checkpoint; wheel_forces skeleton fn

Cargo.toml

@@ -7,15 +7,15 @@ edition = "2021"
 rand = "0.8"
 # bevy_polyline = "0.4"
 noise = { git = "https://github.com/Razaekel/noise-rs" }
-hexasphere = "7"
-wgpu = "0.15"
-bevy-inspector-egui = "0.18"
+hexasphere = "8"
+wgpu = "0.19"
+bevy-inspector-egui = "0.24"
 
 [features]
 inspector = []
 
 [dependencies.bevy]
-version = "0.10"
+version = "0.13"
 default-features = false
 features = [
   "bevy_gilrs",
@@ -27,11 +27,12 @@ features = [
   "bevy_text",
   "bevy_gltf",
   "bevy_sprite",
+  "tonemapping_luts"
 ]
 
 [dependencies.bevy_rapier3d]
 features = ["debug-render-3d"]
-version = "0.21"
+version = "0.26"
 
 # Maybe also enable only a small amount of optimization for our code:
 [profile.dev]

src/action/components.rs

@@ -4,6 +4,7 @@ use bevy::{
     prelude::{Component, ReflectResource, Resource, Vec3},
     reflect::Reflect,
 };
+use bevy_rapier3d::dynamics::Velocity;
 
 #[derive(Debug, Resource)]
 pub(crate) struct ActionDebugInstant(pub Instant);
@@ -26,20 +27,8 @@ impl ActionDebugInstant {
     }
 }
 
-#[derive(Debug, Component)]
-pub(super) struct Tunneling {
-    pub frames: usize,
-    pub dir: Vec3,
-}
-
-impl Default for Tunneling {
-    fn default() -> Self {
-        Tunneling {
-            frames: 15,
-            dir: Vec3::ZERO,
-        }
-    }
-}
+#[derive(Debug, Component, Default)]
+pub struct PreviousVelocity(pub Velocity);
 
 #[derive(Debug, Resource, Reflect)]
 #[reflect(Resource)]

src/action/mod.rs

@@ -1,7 +1,7 @@
 use bevy::{
     diagnostic::FrameTimeDiagnosticsPlugin,
     ecs::reflect::ReflectResource,
-    prelude::{App, IntoSystemConfigs, Plugin, Resource},
+    prelude::{App, IntoSystemConfigs, Plugin, Resource, Startup, Update},
     reflect::Reflect,
 };
 use bevy_rapier3d::prelude::{NoUserData, RapierPhysicsPlugin};
@@ -28,18 +28,18 @@ impl Plugin for CyberActionPlugin {
             .init_resource::<CyberLean>()
             .register_type::<CyberLean>()
             .register_type::<CatControllerSettings>()
-            .add_plugin(RapierPhysicsPlugin::<NoUserData>::default())
-            .add_startup_system(timestep_setup)
-            .add_plugin(FrameTimeDiagnosticsPlugin::default())
+            .add_plugins(RapierPhysicsPlugin::<NoUserData>::default())
+            .add_systems(Startup, physics_init)
+            .add_plugins(FrameTimeDiagnosticsPlugin)
             .add_systems(
+                Update,
                 (
-                    gravity,
+                    reset_body_force,
+                    reset_wheel_forces,
                     cyber_lean,
                     falling_cat,
                     input_forces,
                     drag,
-                    tunnel_out,
-                    surface_fix,
                 )
                     .chain(),
             );

src/action/systems.rs

@@ -1,21 +1,217 @@
 use std::f32::consts::{FRAC_PI_3, FRAC_PI_4};
 
 use bevy::prelude::{
-    Commands, Entity, Quat, Query, Res, ResMut, Time, Transform, Vec3, With, Without,
+    Commands, Entity, Local, Quat, Query, Res, ResMut, Time, Transform, Vec3, With, Without,
 };
-use bevy_rapier3d::prelude::{
+use bevy_rapier3d::{
+    dynamics::MassProperties,
+    prelude::{
         CollisionGroups, ExternalForce, Group, MultibodyJoint, QueryFilter, RapierConfiguration,
         RapierContext, ReadMassProperties, TimestepMode, Velocity,
+    },
 };
 
 #[cfg(feature = "inspector")]
 use super::ActionDebugInstant;
-use super::{CatControllerSettings, CatControllerState, CyberLean, MovementSettings, Tunneling};
+use super::{
+    CatControllerSettings, CatControllerState, CyberLean, MovementSettings, PreviousVelocity,
+};
 use crate::{
     bike::{CyberBikeBody, CyberSteering, CyberWheel, WheelConfig, BIKE_WHEEL_COLLISION_GROUP},
     input::InputState,
 };
 
