merge wip rolling_wheels

src/action/components.rs

@@ -58,9 +58,9 @@ pub struct CatControllerSettings {
 impl Default for CatControllerSettings {
     fn default() -> Self {
         Self {
-            kp: 17.0,
+            kp: 20.0,
-            kd: 4.0,
+            kd: 4.5,
-            ki: 0.05,
+            ki: 0.07,
         }
     }
 }
@@ -85,7 +85,7 @@ impl Default for CatControllerState {
             pitch_prev: Default::default(),
             decay_factor: 0.99,
             roll_limit: 1.5,
-            pitch_limit: 1.2,
+            pitch_limit: 1.0,
         }
     }
 }

src/action/mod.rs

@@ -21,7 +21,7 @@ impl Plugin for CyberActionPlugin {
             .add_plugin(RapierPhysicsPlugin::<NoUserData>::default())
             .add_plugin(FrameTimeDiagnosticsPlugin::default())
             .add_startup_system(zero_gravity)
-            .add_system(surface_fix)
+            .add_system(surface_fix.label("surface_fix"))
             .add_system(gravity.before("cat"))
             .add_system(falling_cat.label("cat"))
             .add_system(input_forces.label("iforces").after("cat"))

src/action/systems.rs

@@ -122,7 +122,7 @@ pub(super) fn surface_fix(
             cgroups.memberships = Group::NONE;
             cgroups.filters = Group::NONE;
             commands.entity(entity).insert(Tunneling {
-                frames: 15,
+                frames: 5,
                 dir: -hit.1.normal,
             });
         }
@@ -140,6 +140,7 @@ pub(super) fn tunnel_out(
         ),
         With<CyberWheel>,
     >,
+    settings: Res<MovementSettings>,
 ) {
     for (entity, mut tunneling, mut cgroups, mut force) in wheel_query.iter_mut() {
         if tunneling.frames == 0 {
@@ -149,7 +150,8 @@ pub(super) fn tunnel_out(
             continue;
         }
         tunneling.frames -= 1;
-        force.force += tunneling.dir * tunneling.frames as f32;
+        force.force += tunneling.dir * settings.gravity * 1.1;
+        #[cfg(feature = "inspector")]
         dbg!(&tunneling);
     }
 }

src/bike/components.rs

@@ -0,0 +1,38 @@
+use bevy::{
+    prelude::{Component, ReflectResource, Resource},
+    reflect::Reflect,
+};
+
+#[derive(Component)]
+pub struct CyberBikeBody;
+
+#[derive(Debug, Component)]
+pub struct CyberWheel;
+
+#[derive(Resource, Reflect)]
+#[reflect(Resource)]
+pub struct WheelConfig {
+    pub front_forward: f32,
+    pub front_stance: f32,
+    pub rear_back: f32,
+    pub y: f32,
+    pub limits: [f32; 2],
+    pub stiffness: f32,
+    pub damping: f32,
+    pub radius: f32,
+}
+
+impl Default for WheelConfig {
+    fn default() -> Self {
+        Self {
+            front_forward: 0.9,
+            front_stance: 0.65,
+            rear_back: 1.1,
+            y: -0.45,
+            limits: [-0.7, 0.1],
+            stiffness: 90.0,
+            damping: 8.0,
+            radius: 0.3,
+        }
+    }
+}

src/bike/mod.rs

@@ -0,0 +1,20 @@
+mod components;
+mod systems;
+
+use bevy::prelude::{App, Plugin, StartupStage};
+use bevy_rapier3d::prelude::Group;
+
+pub use self::components::*;
+use self::systems::spawn_cyberbike;
+
+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 struct CyberBikePlugin;
+impl Plugin for CyberBikePlugin {
+    fn build(&self, app: &mut App) {
+        app.insert_resource(WheelConfig::default())
+            .register_type::<WheelConfig>()
+            .add_startup_system_to_stage(StartupStage::PostStartup, spawn_cyberbike);
+    }
+}

src/bike/systems.rs

@@ -1,15 +1,13 @@
-use std::fmt::Debug;
-
 use bevy::prelude::{shape::UVSphere as Tire, *};
-use bevy_rapier3d::{
+use bevy_rapier3d::prelude::{
-    geometry::Group,
+    Ccd, Collider, ColliderMassProperties, CollisionGroups, Damping, ExternalForce, Friction,
-    prelude::{
+    MultibodyJoint, PrismaticJointBuilder, ReadMassProperties, Restitution, RigidBody, Sleeping,
-        Ccd, Collider, ColliderMassProperties, CollisionGroups, Damping, ExternalForce, Friction,
+    TransformInterpolation, Velocity,
-        MultibodyJoint, PrismaticJointBuilder, ReadMassProperties, Restitution, RigidBody,
-        Sleeping, TransformInterpolation, Velocity,
-    },
 };
 
