Finish splitting up bike
module, fix de-penetrator.
This commit is contained in:
parent
71a91da77a
commit
c7680227e3
6 changed files with 79 additions and 98 deletions
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@ -58,9 +58,9 @@ pub struct CatControllerSettings {
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impl Default for CatControllerSettings {
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impl Default for CatControllerSettings {
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fn default() -> Self {
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fn default() -> Self {
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Self {
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Self {
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kp: 17.0,
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kp: 20.0,
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kd: 4.0,
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kd: 4.5,
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ki: 0.05,
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ki: 0.07,
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}
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}
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}
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}
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}
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}
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@ -85,7 +85,7 @@ impl Default for CatControllerState {
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pitch_prev: Default::default(),
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pitch_prev: Default::default(),
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decay_factor: 0.99,
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decay_factor: 0.99,
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roll_limit: 1.5,
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roll_limit: 1.5,
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pitch_limit: 1.2,
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pitch_limit: 1.0,
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}
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}
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}
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}
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}
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}
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@ -21,7 +21,7 @@ impl Plugin for CyberActionPlugin {
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.add_plugin(RapierPhysicsPlugin::<NoUserData>::default())
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.add_plugin(RapierPhysicsPlugin::<NoUserData>::default())
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.add_plugin(FrameTimeDiagnosticsPlugin::default())
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.add_plugin(FrameTimeDiagnosticsPlugin::default())
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.add_startup_system(zero_gravity)
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.add_startup_system(zero_gravity)
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.add_system(surface_fix)
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.add_system(surface_fix.label("surface_fix"))
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.add_system(gravity.before("cat"))
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.add_system(gravity.before("cat"))
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.add_system(falling_cat.label("cat"))
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.add_system(falling_cat.label("cat"))
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.add_system(input_forces.label("iforces").after("cat"))
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.add_system(input_forces.label("iforces").after("cat"))
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@ -122,7 +122,7 @@ pub(super) fn surface_fix(
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cgroups.memberships = Group::NONE;
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cgroups.memberships = Group::NONE;
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cgroups.filters = Group::NONE;
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cgroups.filters = Group::NONE;
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commands.entity(entity).insert(Tunneling {
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commands.entity(entity).insert(Tunneling {
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frames: 15,
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frames: 5,
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dir: -hit.1.normal,
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dir: -hit.1.normal,
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});
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});
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}
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}
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@ -140,6 +140,7 @@ pub(super) fn tunnel_out(
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),
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),
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With<CyberWheel>,
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With<CyberWheel>,
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>,
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>,
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settings: Res<MovementSettings>,
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) {
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) {
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for (entity, mut tunneling, mut cgroups, mut force) in wheel_query.iter_mut() {
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for (entity, mut tunneling, mut cgroups, mut force) in wheel_query.iter_mut() {
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if tunneling.frames == 0 {
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if tunneling.frames == 0 {
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@ -149,7 +150,8 @@ pub(super) fn tunnel_out(
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continue;
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continue;
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}
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}
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tunneling.frames -= 1;
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tunneling.frames -= 1;
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force.force += tunneling.dir * tunneling.frames as f32;
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force.force += tunneling.dir * settings.gravity * 1.1;
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#[cfg(feature = "inspector")]
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dbg!(&tunneling);
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dbg!(&tunneling);
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}
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}
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}
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}
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@ -0,0 +1,38 @@
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use bevy::{
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prelude::{Component, ReflectResource, Resource},
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reflect::Reflect,
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};
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#[derive(Component)]
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pub struct CyberBikeBody;
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#[derive(Debug, Component)]
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pub struct CyberWheel;
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#[derive(Resource, Reflect)]
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#[reflect(Resource)]
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pub struct WheelConfig {
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pub front_forward: f32,
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pub front_stance: f32,
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pub rear_back: f32,
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pub y: f32,
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pub limits: [f32; 2],