+pub(super) fn physics_init(
+    mut config: ResMut<RapierConfiguration>,
+    settings: Res<MovementSettings>,
+) {
+    config.timestep_mode = TimestepMode::Variable {
+        max_dt: 1.0 / 60.0,
+        time_scale: 1.0,
+        substeps: 3,
+    };
+
+    config.gravity = Vec3::NEG_Y * settings.gravity;
+}
+
+pub(super) fn reset_body_force(
+    mut query: Query<&mut ExternalForce, With<CyberBikeBody>>,
+    #[cfg(feature = "inspector")] mut debug_instant: ResMut<ActionDebugInstant>,
+) {
+    let mut body_force = query.single_mut();
+
+    #[cfg(feature = "inspector")]
+    {
+        if debug_instant.elapsed().as_millis() > 1000 {
+            //dbg!(&body_force);
+            debug_instant.reset();
+        }
+    }
+
+    body_force.force = Vec3::ZERO;
+    body_force.torque = Vec3::ZERO;
+}
+
+pub(super) fn reset_wheel_forces(mut query: Query<&mut ExternalForce, With<CyberWheel>>) {
+    for mut force in query.iter_mut() {
+        force.force = Vec3::ZERO;
+        force.torque = Vec3::ZERO;
+    }
+}
+
+/// The desired lean angle, given steering input and speed.
+pub(super) fn cyber_lean(
+    bike_state: Query<(&Velocity, &Transform), With<CyberBikeBody>>,
+    wheels: Query<&Transform, With<CyberWheel>>,
+    input: Res<InputState>,
+    gravity_settings: Res<MovementSettings>,
+    mut lean: ResMut<CyberLean>,
+) {
+    let (velocity, xform) = bike_state.single();
+    let vel = velocity.linvel.dot(*xform.forward());
+    let v_squared = vel.powi(2);
+    let steering_angle = yaw_to_angle(input.yaw);
+    let wheels: Vec<_> = wheels.iter().map(|w| w.translation).collect();
+    let wheel_base = (wheels[0] - wheels[1]).length();
+    let radius = wheel_base / steering_angle.tan();
+    let gravity = gravity_settings.gravity;
+    let v2_r = v_squared / radius;
+    let tan_theta = (v2_r / gravity).clamp(-FRAC_PI_3, FRAC_PI_3);
+
+    if tan_theta.is_finite() && !tan_theta.is_subnormal() {
+        lean.lean = tan_theta.atan().clamp(-FRAC_PI_4, FRAC_PI_4);
+    } else {
+        lean.lean = 0.0;
+    }
+}
+
+/// PID-based controller for stabilizing attitude; keeps the cyberbike upright.
+pub(super) fn falling_cat(
+    mut bike_query: Query<(
+        &Transform,
+        &Velocity,
+        &mut ExternalForce,
+        &mut CatControllerState,
+    )>,
+    time: Res<Time>,
+    settings: Res<CatControllerSettings>,
+    lean: Res<CyberLean>,
+    mut count: Local<usize>,
+) {
+    let (xform, vel, mut forces, mut control_vars) = bike_query.single_mut();
+    let world_up = Vec3::Y; //xform.translation.normalize();
+    let rot = Quat::from_axis_angle(*xform.back(), lean.lean);
+    let target_up = rotate_point(&world_up, &rot).normalize();
+
+    let bike_right = xform.right();
+
+    let roll_error = bike_right.dot(target_up);
+    let pitch_error = world_up.dot(*xform.back());
+
+    if *count < 30 {
+        if *count == 0 {
+            //dbg!(&xform.translation);
+            //dbg!(&vel.linvel);
+        }
+        *count += 1;
+    } else {
+        *count = 0;
+    }
+
+    // only try to correct roll if we're not totally vertical
+    if pitch_error.abs() < 0.95 {
+        let (derivative, integral) = control_vars.update_roll(roll_error, time.delta_seconds());
+        let mag =
+            (settings.kp * roll_error) + (settings.ki * integral) + (settings.kd * derivative);
+        if mag.is_finite() {
+            forces.torque += xform.back() * mag;
+        }
+    }
+}
+
+pub(super) fn wheel_forces(
+    mut wheels_query: Query<
+        (
+            &Transform,
+            &Velocity,
+            &mut PreviousVelocity,
+            Option<&CyberSteering>,
+        ),
+        With<CyberWheel>,
+    >,
+    mut body_query: Query<
+        (
+            &Transform,
+            &Velocity,
+            &mut PreviousVelocity,
+            &ReadMassProperties,
+        ),
+        With<CyberBikeBody>,
+    >,
+    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();
+
+    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;
+}
+
+/// General velocity-based drag-force calculation; does not take orientation
+/// into account.
+pub(super) fn drag(mut query: Query<(&Velocity, &mut ExternalForce), With<CyberBikeBody>>) {
+    let (vels, mut forces) = query.single_mut();
+
+    if let Some(vel) = vels.linvel.try_normalize() {
+        let v2 = vels.linvel.length_squared();
+        forces.force -= vel * (v2 * 0.02);
+    }
+}
+
+// helpers
 fn yaw_to_angle(yaw: f32) -> f32 {
     let v = yaw.powi(5) * FRAC_PI_4;
     if v.is_normal() {
@@ -35,211 +231,3 @@ fn rotate_point(pt: &Vec3, rot: &Quat) -> Vec3 {
     // why does this need to be inverted???
     -Vec3::from_array([rot_qpt.x, rot_qpt.y, rot_qpt.z])
 }
-
-pub(super) fn timestep_setup(mut config: ResMut<RapierConfiguration>) {
-    let ts = TimestepMode::Fixed {
-        dt: 1.0 / 60.0,
-        substeps: 2,
-    };
-    config.timestep_mode = ts;
-}
-
-/// The gravity vector points from the cyberbike to the center of the planet.
-pub(super) fn gravity(
