compiles and runs, but crashes

Cargo.toml

@@ -6,32 +6,22 @@ edition = "2021"
 [dependencies]
 rand = "0.8"
 # bevy_polyline = "0.4"
-noise = { git = "https://github.com/Razaekel/noise-rs" }
-hexasphere = "8"
-wgpu = "0.15"
-bevy-inspector-egui = "0.18"
+noise = "0.9"
+hexasphere = "14"
+wgpu = "0.20"
+# bevy-inspector-egui = "0.18"
 
 [features]
 inspector = []
 
 [dependencies.bevy]
-version = "0.10"
-default-features = false
-features = [
-  "bevy_gilrs",
-  "bevy_winit",
-  "png",
-  "hdr",
-  "x11",
-  "bevy_ui",
-  "bevy_text",
-  "bevy_gltf",
-  "bevy_sprite",
-]
+version = "0.14"
+default-features = true
+features = ["bevy_dev_tools"]
 
-[dependencies.bevy_rapier3d]
-features = ["debug-render-3d"]
-version = "0.21"
+[dependencies.avian3d]
+default-features = true
+version = "0.1"
 
 # Maybe also enable only a small amount of optimization for our code:
 [profile.dev]

src/action/components.rs

@@ -1,7 +1,7 @@
 use std::time::{Duration, Instant};
 
 use bevy::{
-    prelude::{Component, ReflectResource, Resource, Vec3},
+    prelude::{Component, ReflectResource, Resource},
     reflect::Reflect,
 };
 
@@ -26,21 +26,6 @@ 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, Resource, Reflect)]
 #[reflect(Resource)]
 pub struct MovementSettings {

src/action/mod.rs

@@ -1,10 +1,11 @@
+use avian3d::prelude::{PhysicsPlugins, SubstepCount};
 use bevy::{
+    app::Update,
     diagnostic::FrameTimeDiagnosticsPlugin,
     ecs::reflect::ReflectResource,
     prelude::{App, IntoSystemConfigs, Plugin, Resource},
     reflect::Reflect,
 };
-use bevy_rapier3d::prelude::{NoUserData, RapierPhysicsPlugin};
 
 mod components;
 mod systems;
@@ -28,20 +29,14 @@ 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((PhysicsPlugins::default(), FrameTimeDiagnosticsPlugin))
+            .insert_resource(SubstepCount(12))
             .add_systems(
+                Update,
                 (
                     gravity,
-                    cyber_lean,
-                    falling_cat,
-                    input_forces,
-                    drag,
-                    tunnel_out,
-                    surface_fix,
-                )
-                    .chain(),
+                    (cyber_lean, suspension, falling_cat, input_forces).after(clear_forces),
+                ),
             );
     }
 }

src/action/systems.rs

@@ -1,18 +1,17 @@
 use std::f32::consts::{FRAC_PI_3, FRAC_PI_4};
 
-use bevy::prelude::{
-    Commands, Entity, Quat, Query, Res, ResMut, Time, Transform, Vec3, With, Without,
-};
-use bevy_rapier3d::prelude::{
-    CollisionGroups, ExternalForce, Group, MultibodyJoint, QueryFilter, RapierConfiguration,
-    RapierContext, ReadMassProperties, TimestepMode, Velocity,
+use avian3d::{
+    dynamics::solver::xpbd::AngularConstraint,
+    prelude::{
+        ColliderMassProperties, ExternalForce, ExternalTorque, Gravity, LinearVelocity,
+        PrismaticJoint, RigidBodyQuery,
+    },
 };
+use bevy::prelude::{Quat, Query, Res, ResMut, Time, Transform, Vec3, With, Without};
 
-#[cfg(feature = "inspector")]
-use super::ActionDebugInstant;
-use super::{CatControllerSettings, CatControllerState, CyberLean, MovementSettings, Tunneling};
+use super::{CatControllerSettings, CatControllerState, CyberLean, MovementSettings};
 use crate::{
-    bike::{CyberBikeBody, CyberSteering, CyberWheel, WheelConfig, BIKE_WHEEL_COLLISION_GROUP},
+    bike::{CyberBikeBody, CyberFork, CyberSpring, CyberSteering, CyberWheel, WheelConfig},
     input::InputState,
 };
 
@@ -36,46 +35,56 @@ fn rotate_point(pt: &Vec3, rot: &Quat) -> Vec3 {
     -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>>,
+    xform: Query<&Transform, With<CyberBikeBody>>,
+
     settings: Res<MovementSettings>,
-    mut rapier_config: ResMut<RapierConfiguration>,
-    #[cfg(feature = "inspector")] mut debug_instant: ResMut<ActionDebugInstant>,
+    mut gravity: ResMut<Gravity>,
 ) {
-    let (xform, mut forces) = query.single_mut();
+    let xform = xform.single();
+    *gravity = Gravity(xform.translation.normalize() * -settings.gravity);
 
