add wheels maybe

Cargo.toml

@@ -28,7 +28,7 @@ features = [
 ]
 
 [dependencies.bevy_rapier3d]
-features = ["simd-nightly"]
+features = ["simd-nightly", "debug-render-3d"]
 version = "0.20"
 
 # Maybe also enable only a small amount of optimization for our code:

src/action.rs

@@ -28,7 +28,7 @@ impl Default for MovementSettings {
     }
 }
 
-#[derive(Debug, Default, Resource, Reflect)]
+#[derive(Debug, Resource, Reflect)]
 #[reflect(Resource)]
 struct CatControllerSettings {
     pub kp: f32,
@@ -36,6 +36,16 @@ struct CatControllerSettings {
     pub kws: f32,
 }
 
+impl Default for CatControllerSettings {
+    fn default() -> Self {
+        Self {
+            kp: 10.0,
+            kd: 4.0,
+            kws: 0.85,
+        }
+    }
+}
+
 fn zero_gravity(mut config: ResMut<RapierConfiguration>) {
     config.gravity = Vec3::ZERO;
 }

src/bike.rs

@@ -1,6 +1,6 @@
 use std::fmt::Debug;
 
-use bevy::prelude::*;
+use bevy::prelude::{shape::Capsule as Tire, *};
 use bevy_rapier3d::{
     geometry::Group,
     prelude::{
@@ -14,6 +14,11 @@ use crate::planet::PLANET_RADIUS;
 
 pub(crate) const SPAWN_ALTITUDE: f32 = PLANET_RADIUS * 0.2;
 
+type Meshterial<'a> = (
+    ResMut<'a, Assets<Mesh>>,
+    ResMut<'a, Assets<StandardMaterial>>,
+);
+
 #[derive(Component)]
 pub struct CyberBikeBody;
 
@@ -23,6 +28,9 @@ pub struct CyberBikeCollider;
 #[derive(Component, Debug)]
 pub struct CyberBikeModel;
 
+#[derive(Debug, Component)]
+pub struct CyberWheel;
+
 #[derive(Component, Debug, Default, Clone, Copy)]
 pub struct CyberBikeControl {
     pub error_sum: f32,
@@ -39,6 +47,7 @@ pub struct WheelConfig {
     pub limits: [f32; 2],
     pub stiffness: f32,
     pub damping: f32,
+    pub radius: f32,
 }
 
 impl Default for WheelConfig {
@@ -51,6 +60,7 @@ impl Default for WheelConfig {
             limits: [0.1, 1.0],
             stiffness: 10.0,
             damping: 0.7,
+            radius: 0.3,
         }
     }
 }
@@ -58,7 +68,12 @@ impl Default for WheelConfig {
 const BIKE_BODY_COLLISION_GROUP: (Group, Group) = (Group::GROUP_1, Group::GROUP_1);
 const BIKE_WHEEL_COLLISION_GROUP: (Group, Group) = (Group::GROUP_10, Group::GROUP_10);
 
-fn spawn_cyberbike(mut commands: Commands, asset_server: Res<AssetServer>) {
+fn spawn_cyberbike(
+    mut commands: Commands,
+    asset_server: Res<AssetServer>,
+    wheel_conf: Res<WheelConfig>,
+    mut meshterials: Meshterial,
+) {
     let xform = Transform::from_translation(Vec3::Y * SPAWN_ALTITUDE);
     //.with_rotation(Quat::from_axis_angle(Vec3::Z, -89.0f32.to_radians()));
 
@@ -67,11 +82,10 @@ fn spawn_cyberbike(mut commands: Commands, asset_server: Res<AssetServer>) {
         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), 0.7);
+        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,
@@ -127,21 +141,78 @@ fn spawn_cyberbike(mut commands: Commands, asset_server: Res<AssetServer>) {
         .id();
 
     //return;
-    let wheel_z_positions = vec![-1.0, 1.2, -1.0];
+    re_tire(&mut commands, &xform, bike, &wheel_conf, &mut meshterials);
-    let wheel_y = -1.0f32;
+}
 
