let spring = CyberSpring(suspension_axis);
@@ -95,6 +99,7 @@ pub fn spawn_wheels(
                 spring,
                 Collider::sphere(0.1),
                 ColliderDensity(0.1),
+                CollisionLayers::from_bits(0, 0),
             ))
         } else {
             commands.spawn((
@@ -103,9 +108,12 @@ pub fn spawn_wheels(
                 spring,
                 Collider::sphere(0.1),
                 ColliderDensity(0.1),
+                CollisionLayers::from_bits(0, 0),
             ))
         }
-        .insert(SpatialBundle::default())
+        .insert(SpatialBundle::from_transform(
+            xform.with_translation(xform.translation + offset),
+        ))
         .id();
         let axel_joint = RevoluteJoint::new(axel, wheel).with_aligned_axis(Vec3::NEG_X);
         commands.spawn(axel_joint);

src/main.rs

@@ -29,13 +29,12 @@ fn main() {
             CyberSpaceLightsPlugin,
             CyberUIPlugin,
             CyberBikePlugin,
+            #[cfg(feature = "inspector")]
+            CyberGlamorPlugin,
         ))
         .add_systems(Startup, disable_mouse_trap)
         .add_systems(Update, close_on_esc);
 
-    #[cfg(feature = "inspector")]
-    app.add_plugin(CyberGlamorPlugin);
-
     app.run();
 }
 

src/ui.rs

@@ -6,8 +6,6 @@ use bevy::{
         TextBundle, TextSection, TextStyle, Transform, With,
     },
 };
-#[cfg(feature = "inspector")]
-use bevy_inspector_egui::quick::WorldInspectorPlugin;
 
 use crate::bike::CyberBikeBody;
 
@@ -53,9 +51,6 @@ pub struct CyberUIPlugin;
 
 impl Plugin for CyberUIPlugin {
     fn build(&self, app: &mut App) {
-        #[cfg(feature = "inspector")]
-        app.add_plugin(WorldInspectorPlugin);
-
         app.add_systems(Startup, setup_ui)
             .add_systems(Update, update_ui);
     }