-    #[cfg(feature = "inspectorb")]
-    {
-        if debug_instant.elapsed().as_millis() > 6000 {
-            dbg!(&forces);
-            debug_instant.reset();
-        }
+    // clear all external forces
+}
+
+pub(super) fn clear_forces(mut forces: Query<(&mut ExternalForce, &mut ExternalTorque)>) {
+    for (mut force, mut torque) in forces.iter_mut() {
+        force.clear();
+        torque.clear();
     }
+}
 
-    rapier_config.gravity = xform.translation.normalize() * -settings.gravity;
-    forces.force = Vec3::ZERO;
-    forces.torque = Vec3::ZERO;
+pub(super) fn suspension(
+    movment_settings: Res<MovementSettings>,
+    wheel_config: Res<WheelConfig>,
+    mass: Query<&ColliderMassProperties, With<CyberBikeBody>>,
+    mut axels: Query<(&mut ExternalForce, &CyberSpring, &Transform)>,
+) {
+    let mass = if let Ok(mass) = mass.get_single() {
+        mass.mass.0
+    } else {
+        1.0
+    };
+    let gravity = movment_settings.gravity;
+    let mag = -wheel_config.stiffness * mass * gravity;
+    for (mut force, spring, xform) in axels.iter_mut() {
+        let spring = mag * spring.0;
+        let spring = xform.translation + spring;
+        let _ = force.apply_force(spring);
+    }
 }
 
 /// The desired lean angle, given steering input and speed.
 pub(super) fn cyber_lean(
-    bike_state: Query<(&Velocity, &Transform), With<CyberBikeBody>>,
+    bike_state: Query<(&LinearVelocity, &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 vel = velocity.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();
@@ -94,20 +103,20 @@ pub(super) fn cyber_lean(
 
 /// PID-based controller for stabilizing attitude; keeps the cyberbike upright.
 pub(super) fn falling_cat(
-    mut bike_query: Query<(&Transform, &mut ExternalForce, &mut CatControllerState)>,
+    mut bike_query: Query<(&Transform, &mut ExternalTorque, &mut CatControllerState)>,
     time: Res<Time>,
     settings: Res<CatControllerSettings>,
     lean: Res<CyberLean>,
 ) {
-    let (xform, mut forces, mut control_vars) = bike_query.single_mut();
+    let (xform, mut torque, mut control_vars) = bike_query.single_mut();
     let world_up = xform.translation.normalize();
-    let rot = Quat::from_axis_angle(xform.back(), lean.lean);
+    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());
+    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 {
@@ -115,7 +124,7 @@ pub(super) fn falling_cat(
         let mag =
             (settings.kp * roll_error) + (settings.ki * integral) + (settings.kd * derivative);
         if mag.is_finite() {
-            forces.torque += xform.back() * mag;
+            torque.apply_torque(*xform.back() * mag);
         }
     }
 }
@@ -124,20 +133,31 @@ pub(super) fn falling_cat(
 pub(super) fn input_forces(
     settings: Res<MovementSettings>,
     input: Res<InputState>,
-    mut braking_query: Query<&mut MultibodyJoint, (Without<CyberSteering>, With<CyberWheel>)>,
+    time: Res<Time>,
+    fork: Query<&PrismaticJoint, With<CyberFork>>,
+    mut axle: Query<(RigidBodyQuery, &Transform), With<CyberSteering>>,
+    mut braking_query: Query<&mut ExternalTorque, With<CyberWheel>>,
     mut body_query: Query<
-        (&Transform, &mut ExternalForce),
+        (
+            RigidBodyQuery,
+            &Transform,
+            &ColliderMassProperties,
+            &mut ExternalForce,
+        ),
         (With<CyberBikeBody>, Without<CyberSteering>),
     >,
-    mut steering_query: Query<&mut MultibodyJoint, With<CyberSteering>>,
 ) {
-    let (xform, mut forces) = body_query.single_mut();
+    let Ok((mut bike, xform, mass, mut forces)) = body_query.get_single_mut() else {
+        bevy::log::warn!("no bike body found");
+        return;
+    };
+    let dt = time.delta_seconds();
 
     // 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;
+    let point = xform.translation + *xform.back();
+
+    let _ = *forces.apply_force_at_point(dt * thrust, point, mass.center_of_mass.0);
 