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pub stiffness: f32,
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pub damping: f32,
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pub radius: f32,
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}
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impl Default for WheelConfig {
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fn default() -> Self {
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Self {
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front_forward: 0.9,
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front_stance: 0.65,
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rear_back: 1.1,
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y: -0.45,
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limits: [-0.7, 0.1],
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stiffness: 90.0,
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damping: 8.0,
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radius: 0.3,
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}
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}
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}
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@ -0,0 +1,20 @@
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mod components;
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mod systems;
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use bevy::prelude::{App, Plugin, StartupStage};
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use bevy_rapier3d::prelude::Group;
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pub use self::components::*;
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use self::systems::spawn_cyberbike;
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pub const BIKE_BODY_COLLISION_GROUP: (Group, Group) = (Group::GROUP_1, Group::GROUP_1);
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pub const BIKE_WHEEL_COLLISION_GROUP: (Group, Group) = (Group::GROUP_10, Group::GROUP_10);
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pub struct CyberBikePlugin;
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impl Plugin for CyberBikePlugin {
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fn build(&self, app: &mut App) {
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app.insert_resource(WheelConfig::default())
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.register_type::<WheelConfig>()
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.add_startup_system_to_stage(StartupStage::PostStartup, spawn_cyberbike);
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}
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}
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@ -1,15 +1,13 @@
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use std::fmt::Debug;
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use bevy::prelude::{shape::UVSphere as Tire, *};
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use bevy::prelude::{shape::UVSphere as Tire, *};
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use bevy_rapier3d::{
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use bevy_rapier3d::prelude::{
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geometry::Group,
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Ccd, Collider, ColliderMassProperties, CollisionGroups, Damping, ExternalForce, Friction,
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prelude::{
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MultibodyJoint, PrismaticJointBuilder, ReadMassProperties, Restitution, RigidBody, Sleeping,
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Ccd, Collider, ColliderMassProperties, CollisionGroups, Damping, ExternalForce, Friction,
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TransformInterpolation, Velocity,
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MultibodyJoint, PrismaticJointBuilder, ReadMassProperties, Restitution, RigidBody,
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Sleeping, TransformInterpolation, Velocity,
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},
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};
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};
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use super::{
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CyberBikeBody, CyberWheel, WheelConfig, BIKE_BODY_COLLISION_GROUP, BIKE_WHEEL_COLLISION_GROUP,
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};
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use crate::{action::CatControllerState, planet::PLANET_RADIUS};
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use crate::{action::CatControllerState, planet::PLANET_RADIUS};
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type Meshterial<'a> = (
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type Meshterial<'a> = (
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@ -17,44 +15,7 @@ type Meshterial<'a> = (
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ResMut<'a, Assets<StandardMaterial>>,
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ResMut<'a, Assets<StandardMaterial>>,
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);
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);
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#[derive(Component)]
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pub(super) fn spawn_cyberbike(
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pub struct CyberBikeBody;
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#[derive(Debug, Component)]
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pub struct CyberWheel;
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#[derive(Resource, Reflect)]
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#[reflect(Resource)]
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pub struct WheelConfig {
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pub front_forward: f32,
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pub front_stance: f32,
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pub rear_back: f32,
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pub y: f32,
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pub limits: [f32; 2],
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pub stiffness: f32,
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pub damping: f32,
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pub radius: f32,
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}
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impl Default for WheelConfig {
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fn default() -> Self {
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Self {
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front_forward: 0.9,
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front_stance: 0.65,
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rear_back: 1.1,
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y: -0.45,
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limits: [-0.7, 0.1],
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stiffness: 90.0,
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damping: 8.0,
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radius: 0.3,
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}
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}
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}
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pub const BIKE_BODY_COLLISION_GROUP: (Group, Group) = (Group::GROUP_1, Group::GROUP_1);
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pub const BIKE_WHEEL_COLLISION_GROUP: (Group, Group) = (Group::GROUP_10, Group::GROUP_10);
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fn spawn_cyberbike(
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mut commands: Commands,
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mut commands: Commands,
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asset_server: Res<AssetServer>,
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asset_server: Res<AssetServer>,
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wheel_conf: Res<WheelConfig>,
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wheel_conf: Res<WheelConfig>,
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@ -73,11 +34,6 @@ fn spawn_cyberbike(
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angular_damping: 2.0,