+use super::{
+    CyberBikeBody, CyberWheel, WheelConfig, BIKE_BODY_COLLISION_GROUP, BIKE_WHEEL_COLLISION_GROUP,
+};
 use crate::{action::CatControllerState, planet::PLANET_RADIUS};
 
 type Meshterial<'a> = (
@@ -17,44 +15,7 @@ type Meshterial<'a> = (
     ResMut<'a, Assets<StandardMaterial>>,
 );
 
-#[derive(Component)]
+pub(super) fn spawn_cyberbike(
-pub struct CyberBikeBody;
-
-#[derive(Debug, Component)]
-pub struct CyberWheel;
-
-#[derive(Resource, Reflect)]
-#[reflect(Resource)]
-pub struct WheelConfig {
-    pub front_forward: f32,
-    pub front_stance: f32,
-    pub rear_back: f32,
-    pub y: f32,
-    pub limits: [f32; 2],
-    pub stiffness: f32,
-    pub damping: f32,
-    pub radius: f32,
-}
-
-impl Default for WheelConfig {
-    fn default() -> Self {
-        Self {
-            front_forward: 0.9,
-            front_stance: 0.65,
-            rear_back: 1.1,
-            y: -0.45,
-            limits: [-0.7, 0.1],
-            stiffness: 90.0,
-            damping: 8.0,
-            radius: 0.3,
-        }
-    }
-}
-
-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);
-
-fn spawn_cyberbike(
     mut commands: Commands,
     asset_server: Res<AssetServer>,
     wheel_conf: Res<WheelConfig>,
@@ -73,11 +34,6 @@ fn spawn_cyberbike(
         angular_damping: 2.0,
         linear_damping: 0.1,
     };
-    let not_sleeping = Sleeping::disabled();
-    let ccd = Ccd { enabled: true };
-
-    let bcollider_shape =
-        Collider::capsule(Vec3::new(0.0, 0.0, -1.0), Vec3::new(0.0, 0.0, 1.0), 0.50);
 
     let friction = Friction {
         coefficient: 0.0,
@@ -105,14 +61,14 @@ fn spawn_cyberbike(
         .spawn(RigidBody::Dynamic)
         .insert(spatialbundle)
         .insert((
-            bcollider_shape,
+            Collider::capsule(Vec3::new(0.0, 0.0, -1.0), Vec3::new(0.0, 0.0, 1.0), 0.50),
             bike_collision_group,
             mass_properties,
             damping,
             restitution,
             friction,
-            not_sleeping,
+            Sleeping::disabled(),
-            ccd,
+            Ccd { enabled: true },
             ReadMassProperties::default(),
         ))
         .insert(TransformInterpolation {
@@ -134,24 +90,6 @@ fn spawn_cyberbike(
     spawn_tires(&mut commands, &xform, bike, &wheel_conf, &mut meshterials);
 }
 
-#[cfg(feature = "inspector")]
-fn re_tire(
-    mut commands: Commands,
-    wheel_conf: ResMut<WheelConfig>,
-    mut meshterials: Meshterial,
-    bquery: Query<(Entity, &Transform), With<CyberBikeBody>>,
-    wheels: Query<Entity, With<CyberWheel>>,
-) {
-    // we fuck with values in the egui inspector
-    let (bike, xform) = bquery.single();
-    if wheel_conf.is_changed() {
-        for wheel in wheels.iter() {
-            commands.entity(wheel).despawn_recursive();
-        }
-        spawn_tires(&mut commands, xform, bike, &wheel_conf, &mut meshterials);
-    }
-}
-
 fn spawn_tires(
     commands: &mut Commands,
     xform: &Transform,
@@ -256,6 +194,7 @@ fn spawn_tires(
                 wheels_collision_group,
                 friction,
                 CyberWheel,
+                ExternalForce::default(),
             ))
             .with_children(|wheel| {
                 wheel.spawn(tire_spundle).insert(pbr_bundle.clone()).insert(
@@ -264,24 +203,6 @@ fn spawn_tires(
                         end: None,
                     },
                 );
-            })
-            .insert(TransformInterpolation {
-                start: None,
-                end: None,
             });
     }
 }
-
-pub struct CyberBikePlugin;
-impl Plugin for CyberBikePlugin {
-    fn build(&self, app: &mut App) {
-        app.insert_resource(WheelConfig::default())
-            .register_type::<WheelConfig>()
-            .add_startup_system_to_stage(StartupStage::PostStartup, spawn_cyberbike);
-
-        #[cfg(feature = "inspector")]
-        {
-            app.add_system(re_tire);
-        }
-    }
-}