     // brake + thrust
     for mut motor in braking_query.iter_mut() {
@@ -147,99 +167,21 @@ pub(super) fn input_forces(
             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();
+        let target = dt * factor * speed;
+        let torque = target * Vec3::X;
+        motor.apply_torque(torque);
     }
 
     // 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);
-    }
+    let _angle = yaw_to_angle(input.yaw);
+    let (mut axle, xform) = axle.single_mut();
+
+    let cur_rot = xform.rotation;
+    let fork = fork.single();
+    let axis = fork.free_axis.normalize();
+    let new = Quat::from_axis_angle(axis, _angle);
+    let diff = (new - cur_rot).to_scaled_axis();
+    let mut compliance = 1.0;
+
+    fork.align_orientation(&mut axle, &mut bike, diff, &mut compliance, 1.0, dt);
 }

src/bike/body.rs

@@ -1,11 +1,8 @@
+use avian3d::prelude::*;
 use bevy::{
     prelude::{AssetServer, BuildChildren, Commands, Quat, Res, SpatialBundle, Transform, Vec3},
     scene::SceneBundle,
 };
-use bevy_rapier3d::prelude::{
-    Ccd, Collider, ColliderMassProperties, CollisionGroups, Damping, ExternalForce, Friction,
-    ReadMassProperties, Restitution, RigidBody, Sleeping, TransformInterpolation, Velocity,
-};
 
 use super::{spawn_wheels, CyberBikeBody, Meshterial, WheelConfig, BIKE_BODY_COLLISION_GROUP};
 use crate::{action::CatControllerState, planet::PLANET_RADIUS};
@@ -24,14 +21,10 @@ pub(super) fn spawn_cyberbike(
     let right = xform.right() * 350.0;
     xform.translation += right;
 
-    let damping = Damping {
-        angular_damping: 2.0,
-        linear_damping: 0.1,
-    };
-
     let friction = Friction {
-        coefficient: 0.01,
-        ..Default::default()
+        dynamic_coefficient: 0.1,
+        static_coefficient: 0.6,
+        combine_rule: CoefficientCombine::Average,
     };
 
     let restitution = Restitution {
@@ -39,46 +32,38 @@ pub(super) fn spawn_cyberbike(
         ..Default::default()
     };
 
-    let mass_properties = ColliderMassProperties::Density(1.5);
-
     let (membership, filter) = BIKE_BODY_COLLISION_GROUP;
-    let bike_collision_group = CollisionGroups::new(membership, filter);
+    let bike_collision_group = CollisionLayers::new(membership, filter);
 
     let scene = asset_server.load("cb-no-y_up.glb#Scene0");
 
-    let spatialbundle = SpatialBundle {
-        transform: xform,
-        ..Default::default()
-    };
-
+    let body_collider =
+        Collider::capsule_endpoints(0.5, Vec3::new(0.0, 0.0, -0.65), Vec3::new(0.0, 0.0, 0.8));
     let bike = commands
-        .spawn(RigidBody::Dynamic)
-        .insert(spatialbundle)
+        .spawn(SpatialBundle::from_transform(xform))
         .insert((
-            Collider::capsule(Vec3::new(0.0, 0.0, -0.65), Vec3::new(0.0, 0.0, 0.8), 0.5),
+            RigidBody::Dynamic,
+            body_collider,
             bike_collision_group,
-            mass_properties,
-            damping,
             restitution,
             friction,
-            Sleeping::disabled(),
-            Ccd { enabled: true },
-            ReadMassProperties::default(),
+            SleepingDisabled,
+            CyberBikeBody,
+            CatControllerState::default(),
+            ColliderDensity(0.6),
+            LinearDamping(0.1),
+            AngularDamping(2.0),
+            LinearVelocity::ZERO,
+            AngularVelocity::ZERO,
+            ExternalForce::ZERO,
+            ExternalTorque::ZERO,
         ))
-        .insert(TransformInterpolation {
-            start: None,
-            end: None,
-        })
-        .insert(Velocity::zero())
-        .insert(ExternalForce::default())
         .with_children(|rider| {
             rider.spawn(SceneBundle {
                 scene,
                 ..Default::default()
             });
         })
-        .insert(CyberBikeBody)
-        .insert(CatControllerState::default())
         .id();
 
     spawn_wheels(&mut commands, bike, &wheel_conf, &mut meshterials);

src/bike/components.rs

@@ -1,4 +1,5 @@
 use bevy::{
+    math::Vec3,
     prelude::{Component, ReflectResource, Resource},
     reflect::Reflect,
 };
@@ -6,12 +7,18 @@ use bevy::{
 #[derive(Component)]
 pub struct CyberBikeBody;
 