-    mut query: Query<(&Transform, &mut ExternalForce), With<CyberBikeBody>>,
-    settings: Res<MovementSettings>,
-    mut rapier_config: ResMut<RapierConfiguration>,
-    #[cfg(feature = "inspector")] mut debug_instant: ResMut<ActionDebugInstant>,
-) {
-    let (xform, mut forces) = query.single_mut();
-
-    #[cfg(feature = "inspectorb")]
-    {
-        if debug_instant.elapsed().as_millis() > 6000 {
-            dbg!(&forces);
-            debug_instant.reset();
-        }
-    }
-
-    rapier_config.gravity = xform.translation.normalize() * -settings.gravity;
-    forces.force = Vec3::ZERO;
-    forces.torque = Vec3::ZERO;
-}
-
-/// The desired lean angle, given steering input and speed.
-pub(super) fn cyber_lean(
-    bike_state: Query<(&Velocity, &Transform), With<CyberBikeBody>>,
-    wheels: Query<&Transform, With<CyberWheel>>,
-    input: Res<InputState>,
-    gravity_settings: Res<MovementSettings>,
-    mut lean: ResMut<CyberLean>,
-) {
-    let (velocity, xform) = bike_state.single();
-    let vel = velocity.linvel.dot(xform.forward());
-    let v_squared = vel.powi(2);
-    let steering_angle = yaw_to_angle(input.yaw);
-    let wheels: Vec<_> = wheels.iter().map(|w| w.translation).collect();
-    let wheel_base = (wheels[0] - wheels[1]).length();
-    let radius = wheel_base / steering_angle.tan();
-    let gravity = gravity_settings.gravity;
-    let v2_r = v_squared / radius;
-    let tan_theta = (v2_r / gravity).clamp(-FRAC_PI_3, FRAC_PI_3);
-
-    if tan_theta.is_finite() && !tan_theta.is_subnormal() {
-        lean.lean = tan_theta.atan().clamp(-FRAC_PI_4, FRAC_PI_4);
-    } else {
-        lean.lean = 0.0;
-    }
-}
-
-/// PID-based controller for stabilizing attitude; keeps the cyberbike upright.
-pub(super) fn falling_cat(
-    mut bike_query: Query<(&Transform, &mut ExternalForce, &mut CatControllerState)>,
-    time: Res<Time>,
-    settings: Res<CatControllerSettings>,
-    lean: Res<CyberLean>,
-) {
-    let (xform, mut forces, mut control_vars) = bike_query.single_mut();
-    let world_up = xform.translation.normalize();
-    let rot = Quat::from_axis_angle(xform.back(), lean.lean);
-    let target_up = rotate_point(&world_up, &rot).normalize();
-
-    let bike_right = xform.right();
-
-    let roll_error = bike_right.dot(target_up);
-    let pitch_error = world_up.dot(xform.back());
-
-    // only try to correct roll if we're not totally vertical
-    if pitch_error.abs() < 0.95 {
-        let (derivative, integral) = control_vars.update_roll(roll_error, time.delta_seconds());
-        let mag =
-            (settings.kp * roll_error) + (settings.ki * integral) + (settings.kd * derivative);
-        if mag.is_finite() {
-            forces.torque += xform.back() * mag;
-        }
-    }
-}
-
-/// 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>, Without<CyberSteering>),
-    >,
-    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();
-}
-
-/// Don't let the wheels get stuck underneat the planet
-pub(super) fn surface_fix(
-    mut commands: Commands,
-    mut wheel_query: Query<
-        (Entity, &Transform, &mut CollisionGroups),
-        (With<CyberWheel>, Without<Tunneling>),
-    >,
-    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 = xform.right().cross(span).normalize();
-        if let Some(hit) = context.cast_ray_and_get_normal(
-            xform.translation,
-            ray_dir,
-            config.radius * 1.1,
-            false,
-            QueryFilter::only_fixed(),
-        ) {
-            cgroups.memberships = Group::NONE;
-            cgroups.filters = Group::NONE;
-            commands.entity(entity).insert(Tunneling {
-                frames: 3,
-                dir: hit.1.normal,
-            });
-        }
-    }
-}
-
-pub(super) fn tunnel_out(
-    mut commands: Commands,
-    mut wheel_query: Query<
-        (
-            Entity,
-            &mut Tunneling,
-            &mut ExternalForce,
-            &mut CollisionGroups,
-        ),
-        With<CyberWheel>,
-    >,
-    mprops: Query<&ReadMassProperties, With<CyberBikeBody>>,
-    settings: Res<MovementSettings>,
-) {
-    let mprops = mprops.single();
-    for (entity, mut tunneling, mut force, mut cgroups) in wheel_query.iter_mut() {
-        if tunneling.frames == 0 {
-            commands.entity(entity).remove::<Tunneling>();
-            force.force = Vec3::ZERO;
-            (cgroups.memberships, cgroups.filters) = BIKE_WHEEL_COLLISION_GROUP;
-            continue;
-        }
-        tunneling.frames -= 1;
-        force.force = tunneling.dir * settings.gravity * 1.5 * mprops.0.mass;
-        #[cfg(feature = "inspector")]
-        dbg!(&tunneling);
-    }
-}
-
-/// General velocity-based drag-force calculation; does not take orientation
-/// into account.
-pub(super) fn drag(mut query: Query<(&Velocity, &mut ExternalForce), With<CyberBikeBody>>) {
-    let (vels, mut forces) = query.single_mut();
-
-    if let Some(vel) = vels.linvel.try_normalize() {
-        let v2 = vels.linvel.length_squared();
-        forces.force -= vel * (v2 * 0.02);
-    }
-}