+fn re_tire(
+    commands: &mut Commands,
+    xform: &Transform,
+    bike: Entity,
+    conf: &WheelConfig,
+    meshterials: &mut Meshterial,
+) {
     // re-set the collision group
     let (membership, filter) = BIKE_WHEEL_COLLISION_GROUP;
     let wheels_collision_group = CollisionGroups::new(membership, filter);
+    let wheel_y = conf.y;
+    let wheel_rad = conf.radius;
+    let stiffness = conf.stiffness;
+    let not_sleeping = Sleeping::disabled();
+    let ccd = Ccd { enabled: true };
+    let limits = conf.limits;
+    let (meshes, materials) = meshterials;
 
-    for (i, &wheel_z) in wheel_z_positions.iter().enumerate() {
+    let tire = Tire {
-        let (wheel_x, wheel_rad, stiffness) = match i {
+        radius: wheel_rad,
-            0 => (-1.1, 0.5, 2.0),
+        rings: 1,
-            2 => (1.1, 0.5, 2.0),
+        depth: 0.2,
-            1 => (0.0, 0.5, 1.8),
+        ..Default::default()
-            _ => unreachable!(),
+    };
-        };
+    let material = StandardMaterial {
+        base_color: Color::Rgba {
+            red: 0.01,
+            green: 0.01,
+            blue: 0.01,
+            alpha: 1.0,
+        },
+        alpha_mode: AlphaMode::Opaque,
+        perceptual_roughness: 0.5,
+        ..Default::default()
+    };
+
+    let pbr_bundle = PbrBundle {
+        material: materials.add(material),
+        mesh: meshes.add(Mesh::from(tire)),
+        ..Default::default()
+    };
+
+    let mut wheel_poses = Vec::with_capacity(3);
+
+    // left 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_z = conf.front_forward;
+        let offset = Vec3::new(wheel_x, wheel_y, wheel_z);
+        wheel_poses.push(offset);
+    }
+
+    // rear
+    {
+        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);
+    }
+
+    for offset in wheel_poses {
         let trans = xform.translation + offset;
         let wheel_pos_in_world = Transform::from_rotation(xform.rotation).with_translation(trans);
         let wheel_damping = Damping {
@@ -154,13 +225,27 @@ fn spawn_cyberbike(mut commands: Commands, asset_server: Res<AssetServer>) {
         let damping = 0.3;
         let prismatic = PrismaticJointBuilder::new(Vec3::Y)
             .local_anchor2(offset)
-            .limits([-1.0, 0.9])
+            .limits(limits)
             .motor_position(0.0, stiffness, damping);
         let joint = ImpulseJoint::new(bike, prismatic);
 
-        let _wheel_rb = commands
+        let spatial_bundle = SpatialBundle {
+            transform: wheel_pos_in_world,
+            ..Default::default()
+        };
+
+        let txform = wheel_pos_in_world.with_rotation(Quat::from_axis_angle(
+            wheel_pos_in_world.forward(),
+            90.0f32.to_radians(),
+        ));
+        let tire_spundle = SpatialBundle {
+            transform: txform,
+            ..Default::default()
+        };
+
+        commands
             .spawn(RigidBody::Dynamic)
-            .insert((wheel_pos_in_world, GlobalTransform::default()))
+            .insert(spatial_bundle)
             .insert((
                 wheel_collider,
                 mass_props,
@@ -170,7 +255,10 @@ fn spawn_cyberbike(mut commands: Commands, asset_server: Res<AssetServer>) {
                 joint,
                 wheels_collision_group,
             ))
-            .id();
+            .with_children(|wheel| {
+                wheel.spawn(tire_spundle).insert(pbr_bundle.clone());
+            })
+            .insert(CyberWheel);
     }
 }
 

src/planet.rs

@@ -1,9 +1,5 @@
-use bevy::{
+use bevy::prelude::{shape::Plane, *};
-    prelude::{shape::Plane, *},
-    render::mesh::Indices,
-};
 use bevy_rapier3d::prelude::*;
-use wgpu::PrimitiveTopology;
 
 use crate::Label;