-#[derive(Component)]
+#[derive(Clone, Copy, Component)]
 pub struct CyberSteering;
 
-#[derive(Debug, Component)]
+#[derive(Clone, Copy, Debug, Component)]
 pub struct CyberWheel;
 
+#[derive(Clone, Debug, Component)]
+pub struct CyberSpring(pub Vec3);
+
+#[derive(Clone, Debug, Component)]
+pub struct CyberFork;
+
 #[derive(Resource, Reflect)]
 #[reflect(Resource)]
 pub struct WheelConfig {
@@ -35,7 +42,7 @@ impl Default for WheelConfig {
             rear_back: 1.0,
             y: -0.1,
             limits: [-0.5, 0.1],
-            stiffness: 190.0,
+            stiffness: 3.0,
             damping: 8.0,
             radius: 0.25,
             thickness: 0.11,

src/bike/mod.rs

@@ -2,16 +2,16 @@ mod body;
 mod components;
 mod wheels;
 
-use bevy::prelude::{
-    App, Assets, IntoSystemConfig, Mesh, Plugin, ResMut, StandardMaterial, StartupSet,
+use bevy::{
+    app::{PostStartup, Startup},
+    prelude::{App, Assets, Mesh, Plugin, ResMut, StandardMaterial},
 };
-use bevy_rapier3d::prelude::Group;
 
 pub(crate) use self::components::*;
 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_BODY_COLLISION_GROUP: (u32, u32) = (0b01, 0b01);
+pub const BIKE_WHEEL_COLLISION_GROUP: (u32, u32) = (0b10, 0b10);
 
 type Meshterial<'a> = (
     ResMut<'a, Assets<Mesh>>,
@@ -23,6 +23,6 @@ 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(Startup, spawn_cyberbike);
     }
 }

src/bike/wheels.rs

@@ -1,11 +1,10 @@
-use bevy::prelude::{shape::Torus as Tire, *};
-use bevy_rapier3d::prelude::{
-    Ccd, CoefficientCombineRule, Collider, ColliderMassProperties, CollisionGroups, Damping,
-    ExternalForce, Friction, MultibodyJoint, PrismaticJointBuilder, Restitution,
-    RevoluteJointBuilder, RigidBody, Sleeping, TransformInterpolation,
-};
+use avian3d::prelude::*;
+use bevy::prelude::{Torus as Tire, *};
 
-use super::{CyberSteering, CyberWheel, Meshterial, WheelConfig, BIKE_WHEEL_COLLISION_GROUP};
+use super::{
+    CyberFork, CyberSpring, CyberSteering, CyberWheel, Meshterial, WheelConfig,
+    BIKE_WHEEL_COLLISION_GROUP,
+};
 
 pub fn spawn_wheels(
     commands: &mut Commands,
@@ -14,18 +13,18 @@ pub fn spawn_wheels(
     meshterials: &mut Meshterial,
 ) {
     let (membership, filter) = BIKE_WHEEL_COLLISION_GROUP;
-    let wheels_collision_group = CollisionGroups::new(membership, filter);
+    let wheels_collision_group = CollisionLayers::new(membership, filter);
     let wheel_y = conf.y;
-    let stiffness = conf.stiffness;
-    let not_sleeping = Sleeping::disabled();
-    let ccd = Ccd { enabled: true };
+    let not_sleeping = SleepingDisabled;
+    let ccd = SweptCcd::NON_LINEAR.include_dynamic(false);
     let limits = conf.limits;
     let (meshes, materials) = meshterials;
     let rake_vec: Vec3 = Vec3::new(0.0, 1.0, 0.57).normalize(); // about 30 degrees of rake
 
     let friction = Friction {
-        coefficient: conf.friction,
-        combine_rule: CoefficientCombineRule::Average,
+        dynamic_coefficient: conf.friction,
+        static_coefficient: conf.friction,
+        combine_rule: CoefficientCombine::Average,
     };
 
     let mut wheel_poses = Vec::with_capacity(2);
@@ -50,12 +49,7 @@ pub fn spawn_wheels(
         let (mesh, collider) = gen_tires(conf);
 
         let material = StandardMaterial {
-            base_color: Color::Rgba {
-                red: 0.01,
-                green: 0.01,
-                blue: 0.01,
-                alpha: 1.0,
-            },
+            base_color: Color::linear_rgba(0.01, 0.01, 0.01, 1.0),
             alpha_mode: AlphaMode::Opaque,
             perceptual_roughness: 0.5,
             ..Default::default()
@@ -67,64 +61,70 @@ pub fn spawn_wheels(
             ..Default::default()
         };
 