src/bike/body.rs

@@ -7,7 +7,7 @@ use bevy_rapier3d::prelude::{
     ReadMassProperties, Restitution, RigidBody, Sleeping, TransformInterpolation, Velocity,
 };
 
-use super::{spawn_tires, CyberBikeBody, Meshterial, WheelConfig, BIKE_BODY_COLLISION_GROUP};
+use super::{spawn_wheels, CyberBikeBody, Meshterial, WheelConfig, BIKE_BODY_COLLISION_GROUP};
 use crate::{action::CatControllerState, planet::PLANET_RADIUS};
 
 pub(super) fn spawn_cyberbike(
@@ -16,13 +16,12 @@ pub(super) fn spawn_cyberbike(
     wheel_conf: Res<WheelConfig>,
     mut meshterials: Meshterial,
 ) {
-    let altitude = PLANET_RADIUS - 10.0;
+    let altitude = 3.0;
 
-    let mut xform = Transform::from_translation(Vec3::X * altitude)
-        .with_rotation(Quat::from_axis_angle(Vec3::Z, -89.0f32.to_radians()));
+    let mut xform = Transform::from_translation(Vec3::Y * altitude);
 
-    let right = xform.right() * 350.0;
-    xform.translation += right;
+    // let right = xform.right() * 350.0;
+    // xform.translation += right;
 
     let damping = Damping {
         angular_damping: 2.0,
@@ -39,7 +38,7 @@ pub(super) fn spawn_cyberbike(
         ..Default::default()
     };
 
-    let mass_properties = ColliderMassProperties::Density(0.9);
+    let mass_properties = ColliderMassProperties::Density(1.5);
 
     let (membership, filter) = BIKE_BODY_COLLISION_GROUP;
     let bike_collision_group = CollisionGroups::new(membership, filter);
@@ -81,5 +80,5 @@ pub(super) fn spawn_cyberbike(
         .insert(CatControllerState::default())
         .id();
 
-    spawn_tires(&mut commands, bike, &wheel_conf, &mut meshterials);
+    spawn_wheels(&mut commands, bike, &wheel_conf, &mut meshterials);
 }

src/bike/components.rs

@@ -22,7 +22,6 @@ pub struct WheelConfig {
     pub stiffness: f32,
     pub damping: f32,
     pub radius: f32,
-    pub thickness: f32,
     pub friction: f32,
     pub restitution: f32,
     pub density: f32,
@@ -32,16 +31,15 @@ impl Default for WheelConfig {
     fn default() -> Self {
         Self {
             front_forward: 0.8,
-            rear_back: 1.1,
+            rear_back: 1.0,
             y: -0.1,
             limits: [-0.5, 0.1],
-            stiffness: 50.0,
+            stiffness: 30.0,
             damping: 8.0,
-            radius: 0.38,
-            thickness: 0.2,
-            friction: 1.2,
+            radius: 0.3,
+            friction: 0.0,
             restitution: 0.95,
-            density: 0.9,
+            density: 0.05,
         }
     }
 }

src/bike/mod.rs

@@ -1,17 +1,16 @@
 mod body;
 mod components;
+//mod controller;
 mod wheels;
 
-use bevy::prelude::{
-    App, Assets, IntoSystemConfig, Mesh, Plugin, ResMut, StandardMaterial, StartupSet,
-};
+use bevy::prelude::{App, Assets, Mesh, Plugin, PostStartup, ResMut, StandardMaterial};
 use bevy_rapier3d::prelude::Group;
 
 pub(crate) use self::components::*;
-use self::{body::spawn_cyberbike, wheels::spawn_tires};
+use self::{body::spawn_cyberbike, wheels::spawn_wheels};
 
 pub const BIKE_BODY_COLLISION_GROUP: (Group, Group) = (Group::GROUP_1, Group::GROUP_1);
-pub const BIKE_WHEEL_COLLISION_GROUP: (Group, Group) = (Group::GROUP_10, Group::GROUP_10);
+pub const BIKE_WHEEL_COLLISION_GROUP: (Group, Group) = (Group::GROUP_2, Group::GROUP_2);
 
 type Meshterial<'a> = (
     ResMut<'a, Assets<Mesh>>,
@@ -23,6 +22,6 @@ impl Plugin for CyberBikePlugin {
     fn build(&self, app: &mut App) {
         app.insert_resource(WheelConfig::default())
             .register_type::<WheelConfig>()
-            .add_startup_system(spawn_cyberbike.in_base_set(StartupSet::PostStartup));
+            .add_systems(PostStartup, spawn_cyberbike);
     }
 }

src/bike/wheels.rs

@@ -1,13 +1,17 @@
-use bevy::prelude::{shape::UVSphere as Tire, *};
-use bevy_rapier3d::prelude::{
+use bevy::prelude::*;
+use bevy_rapier3d::{
+    dynamics::{FixedJointBuilder, Velocity},
+    prelude::{
         Ccd, CoefficientCombineRule, Collider, ColliderMassProperties, CollisionGroups, Damping,
         ExternalForce, Friction, MultibodyJoint, PrismaticJointBuilder, Restitution,
         RevoluteJointBuilder, RigidBody, Sleeping, TransformInterpolation,
+    },
 };
 
 use super::{CyberSteering, CyberWheel, Meshterial, WheelConfig, BIKE_WHEEL_COLLISION_GROUP};
+use crate::action::PreviousVelocity;
 
-pub fn spawn_tires(
+pub(crate) fn spawn_wheels(
     commands: &mut Commands,
     bike: Entity,
     conf: &WheelConfig,
@@ -16,8 +20,6 @@ pub fn spawn_tires(
     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 _tire_thickness = conf.thickness;
     let stiffness = conf.stiffness;
     let not_sleeping = Sleeping::disabled();
     let ccd = Ccd { enabled: true };
@@ -25,32 +27,9 @@ pub fn spawn_tires(
     let (meshes, materials) = meshterials;
     let rake_vec: Vec3 = Vec3::new(0.0, 1.0, 0.57).normalize(); // about 30 degrees of rake
 
-    let tire = Tire {
-        radius: wheel_rad,
-        ..Default::default()
-    };
-
-    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 friction = Friction {
         coefficient: conf.friction,
-        combine_rule: CoefficientCombineRule::Average,
+        combine_rule: CoefficientCombineRule::Min,
     };
 
     let mut wheel_poses = Vec::with_capacity(2);
@@ -72,35 +51,43 @@ pub fn spawn_tires(
     }
 
     for (offset, steering) in wheel_poses {
-        let wheel_damping = Damping {
-            linear_damping: 0.8,
+        let (mesh, collider) = gen_tires(conf);
+
+        let material = StandardMaterial {
+            base_color: Color::YELLOW,
+            alpha_mode: AlphaMode::Opaque,
+            perceptual_roughness: 0.1,
             ..Default::default()
         };
 
