From cf449d9e56b218f6cd2eb9cdacd650ce4fcb2fc7 Mon Sep 17 00:00:00 2001
From: Joe Ardent <code@ardent.nebcorp.com>
Date: Sun, 22 Jan 2023 16:10:59 -0800
Subject: [PATCH] checkpoint

---
 src/action.rs | 24 ++++++++----------------
 src/bike.rs   | 20 ++++++++++----------
 src/camera.rs |  4 ++--
 src/main.rs   |  6 +++---
 4 files changed, 23 insertions(+), 31 deletions(-)

diff --git a/src/action.rs b/src/action.rs
index 893c6d7..6860e80 100644
--- a/src/action.rs
+++ b/src/action.rs
@@ -45,12 +45,7 @@ fn gravity(
 }
 
 fn falling_cat_pid(
-    mut bike_query: Query<(
-        &Transform,
-        //&Velocity,
-        &mut ExternalForce,
-        &mut CyberBikeControl,
-    )>,
+    mut bike_query: Query<(&Transform, &mut ExternalForce, &mut CyberBikeControl)>,
     diagnostics: Res<Diagnostics>,
 ) {
     let (xform, mut forces, mut control_vars) = bike_query.single_mut();
@@ -64,18 +59,19 @@ fn falling_cat_pid(
     let error = 1.0 - cos;
     let derivative = error - control_vars.prev_error;
     control_vars.prev_error = error;
-    let integral = (control_vars.error_sum * 0.8) + error;
-    control_vars.error_sum = integral;
+    // this integral term is not an integral, it's more like a weighted moving sum
+    let integral = (control_vars.error_sum + error) * 0.8;
+    control_vars.error_sum = integral; //.min(2.0).max(-2.0);
 
     let kp = 13.1;
-    let ki = 6.0;
-    let kd = 13.1;
+    let ki = 1.1;
+    let kd = 8.1;
     let mag = (kp * error) + (ki * integral) + (kd * derivative);
 
     if let Some(count) = diagnostics
         .get(FrameTimeDiagnosticsPlugin::FRAME_COUNT)
         .and_then(|d| d.smoothed())
-        .map(|x| x as u128)
+        .map(|x| x as u64)
     {
         if count % 30 == 0 {
             dbg!(&control_vars, mag);
@@ -104,8 +100,6 @@ fn input_forces(
     // steering
     let torque = xform.down() * input.yaw * settings.sensitivity;
     forces.torque += torque;
-
-    //dbg!(&input);
 }
 
 fn drag(mut query: Query<(&Velocity, &mut ExternalForce), With<CyberBikeBody>>) {
@@ -113,10 +107,8 @@ fn drag(mut query: Query<(&Velocity, &mut ExternalForce), With<CyberBikeBody>>)
 
     if let Some(vel) = vels.linvel.try_normalize() {
         let v2 = vels.linvel.length_squared();
-        forces.force -= vel * v2 * 0.02;
+        forces.force -= vel * (v2 * 0.02);
     }
-
-    //dbg!(&forces);
 }
 
 pub struct CyberActionPlugin;
diff --git a/src/bike.rs b/src/bike.rs
index 4abc585..5b3632a 100644
--- a/src/bike.rs
+++ b/src/bike.rs
@@ -61,8 +61,7 @@ fn spawn_cyberbike(mut commands: Commands, asset_server: Res<AssetServer>) {
     };
 
     let bike = commands
-        .spawn_empty()
-        .insert(RigidBody::Dynamic)
+        .spawn(RigidBody::Dynamic)
         .insert(spatialbundle)
         .insert((
             bcollider_shape,
@@ -92,7 +91,8 @@ fn spawn_cyberbike(mut commands: Commands, asset_server: Res<AssetServer>) {
         .insert(CyberBikeControl::default())
         .id();
 
-    let wheel_z_positions = vec![-1.2, 1.5, -1.2];
+    //return;
+    let wheel_z_positions = vec![-1.0, 1.2, -1.0];
     let wheel_y = -1.0f32;
 
     // re-set the collision group
@@ -101,9 +101,9 @@ fn spawn_cyberbike(mut commands: Commands, asset_server: Res<AssetServer>) {
 
     for (i, &wheel_z) in wheel_z_positions.iter().enumerate() {
         let (wheel_x, wheel_rad, stiffness) = match i {
-            0 => (-1.1, 0.5, 0.026),
-            2 => (1.1, 0.5, 0.026),
-            1 => (0.0, 0.8, 0.020),
+            0 => (-1.1, 0.5, 2.0),
+            2 => (1.1, 0.5, 2.0),
+            1 => (0.0, 0.5, 1.8),
             _ => unreachable!(),
         };
         let offset = Vec3::new(wheel_x, wheel_y, wheel_z);
@@ -118,13 +118,13 @@ fn spawn_cyberbike(mut commands: Commands, asset_server: Res<AssetServer>) {
 
         let damping = 0.3;
         let prismatic = PrismaticJointBuilder::new(Vec3::Y)
-            .local_anchor1(offset)
-            .motor_position(-0.4, stiffness, damping);
+            .local_anchor2(offset)
+            .limits([-1.0, 0.9])
+            .motor_position(0.0, stiffness, damping);
         let joint = ImpulseJoint::new(bike, prismatic);
 
         let _wheel_rb = commands
-            .spawn_empty()
-            .insert(RigidBody::Dynamic)
+            .spawn(RigidBody::Dynamic)
             .insert((wheel_pos_in_world, GlobalTransform::default()))
             .insert((
                 wheel_collider,
diff --git a/src/camera.rs b/src/camera.rs
index 4ed58a5..8e3937c 100644
--- a/src/camera.rs
+++ b/src/camera.rs
@@ -65,8 +65,8 @@ fn follow_cyberbike(
             }
             CyberCameras::Debug => {
                 let pos = bike_xform.translation
-                    + (bike_xform.forward() * 9.0)
-                    + (bike_xform.left() * 20.0)
+                    + (bike_xform.forward() * 20.0)
+                    + (bike_xform.left() * 2.0)
                     + (bike_xform.up() * 5.0);
                 cam_xform.translation = pos;
                 cam_xform.look_at(bike_xform.translation, up);
diff --git a/src/main.rs b/src/main.rs
index b0936f5..8ee6143 100644
--- a/src/main.rs
+++ b/src/main.rs
@@ -12,9 +12,9 @@ use cyber_rider::{
 };
 
 const MOVEMENT_SETTINGS: MovementSettings = MovementSettings {
-    sensitivity: 10.0, // steering
-    accel: 20.0,       // thrust
-    gravity: 10.0,
+    sensitivity: 8.0, // steering
+    accel: 30.0,      // thrust
+    gravity: 9.0,
 };
 
 fn main() {