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checkpoint; wheel_forces skeleton fn

This commit is contained in:
Joe Ardent 2024-06-15 15:43:48 -07:00
parent 59f0ed89e9
commit ff9b1671b1
2 changed files with 55 additions and 85 deletions
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129
src/action/systems.rs
View File

@ -129,52 +129,16 @@ pub(super) fn falling_cat(
}
}
/// Apply forces to the cyberbike as a result of input.
pub(super) fn input_forces(
settings: Res<MovementSettings>,
input: Res<InputState>,
mut braking_query: Query<&mut MultibodyJoint, (Without<CyberSteering>, With<CyberWheel>)>,
mut body_query: Query<(&Transform, &mut ExternalForce), With<CyberBikeBody>>,
mut steering_query: Query<&mut MultibodyJoint, With<CyberSteering>>,
) {
let (xform, mut forces) = body_query.single_mut();
// thrust
let thrust = xform.forward() * input.throttle * settings.accel;
let point = xform.translation + *xform.back();
let force = ExternalForce::at_point(thrust, point, xform.translation);
*forces += force;
// brake + thrust
// for mut motor in braking_query.iter_mut() {
// let factor = if input.brake {
// 500.00
// } else {
// input.throttle * settings.accel
// };
// let speed = if input.brake { 0.0 } else { -70.0 };
// motor.data = (*motor
// .data
// .as_revolute_mut()
// .unwrap()
// .set_motor_max_force(factor)
// .set_motor_velocity(speed, factor))
// .into();
// }
// steering
let angle = yaw_to_angle(input.yaw);
let mut steering = steering_query.single_mut();
steering.data = (*steering
.data
.as_revolute_mut()
.unwrap()
.set_motor_position(-angle, 100.0, 0.5))
.into();
}
pub(super) fn wheel_forces(
mut wheels_query: Query<(&Transform, &Velocity, &mut PreviousVelocity), With<CyberWheel>>,
mut wheels_query: Query<
(
&Transform,
&Velocity,
&mut PreviousVelocity,
Option<&CyberSteering>,
),
With<CyberWheel>,
>,
mut body_query: Query<
(
&Transform,
@ -184,47 +148,58 @@ pub(super) fn wheel_forces(
),
With<CyberBikeBody>,
>,
config: Res<WheelConfig>,
wheel_config: Res<WheelConfig>,
rapier_config: Res<RapierConfiguration>,
context: Res<RapierContext>,
settings: Res<MovementSettings>,
input: Res<InputState>,
) {
let (body_xform, body_vel, mut body_pvel, body_mass) = body_query.single_mut();
for (xform, vel, mut pvel) in wheels_query.iter_mut() {
//
let gvec = rapier_config.gravity;
// body kinematics
let body_lin_accel = body_vel.linvel - body_pvel.0.linvel;
let body_ang_accel = body_vel.angvel - body_pvel.0.angvel;
let mut body_forward = body_vel
.linvel
.try_normalize()
.unwrap_or_else(|| body_xform.forward().normalize());
// we're just projecting onto the ground, so nuke the Y.
body_forward.y = 0.0;
let body_half_mass = body_mass.mass * 0.5;
let g = gvec * settings.gravity * body_half_mass;
// inputs
let steering_angle = yaw_to_angle(input.yaw);
let throttle = input.throttle * settings.accel;
for (xform, vel, mut pvel, steering) in wheels_query.iter_mut() {
if let Some((_, projected)) =
context.project_point(xform.translation, true, QueryFilter::only_fixed())
{
let normal = -(projected.point - xform.translation);
let len = normal.length();
let normal = normal.normalize();
if len < wheel_config.radius {
// we're in contact
// do gravity's share
// do linear acceleration's share
// do friction's share
// do thrust's share
// do steering's share
}
}
}
body_pvel.0 = *body_vel;
}
/// Don't let the wheels get stuck underneat the planet
pub(super) fn surface_fix(
mut wheel_query: Query<(Entity, &Transform, &mut CollisionGroups), With<CyberWheel>>,
span_query: Query<&Transform, With<CyberWheel>>,
config: Res<WheelConfig>,
context: Res<RapierContext>,
) {
let mut wheels = Vec::new();
for xform in span_query.iter() {
wheels.push(xform);
}
let span = (wheels[1].translation - wheels[0].translation).normalize();
for (entity, xform, mut cgroups) in wheel_query.iter_mut() {
//let ray_dir = xform.translation.normalize();
let ray_dir = Vec3::NEG_Y; //xform.right().cross(span).normalize();
if let Some(hit) = context.cast_ray_and_get_normal(
xform.translation,
ray_dir,
config.radius,
false,
QueryFilter::only_fixed(),
) {
//cgroups.memberships = Group::NONE;
//cgroups.filters = Group::NONE;
}
}
}
/// General velocity-based drag-force calculation; does not take orientation
/// into account.
pub(super) fn drag(mut query: Query<(&Velocity, &mut ExternalForce), With<CyberBikeBody>>) {

11
src/bike/wheels.rs
View File

@ -87,8 +87,7 @@ pub(crate) fn spawn_wheels(
.id();
let axel_parent_entity = if let Some(steering) = steering {
let neck_builder =
RevoluteJointBuilder::new(rake_vec).local_anchor1(Vec3::new(0.0, 0.0, 0.1)); // this adds another 0.1m of trail
let neck_builder = FixedJointBuilder::new().local_anchor1(Vec3::new(0.0, 0.0, 0.1)); // this adds another 0.1m of trail
let neck_joint = MultibodyJoint::new(fork_rb_entity, neck_builder);
let neck = commands
.spawn(RigidBody::Dynamic)
@ -101,17 +100,13 @@ pub(crate) fn spawn_wheels(
fork_rb_entity
};
let axel_builder = FixedJointBuilder::new(); //RevoluteJointBuilder::new(Vec3::X);
let axel_builder = FixedJointBuilder::new();
let axel_joint = MultibodyJoint::new(axel_parent_entity, axel_builder);
let wheel_damping = Damping {
//linear_damping: 0.8,
..Default::default()
};
commands.spawn(pbr_bundle).insert((
collider,
mass_props,
wheel_damping,
//wheel_damping,
ccd,
not_sleeping,
axel_joint,