-        let wheel_collider = Collider::ball(wheel_rad);
-        let mass_props = ColliderMassProperties::Density(conf.density);
-        let damping = conf.damping;
+        let pbr_bundle = PbrBundle {
+            material: materials.add(material),
+            mesh: meshes.add(mesh),
+            ..Default::default()
+        };
 
-        let prismatic_axis = if steering.is_some() {
+        let mass_props = ColliderMassProperties::Density(conf.density);
+        let suspension_damping = conf.damping;
+
+        let suspension_axis = if steering.is_some() {
             rake_vec
         } else {
             Vec3::Y
         };
 
-        let prismatic_builder = PrismaticJointBuilder::new(prismatic_axis)
+        let suspension_joint_builder = PrismaticJointBuilder::new(suspension_axis)
             .local_anchor1(offset)
             .limits(limits)
-            .motor_position(limits[0], stiffness, damping);
-        let prismatic_joint = MultibodyJoint::new(bike, prismatic_builder);
+            .motor_position(limits[0], stiffness, suspension_damping);
+        let suspension_joint = MultibodyJoint::new(bike, suspension_joint_builder);
         let fork_rb_entity = commands
             .spawn(RigidBody::Dynamic)
-            .insert(prismatic_joint)
+            .insert(suspension_joint)
             .insert(not_sleeping)
             .id();
 
         let axel_parent_entity = if let Some(steering) = steering {
-            let neck_builder =
-                RevoluteJointBuilder::new(rake_vec).local_anchor1(Vec3::new(0.0, -0.08, 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)
@@ -113,29 +100,35 @@ pub fn spawn_tires(
             fork_rb_entity
         };
 
-        let axel_builder = RevoluteJointBuilder::new(Vec3::X);
+        let axel_builder = FixedJointBuilder::new();
         let axel_joint = MultibodyJoint::new(axel_parent_entity, axel_builder);
-        // re-orient the joint so that the wheel is correctly oriented
-        //let real_axel = *axel_joint.data.set_local_axis1(Vec3::X);
-        //axel_joint.data = real_axel;
 
-        commands
-            .spawn(pbr_bundle.clone())
-            .insert((
-                wheel_collider,
+        commands.spawn(pbr_bundle).insert((
+            collider,
             mass_props,
-                wheel_damping,
+            //wheel_damping,
             ccd,
             not_sleeping,
             axel_joint,
             wheels_collision_group,
             friction,
             CyberWheel,
+            Velocity::default(),
+            PreviousVelocity::default(),
             ExternalForce::default(),
-                Restitution::new(conf.restitution),
+            SpatialBundle::default(),
             TransformInterpolation::default(),
             RigidBody::Dynamic,
-            ))
-            .insert(SpatialBundle::default());
+        ));
     }
 }
+
+// do mesh shit
+fn gen_tires(conf: &WheelConfig) -> (Mesh, Collider) {
+    let wheel_rad = conf.radius;
+    let tire = Sphere::new(wheel_rad);
+    let mesh = Mesh::from(tire);
+    let wheel_collider = Collider::ball(wheel_rad);
+
+    (mesh, wheel_collider)
+}

src/camera.rs

@@ -67,7 +67,7 @@ fn follow_cyberbike(
     offset: Res<DebugCamOffset>,
 ) {
     let bike_xform = *query.p0().single();
-    let up = bike_xform.translation.normalize();
+    let up = Vec3::Y; //bike_xform.translation.normalize();
 
     for (mut cam_xform, cam_type) in query.p1().iter_mut() {
         match *cam_type {
@@ -81,7 +81,7 @@ fn follow_cyberbike(
                 // handle input pitch
                 let angle = input.pitch.powi(3) * MAX_PITCH;
                 let axis = cam_xform.right();
-                cam_xform.rotate(Quat::from_axis_angle(axis, angle));
+                cam_xform.rotate(Quat::from_axis_angle(*axis, angle));
             }
             CyberCameras::Debug => {
                 let mut ncx = bike_xform.to_owned();
@@ -101,7 +101,7 @@ fn update_active_camera(
 ) {
     // find the camera with the current state, set it as the ActiveCamera
     query.iter_mut().for_each(|(mut cam, cyber)| {
-        if cyber.eq(&state.0) {
+        if cyber.eq(&state.get()) {
             cam.is_active = true;
         } else {
             cam.is_active = false;
@@ -112,13 +112,13 @@ fn update_active_camera(
 fn cycle_cam_state(
     state: Res<State<CyberCameras>>,
     mut next: ResMut<NextState<CyberCameras>>,
-    mut keys: ResMut<Input<KeyCode>>,
+    mut keys: ResMut<ButtonInput<KeyCode>>,
 ) {
-    if keys.just_pressed(KeyCode::D) {
-        let new_state = state.0.next();
+    if keys.just_pressed(KeyCode::KeyD) {
+        let new_state = state.get().next();
         info!("{:?}", new_state);
         next.set(new_state);
-        keys.reset(KeyCode::D);
+        keys.reset(KeyCode::KeyD);
     }
 }
 
@@ -132,9 +132,10 @@ impl Plugin for CyberCamPlugin {
 
 fn common(app: &mut bevy::prelude::App) {
     app.insert_resource(DebugCamOffset::default())
-        .add_startup_system(setup_cybercams)
-        .add_state::<CyberCameras>()
-        .add_system(cycle_cam_state)
-        .add_system(update_active_camera)
-        .add_system(follow_cyberbike);
+        .add_systems(Startup, setup_cybercams)
+        .init_state::<CyberCameras>()
+        .add_systems(
+            Update,
+            (cycle_cam_state, update_active_camera, follow_cyberbike),
+        );
 }

src/glamor.rs

@@ -19,16 +19,17 @@ impl Plugin for CyberGlamorPlugin {
             let mode = DebugRenderMode::CONTACTS
                 | DebugRenderMode::SOLVER_CONTACTS
                 | DebugRenderMode::JOINTS
+                | DebugRenderMode::COLLIDER_SHAPES
                 | DebugRenderMode::RIGID_BODY_AXES;
 
             let rplugin = RapierDebugRenderPlugin {
                 style,
-                always_on_top: true,
+                // always_on_top: true,
                 enabled: true,
                 mode,
             };
 