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angular_damping: 2.0,
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linear_damping: 0.1,
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linear_damping: 0.1,
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};
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};
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let not_sleeping = Sleeping::disabled();
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let ccd = Ccd { enabled: true };
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let bcollider_shape =
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Collider::capsule(Vec3::new(0.0, 0.0, -1.0), Vec3::new(0.0, 0.0, 1.0), 0.50);
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let friction = Friction {
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let friction = Friction {
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coefficient: 0.0,
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coefficient: 0.0,
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@ -105,14 +61,14 @@ fn spawn_cyberbike(
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.spawn(RigidBody::Dynamic)
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.spawn(RigidBody::Dynamic)
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.insert(spatialbundle)
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.insert(spatialbundle)
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.insert((
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.insert((
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bcollider_shape,
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Collider::capsule(Vec3::new(0.0, 0.0, -1.0), Vec3::new(0.0, 0.0, 1.0), 0.50),
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bike_collision_group,
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bike_collision_group,
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mass_properties,
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mass_properties,
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damping,
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damping,
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restitution,
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restitution,
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friction,
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friction,
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not_sleeping,
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Sleeping::disabled(),
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ccd,
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Ccd { enabled: true },
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ReadMassProperties::default(),
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ReadMassProperties::default(),
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))
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))
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.insert(TransformInterpolation {
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.insert(TransformInterpolation {
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@ -134,24 +90,6 @@ fn spawn_cyberbike(
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spawn_tires(&mut commands, &xform, bike, &wheel_conf, &mut meshterials);
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spawn_tires(&mut commands, &xform, bike, &wheel_conf, &mut meshterials);
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}
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}
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#[cfg(feature = "inspector")]
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fn re_tire(
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mut commands: Commands,
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wheel_conf: ResMut<WheelConfig>,
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mut meshterials: Meshterial,
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bquery: Query<(Entity, &Transform), With<CyberBikeBody>>,
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wheels: Query<Entity, With<CyberWheel>>,
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) {
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// we fuck with values in the egui inspector
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let (bike, xform) = bquery.single();
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if wheel_conf.is_changed() {
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for wheel in wheels.iter() {
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commands.entity(wheel).despawn_recursive();
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}
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spawn_tires(&mut commands, xform, bike, &wheel_conf, &mut meshterials);
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}
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}
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fn spawn_tires(
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fn spawn_tires(
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commands: &mut Commands,
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commands: &mut Commands,
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xform: &Transform,
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xform: &Transform,
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@ -256,6 +194,7 @@ fn spawn_tires(
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wheels_collision_group,
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wheels_collision_group,
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friction,
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friction,
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CyberWheel,
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CyberWheel,
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ExternalForce::default(),
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))
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))
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.with_children(|wheel| {
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.with_children(|wheel| {
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wheel.spawn(tire_spundle).insert(pbr_bundle.clone()).insert(
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wheel.spawn(tire_spundle).insert(pbr_bundle.clone()).insert(
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@ -264,24 +203,6 @@ fn spawn_tires(
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end: None,
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end: None,
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},
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},
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);
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);
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})
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.insert(TransformInterpolation {
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start: None,
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end: None,
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});
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});
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}
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}
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}
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}
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pub struct CyberBikePlugin;
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impl Plugin for CyberBikePlugin {
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fn build(&self, app: &mut App) {
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app.insert_resource(WheelConfig::default())
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.register_type::<WheelConfig>()
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.add_startup_system_to_stage(StartupStage::PostStartup, spawn_cyberbike);
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#[cfg(feature = "inspector")]
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{
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app.add_system(re_tire);
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}
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}
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}
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