From e524decd385211169afb7b98b71aa77bd64ce344 Mon Sep 17 00:00:00 2001 From: Joe Ardent Date: Sat, 28 Jan 2023 16:46:24 -0800 Subject: [PATCH] got two wheels working pretty good next step is to make the wheels have friction and to rotate --- Cargo.lock | 90 +++++++++++++++++++++++++++------------------------ Cargo.toml | 2 +- src/action.rs | 16 +++++---- src/bike.rs | 40 +++++++++++------------ src/main.rs | 19 ++--------- 5 files changed, 81 insertions(+), 86 deletions(-) diff --git a/Cargo.lock b/Cargo.lock index 8cedfe4..c69a894 100644 --- a/Cargo.lock +++ b/Cargo.lock @@ -37,9 +37,9 @@ dependencies = [ [[package]] name = "ahash" -version = "0.8.2" +version = "0.8.3" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "bf6ccdb167abbf410dcb915cabd428929d7f6a04980b54a11f26a39f1c7f7107" +checksum = "2c99f64d1e06488f620f932677e24bc6e2897582980441ae90a671415bd7ec2f" dependencies = [ "cfg-if", "once_cell", @@ -949,9 +949,9 @@ checksum = "c1db59621ec70f09c5e9b597b220c7a2b43611f4710dc03ceb8748637775692c" [[package]] name = "cc" -version = "1.0.78" +version = "1.0.79" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "a20104e2335ce8a659d6dd92a51a767a0c062599c73b343fd152cb401e828c3d" +checksum = "50d30906286121d95be3d479533b458f87493b30a4b5f79a607db8f5d11aa91f" [[package]] name = "cesu8" @@ -1303,16 +1303,16 @@ version = "0.20.1" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "65a5e883a316e53866977450eecfbcac9c48109c2ab3394af29feb83fcde4ea9" dependencies = [ - "ahash 0.8.2", + "ahash 0.8.3", "epaint", "nohash-hasher", ] [[package]] name = "either" -version = "1.8.0" +version = "1.8.1" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "90e5c1c8368803113bf0c9584fc495a58b86dc8a29edbf8fe877d21d9507e797" +checksum = "7fcaabb2fef8c910e7f4c7ce9f67a1283a1715879a7c230ca9d6d1ae31f16d91" [[package]] name = "emath" @@ -1372,7 +1372,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "de14b65fe5e423e0058f77a8beb2c863b056d0566d6c4ce0d097aa5814cb705a" dependencies = [ "ab_glyph", - "ahash 0.8.2", + "ahash 0.8.3", "atomic_refcell", "bytemuck", "ecolor", @@ -1891,12 +1891,6 @@ dependencies = [ "winapi", ] -[[package]] -name = "libm" -version = "0.1.4" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "7fc7aa29613bd6a620df431842069224d8bc9011086b1db4c0e0cd47fa03ec9a" - [[package]] name = "libm" version = "0.2.6" @@ -2176,6 +2170,15 @@ dependencies = [ "rand_xorshift", ] +[[package]] +name = "nom8" +version = "0.2.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "ae01545c9c7fc4486ab7debaf2aad7003ac19431791868fb2e8066df97fad2f8" +dependencies = [ + "memchr", +] + [[package]] name = "nu-ansi-term" version = "0.46.0" @@ -2234,23 +2237,23 @@ source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "578ede34cf02f8924ab9447f50c28075b4d3e5b269972345e7e0372b38c6cdcd" dependencies = [ "autocfg", - "libm 0.2.6", + "libm", ] [[package]] name = "num_enum" -version = "0.5.7" +version = "0.5.9" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "cf5395665662ef45796a4ff5486c5d41d29e0c09640af4c5f17fd94ee2c119c9" +checksum = "8d829733185c1ca374f17e52b762f24f535ec625d2cc1f070e34c8a9068f341b" dependencies = [ "num_enum_derive", ] [[package]] name = "num_enum_derive" -version = "0.5.7" +version = "0.5.9" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "3b0498641e53dd6ac1a4f22547548caa6864cc4933784319cd1775271c5a46ce" +checksum = "2be1598bf1c313dcdd12092e3f1920f463462525a21b7b4e11b4168353d0123e" dependencies = [ "proc-macro-crate", "proc-macro2", @@ -2324,16 +2327,6 @@ dependencies = [ "ttf-parser", ] -[[package]] -name = "packed_simd_2" -version = "0.3.8" -source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "a1914cd452d8fccd6f9db48147b29fd4ae05bea9dc5d9ad578509f72415de282" -dependencies = [ - "cfg-if", - "libm 0.1.4", -] - [[package]] name = "parking" version = "2.0.0" @@ -2447,19 +2440,18 @@ checksum = "5b40af805b3121feab8a3c29f04d8ad262fa8e0561883e7653e024ae4479e6de" [[package]] name = "pretty-type-name" -version = "1.0.0" +version = "1.0.1" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "a8815d101cfb4cb491154896bdab292a395a7ac9ab185a9941a2f5be0135900d" +checksum = "f0f73cdaf19b52e6143685c3606206e114a4dfa969d6b14ec3894c88eb38bd4b" [[package]] name = "proc-macro-crate" -version = "1.2.1" +version = "1.3.0" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "eda0fc3b0fb7c975631757e14d9049da17374063edb6ebbcbc54d880d4fe94e9" +checksum = "66618389e4ec1c7afe67d51a9bf34ff9236480f8d51e7489b7d5ab0303c13f34" dependencies = [ "once_cell", - "thiserror", - "toml", + "toml_edit", ] [[package]] @@ -2539,9 +2531,9 @@ checksum = "63e935c45e09cc6dcf00d2f0b2d630a58f4095320223d47fc68918722f0538b6" [[package]] name = "rapier3d" -version = "0.17.0" +version = "0.17.1" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "8aa1871dbbf25b2d91832c5f426827defc648d5340607870dc05471ab2748522" +checksum = "33c3a4adb69feadac44d74be058aaaec4502f9c193ec20c0e629b07387ee61a2" dependencies = [ "approx", "arrayvec", @@ -2555,7 +2547,6 @@ dependencies = [ "parry3d", "rustc-hash", "simba", - "vec_map", ] [[package]] @@ -2748,7 +2739,6 @@ dependencies = [ "approx", "num-complex", "num-traits", - "packed_simd_2", "paste", "wide", ] @@ -2923,6 +2913,23 @@ dependencies = [ "serde", ] +[[package]] +name = "toml_datetime" +version = "0.5.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "4553f467ac8e3d374bc9a177a26801e5d0f9b211aa1673fb137a403afd1c9cf5" + +[[package]] +name = "toml_edit" +version = "0.18.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "56c59d8dd7d0dcbc6428bf7aa2f0e823e26e43b3c9aca15bbc9475d23e5fa12b" +dependencies = [ + "indexmap", + "nom8", + "toml_datetime", +] + [[package]] name = "tracing" version = "0.1.37" @@ -3181,9 +3188,9 @@ dependencies = [ [[package]] name = "webbrowser" -version = "0.8.4" +version = "0.8.6" source = "registry+https://github.com/rust-lang/crates.io-index" -checksum = "e74f5ff7786c4c21f61ba8e30ea29c9745f06fca0a4a02d083b3c662583399e8" +checksum = "769f1a8831de12cad7bd6f9693b15b1432d93a151557810f617f626af823acae" dependencies = [ "core-foundation", "dirs", @@ -3194,7 +3201,6 @@ dependencies = [ "raw-window-handle 0.5.0", "url", "web-sys", - "windows", ] [[package]] diff --git a/Cargo.toml b/Cargo.toml index e8c7651..21e1997 100644 --- a/Cargo.toml +++ b/Cargo.toml @@ -28,7 +28,7 @@ features = [ ] [dependencies.bevy_rapier3d] -features = ["simd-nightly", "debug-render-3d"] +features = ["debug-render-3d"] version = "0.20" # Maybe also enable only a small amount of optimization for our code: diff --git a/src/action.rs b/src/action.rs index 31c2c0b..48cf3a1 100644 --- a/src/action.rs +++ b/src/action.rs @@ -11,7 +11,8 @@ use crate::{ input::InputState, }; -#[derive(Resource)] +#[derive(Debug, Resource, Reflect)] +#[reflect(Resource)] pub struct MovementSettings { pub accel: f32, pub gravity: f32, @@ -21,9 +22,9 @@ pub struct MovementSettings { impl Default for MovementSettings { fn default() -> Self { Self { - sensitivity: 10.0, - accel: 20.0, - gravity: 9.8, + sensitivity: 6.0, + accel: 40.0, + gravity: 5.0, } } } @@ -113,8 +114,10 @@ fn input_forces( friction.coefficient = if input.brake { 2.0 } else { 0.0 }; // steering - let torque = xform.down() * input.yaw * settings.sensitivity; - forces.torque += torque; + let force = xform.right() * input.yaw * settings.sensitivity; + let point = xform.translation + xform.forward() + Vec3::new(0.5, 0.0, 0.0); + let force = ExternalForce::at_point(force, point, xform.translation); + *forces += force; } fn drag(mut query: Query<(&Velocity, &mut ExternalForce), With>) { @@ -130,6 +133,7 @@ pub struct CyberActionPlugin; impl Plugin for CyberActionPlugin { fn build(&self, app: &mut App) { app.init_resource::() + .register_type::() .init_resource::() .register_type::() .add_plugin(RapierPhysicsPlugin::::default()) diff --git a/src/bike.rs b/src/bike.rs index d785bf5..7068ee6 100644 --- a/src/bike.rs +++ b/src/bike.rs @@ -5,7 +5,7 @@ use bevy_rapier3d::{ geometry::Group, prelude::{ Ccd, Collider, ColliderMassProperties, CollisionGroups, Damping, ExternalForce, Friction, - ImpulseJoint, PrismaticJointBuilder, Restitution, RigidBody, Sleeping, + MultibodyJoint, PrismaticJointBuilder, Restitution, RigidBody, Sleeping, TransformInterpolation, Velocity, }, }; @@ -54,11 +54,11 @@ impl Default for WheelConfig { front_forward: 0.9, front_stance: 0.65, rear_back: 1.1, - y: -1.5, - limits: [-1.0, 0.0], - stiffness: 80.0, - damping: 0.6, - radius: 0.4, + y: -0.4, + limits: [-0.5, 0.1], + stiffness: 75.0, + damping: 2.0, + radius: 0.3, } } } @@ -147,6 +147,7 @@ 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, @@ -171,6 +172,7 @@ fn spawn_tires( 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); @@ -204,19 +206,11 @@ fn spawn_tires( ..Default::default() }; - let mut wheel_poses = Vec::with_capacity(3); + let mut wheel_poses = Vec::with_capacity(2); - // left front + // front { - let wheel_x = -conf.front_stance; - let wheel_z = -conf.front_forward; - let offset = Vec3::new(wheel_x, wheel_y, wheel_z); - wheel_poses.push(offset); - } - - // right front - { - let wheel_x = conf.front_stance; + 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); @@ -244,8 +238,8 @@ fn spawn_tires( let prismatic = PrismaticJointBuilder::new(Vec3::Y) .local_anchor1(offset) .limits(limits) - .motor_position(-1.0, stiffness, damping); - let joint = ImpulseJoint::new(bike, prismatic); + .motor_position(-0.1, stiffness, damping); + let joint = MultibodyJoint::new(bike, prismatic); let spatial_bundle = SpatialBundle { transform: wheel_pos_in_world, @@ -290,7 +284,11 @@ impl Plugin for CyberBikePlugin { fn build(&self, app: &mut App) { app.insert_resource(WheelConfig::default()) .register_type::() - .add_startup_system_to_stage(StartupStage::PostStartup, spawn_cyberbike) - .add_system(re_tire); + .add_startup_system_to_stage(StartupStage::PostStartup, spawn_cyberbike); + + #[cfg(feature = "inspector")] + { + app.add_system(re_tire); + } } } diff --git a/src/main.rs b/src/main.rs index 8ee6143..4c203ab 100644 --- a/src/main.rs +++ b/src/main.rs @@ -1,20 +1,8 @@ use bevy::prelude::*; use cyber_rider::{ - action::{CyberActionPlugin, MovementSettings}, - bike::CyberBikePlugin, - camera::CyberCamPlugin, - disable_mouse_trap, - glamor::CyberGlamorPlugin, - input::CyberInputPlugin, - lights::CyberSpaceLightsPlugin, - planet::CyberPlanetPlugin, - ui::CyberUIPlugin, -}; - -const MOVEMENT_SETTINGS: MovementSettings = MovementSettings { - sensitivity: 8.0, // steering - accel: 30.0, // thrust - gravity: 9.0, + action::CyberActionPlugin, bike::CyberBikePlugin, camera::CyberCamPlugin, disable_mouse_trap, + glamor::CyberGlamorPlugin, input::CyberInputPlugin, lights::CyberSpaceLightsPlugin, + planet::CyberPlanetPlugin, ui::CyberUIPlugin, }; fn main() { @@ -29,7 +17,6 @@ fn main() { }, ..Default::default() })) - .insert_resource(MOVEMENT_SETTINGS) .add_plugin(CyberPlanetPlugin) .add_plugin(CyberGlamorPlugin) .add_plugin(CyberInputPlugin)