-            app.add_plugin(rplugin);
+            app.add_plugins(rplugin);
         }
     }
 }

src/input.rs

@@ -14,22 +14,22 @@ pub(crate) struct InputState {
     pub pitch: f32,
 }
 
-fn update_debug_cam(mut offset: ResMut<DebugCamOffset>, mut keys: ResMut<Input<KeyCode>>) {
+fn update_debug_cam(mut offset: ResMut<DebugCamOffset>, mut keys: ResMut<ButtonInput<KeyCode>>) {
     let keyset: HashSet<_> = keys.get_pressed().collect();
-    let shifted = keyset.contains(&KeyCode::LShift) || keyset.contains(&KeyCode::RShift);
+    let shifted = keyset.contains(&KeyCode::ShiftLeft) || keyset.contains(&KeyCode::ShiftRight);
 
     for key in keyset {
         match key {
-            KeyCode::Left => offset.rot -= 5.0,
-            KeyCode::Right => offset.rot += 5.0,
-            KeyCode::Up => {
+            KeyCode::ArrowLeft => offset.rot -= 5.0,
+            KeyCode::ArrowRight => offset.rot += 5.0,
+            KeyCode::ArrowUp => {
                 if shifted {
                     offset.alt += 0.5;
                 } else {
                     offset.dist -= 0.5;
                 }
             }
-            KeyCode::Down => {
+            KeyCode::ArrowDown => {
                 if shifted {
                     offset.alt -= 0.5;
                 } else {
@@ -41,16 +41,17 @@ fn update_debug_cam(mut offset: ResMut<DebugCamOffset>, mut keys: ResMut<Input<K
     }
 
     if keys.get_just_released().len() > 0 {
-        let unpressed = keys.just_released(KeyCode::LShift) || keys.just_released(KeyCode::RShift);
+        let unpressed =
+            keys.just_released(KeyCode::ShiftLeft) || keys.just_released(KeyCode::ShiftRight);
         keys.reset_all();
         if shifted && !unpressed {
-            keys.press(KeyCode::LShift);
+            keys.press(KeyCode::ShiftLeft);
         }
     }
 }
 
 fn update_input(mut events: EventReader<GamepadEvent>, mut istate: ResMut<InputState>) {
-    for pad_event in events.iter() {
+    for pad_event in events.read() {
         match pad_event {
             GamepadEvent::Button(button_event) => {
                 let GamepadButtonChangedEvent {
@@ -92,7 +93,6 @@ pub struct CyberInputPlugin;
 impl Plugin for CyberInputPlugin {
     fn build(&self, app: &mut App) {
         app.init_resource::<InputState>()
-            .add_system(update_input)
-            .add_system(update_debug_cam);
+            .add_systems(Update, (update_input, update_debug_cam));
     }
 }

src/lib.rs

@@ -1,5 +1,4 @@
 use bevy::{
-    ecs::schedule::SystemSet,
     prelude::{Query, Vec3, Window, With},
     window::PrimaryWindow,
 };
@@ -13,14 +12,6 @@ pub mod lights;
 pub mod planet;
 pub mod ui;
 
-#[derive(Clone, Debug, Hash, PartialEq, Eq, SystemSet)]
-pub enum Label {
-    Geometry,
-    Glamor,
-    Input,
-    Action,
-}
-
 pub fn disable_mouse_trap(mut window: Query<&mut Window, With<PrimaryWindow>>) {
     let mut window = window.get_single_mut().unwrap();
     window.cursor.grab_mode = bevy::window::CursorGrabMode::None;

src/lights.rs

@@ -2,7 +2,7 @@ use bevy::{pbr::CascadeShadowConfigBuilder, prelude::*};
 
 use crate::planet::PLANET_RADIUS;
 
-pub const LIGHT_RANGE: f32 = 90.0;
+pub const LIGHT_RANGE: f32 = 900.0;
 
 fn spawn_static_lights(
     mut commands: Commands,
@@ -10,88 +10,37 @@ fn spawn_static_lights(
     mut materials: ResMut<Assets<StandardMaterial>>,
 ) {
     let pink_light = PointLight {
-        intensity: 1_00.0,
+        intensity: 10_00.0,
         range: LIGHT_RANGE,
-        color: Color::PINK,
-        radius: 1.0,
-        shadows_enabled: true,
-        ..Default::default()
-    };
-
-    let blue_light = PointLight {
-        intensity: 1_000.0,
-        range: LIGHT_RANGE,
-        color: Color::BLUE,
-        radius: 1.0,
+        color: Color::WHITE,
+        radius: 10.0,
         shadows_enabled: true,
         ..Default::default()
     };
 
     commands.insert_resource(AmbientLight {
         color: Color::WHITE,
-        brightness: 0.2,
+        brightness: 100.0,
     });
 
-    let _cascade_shadow_config = CascadeShadowConfigBuilder {
-        first_cascade_far_bound: 0.3,
-        maximum_distance: 3.0,
-        ..default()
-    }
-    .build();
+    // let _cascade_shadow_config = CascadeShadowConfigBuilder {
+    //     first_cascade_far_bound: 0.3,
+    //     maximum_distance: 3.0,
+    //     ..default()
+    // }
+    // .build();
 
