got two wheels working pretty good

next step is to make the wheels have friction and to rotate

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_edit",
- "toml",
 ]
 
 [[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]]

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:

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,
+            sensitivity: 6.0,
-            accel: 20.0,
+            accel: 40.0,
-            gravity: 9.8,
+            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;
+    let force = xform.right() * input.yaw * settings.sensitivity;
-    forces.torque += torque;
+    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<CyberBikeBody>>) {
@@ -130,6 +133,7 @@ pub struct CyberActionPlugin;
 impl Plugin for CyberActionPlugin {
     fn build(&self, app: &mut App) {
         app.init_resource::<MovementSettings>()
+            .register_type::<MovementSettings>()
             .init_resource::<CatControllerSettings>()
             .register_type::<CatControllerSettings>()
             .add_plugin(RapierPhysicsPlugin::<NoUserData>::default())

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,
+            y: -0.4,
-            limits: [-1.0, 0.0],
+            limits: [-0.5, 0.1],
-            stiffness: 80.0,
+            stiffness: 75.0,
-            damping: 0.6,
+            damping: 2.0,
-            radius: 0.4,
+            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<WheelConfig>,
@@ -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_x = 0.0;
-        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_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);
+            .motor_position(-0.1, stiffness, damping);
-        let joint = ImpulseJoint::new(bike, prismatic);
+        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::<WheelConfig>()
-            .add_startup_system_to_stage(StartupStage::PostStartup, spawn_cyberbike)
+            .add_startup_system_to_stage(StartupStage::PostStartup, spawn_cyberbike);
-            .add_system(re_tire);
+
+        #[cfg(feature = "inspector")]
+        {
+            app.add_system(re_tire);
+        }
     }
 }

src/main.rs

@@ -1,20 +1,8 @@
 use bevy::prelude::*;
 use cyber_rider::{
-    action::{CyberActionPlugin, MovementSettings},
+    action::CyberActionPlugin, bike::CyberBikePlugin, camera::CyberCamPlugin, disable_mouse_trap,
-    bike::CyberBikePlugin,
+    glamor::CyberGlamorPlugin, input::CyberInputPlugin, lights::CyberSpaceLightsPlugin,
-    camera::CyberCamPlugin,
+    planet::CyberPlanetPlugin, ui::CyberUIPlugin,
-    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,
 };
 
 fn main() {
@@ -29,7 +17,6 @@ fn main() {
             },
             ..Default::default()
         }))
-        .insert_resource(MOVEMENT_SETTINGS)
         .add_plugin(CyberPlanetPlugin)
         .add_plugin(CyberGlamorPlugin)
         .add_plugin(CyberInputPlugin)