     // up light
-    commands
-        .spawn(PointLightBundle {
-            transform: Transform::from_xyz(0.0, PLANET_RADIUS + 30.0, 0.0),
+    commands.spawn(PointLightBundle {
+        transform: Transform::from_xyz(0.0, 100.0, 0.0),
         point_light: pink_light,
         ..Default::default()
-        })
-        .with_children(|builder| {
-            builder.spawn(PbrBundle {
-                mesh: meshes.add(
-                    Mesh::try_from(shape::Icosphere {
-                        radius: 10.0,
-                        subdivisions: 2,
-                    })
-                    .unwrap(),
-                ),
-                material: materials.add(StandardMaterial {
-                    base_color: Color::BLUE,
-                    emissive: Color::PINK,
-                    ..Default::default()
-                }),
-                ..Default::default()
-            });
-        });
-    // down light
-    commands
-        .spawn(PointLightBundle {
-            transform: Transform::from_xyz(0.0, -PLANET_RADIUS - 30.0, 0.0),
-            point_light: blue_light,
-            ..Default::default()
-        })
-        .with_children(|builder| {
-            builder.spawn(PbrBundle {
-                mesh: meshes.add(
-                    Mesh::try_from(shape::Icosphere {
-                        radius: 10.0,
-                        subdivisions: 2,
-                    })
-                    .unwrap(),
-                ),
-                material: materials.add(StandardMaterial {
-                    base_color: Color::PINK,
-                    emissive: Color::BLUE,
-                    ..Default::default()
-                }),
-                ..Default::default()
-            });
     });
 }
 
 pub struct CyberSpaceLightsPlugin;
 impl Plugin for CyberSpaceLightsPlugin {
     fn build(&self, app: &mut App) {
-        app.add_startup_system(spawn_static_lights);
+        app.add_systems(Startup, spawn_static_lights);
     }
 }

src/main.rs

@@ -21,18 +21,20 @@ fn main() {
             }),
             ..Default::default()
         }))
-        .add_plugin(CyberPlanetPlugin)
-        .add_plugin(CyberInputPlugin)
-        .add_plugin(CyberActionPlugin)
-        .add_plugin(CyberCamPlugin)
-        .add_plugin(CyberSpaceLightsPlugin)
-        .add_plugin(CyberUIPlugin)
-        .add_plugin(CyberBikePlugin)
-        .add_startup_system(disable_mouse_trap)
-        .add_system(bevy::window::close_on_esc);
+        .add_plugins((
+            CyberPlanetPlugin,
+            CyberInputPlugin,
+            CyberActionPlugin,
+            CyberCamPlugin,
+            CyberSpaceLightsPlugin,
+            CyberUIPlugin,
+            CyberBikePlugin,
+        ))
+        .add_systems(Startup, disable_mouse_trap)
+        .add_systems(Update, bevy::window::close_on_esc);
 
     #[cfg(feature = "inspector")]
-    app.add_plugin(CyberGlamorPlugin);
+    app.add_plugins(CyberGlamorPlugin);
 
     app.run();
 }

src/planet.rs

@@ -1,18 +1,8 @@
-//use core::slice::SlicePattern;
-
-use bevy::{
-    prelude::{shape::Icosphere, *},
-    render::{color::Color, mesh::Indices},
-};
+use bevy::{prelude::*, render::color::Color};
 use bevy_rapier3d::prelude::*;
-use hexasphere::shapes::IcoSphere;
-use noise::{HybridMulti, NoiseFn, SuperSimplex};
-use rand::{Rng, SeedableRng};
-use wgpu::PrimitiveTopology;
+// use noise::{HybridMulti, NoiseFn, SuperSimplex};
 
-use crate::Label;
-
-pub const PLANET_RADIUS: f32 = 3_000.0;
+pub const PLANET_RADIUS: f32 = 2_000.0;
 pub const PLANET_HUE: f32 = 31.0;
 pub const PLANET_SATURATION: f32 = 1.0;
 
@@ -25,14 +15,14 @@ fn spawn_planet(
     mut materials: ResMut<Assets<StandardMaterial>>,
 ) {
     //let color = Color::rgb(0.74, 0.5334, 0.176);
-    let isphere = Icosphere {
-        radius: PLANET_RADIUS,
-        subdivisions: 88,
-    };
 
-    let (mesh, shape) = gen_planet(isphere);
+    let (mesh, shape) = gen_planet(2999.9);
 
-    let pbody = (RigidBody::Fixed, Ccd { enabled: true });
+    let pbody = (
+        RigidBody::Fixed,
+        Ccd { enabled: true },
+        Transform::from_xyz(0.0, 0.1, 0.0),
+    );
 
     let pcollide = (
         shape,
@@ -41,12 +31,19 @@ fn spawn_planet(
             ..Default::default()
         },
         Restitution::new(0.8),
+        Transform::from_xyz(0.0, 1.0, 0.0),
+        // same as the bike body
+        CollisionGroups::new(Group::GROUP_1, Group::GROUP_1),
     );
 
     commands
         .spawn(PbrBundle {
             mesh: meshes.add(mesh),
-            material: materials.add(Color::WHITE.into()),
+            material: materials.add(StandardMaterial {
+                base_color: Color::GREEN,
+                ..Default::default()
+            }),
+            transform: Transform::from_xyz(0.0, 0.1, 0.0),
             ..Default::default()
         })
         .insert(pbody)
@@ -57,7 +54,7 @@ fn spawn_planet(
 pub struct CyberPlanetPlugin;
 impl Plugin for CyberPlanetPlugin {
     fn build(&self, app: &mut App) {
-        app.add_startup_system(spawn_planet);
+        app.add_systems(Startup, spawn_planet);
     }
 }
 
@@ -65,105 +62,10 @@ impl Plugin for CyberPlanetPlugin {
 // utils
 //---------------------------------------------------------------------
 
-fn gen_planet(sphere: Icosphere) -> (Mesh, Collider) {
-    // straight-up stolen from Bevy's impl of Mesh from Icosphere, so I can do the
-    // displacement before normals are calculated.
-    let generated = IcoSphere::new(sphere.subdivisions, |point| {
-        let inclination = point.y.acos();
-        let azimuth = point.z.atan2(point.x);
+fn gen_planet(span: f32) -> (Mesh, Collider) {
+    let mut mesh = Cuboid::new(span, 1.0, span);
 
-        let norm_inclination = inclination / std::f32::consts::PI;
-        let norm_azimuth = 0.5 - (azimuth / std::f32::consts::TAU);
+    let collider = Collider::cuboid(span / 2.0, 0.5, span / 2.0);
 
-        [norm_azimuth, norm_inclination]
-    });
-
-    let noise = HybridMulti::<SuperSimplex>::default();
-
-    let (mut min, mut max) = (f32::MAX, f32::MIN);
-
-    let noisy_points = generated
-        .raw_points()
-        .iter()
-        .map(|&p| {
-            let disp = noise.get(p.as_dvec3().into()) as f32 * 0.05;
-            let pt = p + (p.normalize() * disp);
-            pt.into()
-        })
-        .collect::<Vec<[f32; 3]>>();
-
-    let points = noisy_points
-        .iter()
-        .map(|&p| (Vec3::from_slice(&p) * sphere.radius).into())
-        .collect::<Vec<[f32; 3]>>();
-
-    for p in &points {
-        let v = Vec3::new(p[0], p[1], p[2]);
-        let v = v.length();
-        min = v.min(min);
-        max = v.max(max);
-    }
-
-    let uvs = generated.raw_data().to_owned();
-
-    let mut indices = Vec::with_capacity(generated.indices_per_main_triangle() * 20);
-
-    for i in 0..20 {
-        generated.get_indices(i, &mut indices);
-    }
-
-    let mut idxs = Vec::new();
-    for idx in indices.chunks_exact(3) {
-        idxs.push([idx[0], idx[1], idx[2]]);
-    }
-
-    let indices = Indices::U32(indices);
-    let shape = Collider::trimesh(points.iter().map(|p| Vect::from_slice(p)).collect(), idxs);
-
-    dbg!(&points.len());
-
-    let mut mesh = Mesh::new(PrimitiveTopology::TriangleList);
-    mesh.set_indices(Some(indices));
-    mesh.insert_attribute(Mesh::ATTRIBUTE_POSITION, points);
-    //mesh.insert_attribute(Mesh::ATTRIBUTE_UV_0, uvs);
-    mesh.duplicate_vertices();
-    mesh.compute_flat_normals();
-
-    let tri_list = mesh
-        .attribute(Mesh::ATTRIBUTE_POSITION)
-        .unwrap()
-        .as_float3()
-        .unwrap();
-
-    dbg!(&tri_list.len());
-
-    let mut rng = rand::rngs::StdRng::seed_from_u64(57);
-    let mut colors = Vec::new();
-    for triangle in tri_list.chunks_exact(3) {
-        let mut lens = 0.0;
-        for &v in triangle {
-            let v = Vec3::new(v[0], v[1], v[2]);
-            lens += v.length();
-        }
-        let v = lens / 3.0;
-        //let l = val_norm(v, min - 500.0, max); //.powi(2);
-        let l = 0.41;
-        let jitter = rng.gen_range(-0.0..=360.0f32);
-        let h = jitter;
-        let color = Color::hsl(h, PLANET_SATURATION, l).as_linear_rgba_f32();
-        for _ in 0..3 {
-            colors.push(color.clone());
-        }
-    }
-
-    dbg!(&colors.len());
-    mesh.insert_attribute(Mesh::ATTRIBUTE_COLOR, colors);
-
-    (mesh, shape)
-}
-
-/// remaps v in low..high to 0..1
-fn val_norm(v: f32, low: f32, high: f32) -> f32 {
-    // q = (p-A)*(D-C)/(B-A) + C, C = 0, D = 1
-    (v - low) / (high - low)
+    (mesh.mesh(), collider)
 }

src/ui.rs

@@ -1,9 +1,12 @@
-use bevy::prelude::{
+use bevy::{
+    app::{Startup, Update},
+    prelude::{
         AlignSelf, App, AssetServer, Color, Commands, Component, Plugin, Query, Res, Style, Text,
         TextBundle, TextSection, TextStyle, Transform, With,
+    },
 };
-#[cfg(feature = "inspector")]
-use bevy_inspector_egui::quick::WorldInspectorPlugin;
+//#[cfg(feature = "inspector")]
+//use bevy_inspector_egui::quick::WorldInspectorPlugin;
 use bevy_rapier3d::prelude::Velocity;
 
 use crate::bike::CyberBikeBody;
@@ -42,7 +45,7 @@ fn update_ui(
 ) {
     let mut text = text_query.single_mut();
     let (velocity, xform) = state_query.single();
-    let speed = velocity.linvel.dot(xform.forward());
+    let speed = velocity.linvel.dot(*xform.forward());
     text.sections[0].value = format!("spd: {:.2}", speed);
 }
 
@@ -51,8 +54,10 @@ pub struct CyberUIPlugin;
 impl Plugin for CyberUIPlugin {
     fn build(&self, app: &mut App) {
         #[cfg(feature = "inspector")]
-        app.add_plugin(WorldInspectorPlugin);
+        //app.add_plugins(WorldInspectorPlugin::new());
 
-        app.add_startup_system(setup_ui).add_system(update_ui);
+        //
+        app.add_systems(Startup, setup_ui)
+            .add_systems(Update, update_ui);
     }
 }