-        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 suspension_joint_builder = PrismaticJointBuilder::new(suspension_axis)
-            .local_anchor1(offset)
-            .limits(limits)
-            .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(suspension_joint)
-            .insert(not_sleeping)
+        let wheel = commands
+            .spawn(pbr_bundle)
+            .insert((
+                collider,
+                ccd,
+                not_sleeping,
+                wheels_collision_group,
+                friction,
+                CyberWheel,
+                ExternalForce::default(),
+                Restitution::new(conf.restitution),
+                SpatialBundle::default(),
+                RigidBody::Dynamic,
+                ColliderDensity(0.1),
+                AngularVelocity::ZERO,
+                ExternalTorque::ZERO,
+            ))
             .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_joint = MultibodyJoint::new(fork_rb_entity, neck_builder);
-            let neck = commands
-                .spawn(RigidBody::Dynamic)
-                .insert(neck_joint)
-                .insert(steering)
-                .insert(not_sleeping)
-                .id();
-            neck
+        let spring = CyberSpring(suspension_axis);
+        let axel = if let Some(steering) = steering {
+            commands.spawn((
+                RigidBody::Dynamic,
+                ExternalForce::ZERO,
+                steering,
+                spring,
+                Collider::sphere(0.1),
+                ColliderDensity(0.1),
+            ))
         } else {
-            fork_rb_entity
-        };
+            commands.spawn((
+                RigidBody::Dynamic,
+                ExternalForce::ZERO,
+                spring,
+                Collider::sphere(0.1),
+                ColliderDensity(0.1),
+            ))
+        }
+        .insert(SpatialBundle::default())
+        .id();
+        let axel_joint = RevoluteJoint::new(axel, wheel).with_aligned_axis(Vec3::NEG_X);
+        commands.spawn(axel_joint);
 
-        let axel_builder = RevoluteJointBuilder::new(Vec3::X);
-        let axel_joint = MultibodyJoint::new(axel_parent_entity, axel_builder);
-        let wheel_damping = Damping {
-            linear_damping: 0.8,
-            ..Default::default()
+        // suspension and steering:
+        if steering.is_some() {
+            let joint = PrismaticJoint::new(axel, bike)
+                .with_free_axis(suspension_axis)
+                .with_local_anchor_1(Vec3::new(0.0, 0.0, 0.1))
+                .with_local_anchor_2(offset)
+                .with_limits(limits[0], limits[1]);
+            commands.spawn((joint, CyberFork));
+        } else {
+            let joint = PrismaticJoint::new(axel, bike)
+                .with_free_axis(suspension_axis)
+                .with_local_anchor_2(offset)
+                .with_limits(limits[0], limits[1]);
+            commands.spawn(joint);
         };
-
-        commands.spawn(pbr_bundle).insert((
-            collider,
-            mass_props,
-            wheel_damping,
-            ccd,
-            not_sleeping,
-            axel_joint,
-            wheels_collision_group,
-            friction,
-            CyberWheel,
-            ExternalForce::default(),
-            Restitution::new(conf.restitution),
-            SpatialBundle::default(),
-            TransformInterpolation::default(),
-            RigidBody::Dynamic,
-        ));
     }
 }
 
@@ -133,9 +133,8 @@ fn gen_tires(conf: &WheelConfig) -> (Mesh, Collider) {
     let wheel_rad = conf.radius;
     let tire_thickness = conf.thickness;
     let tire = Tire {
-        radius: wheel_rad,
-        ring_radius: tire_thickness,
-        ..Default::default()
+        minor_radius: tire_thickness,
+        major_radius: wheel_rad,
     };
 
     let mut mesh = Mesh::from(tire);
@@ -161,17 +160,7 @@ fn gen_tires(conf: &WheelConfig) -> (Mesh, Collider) {
     for idx in indices.as_slice().chunks_exact(3) {
         idxs.push([idx[0] as u32, idx[1] as u32, idx[2] as u32]);
     }
-    let wheel_collider = Collider::convex_decomposition(
-        &mesh
-            .attribute(Mesh::ATTRIBUTE_POSITION)
-            .unwrap()
-            .as_float3()
-            .unwrap()
-            .iter()
-            .map(|v| Vec3::from_array(*v))
-            .collect::<Vec<_>>(),
-        &idxs,
-    );
+    let wheel_collider = Collider::convex_decomposition_from_mesh(&mesh).unwrap();
 
     (mesh, wheel_collider)
 }

src/camera.rs

@@ -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

@@ -1,4 +1,9 @@
-use bevy::prelude::{App, Color, Plugin};
+use avian3d::debug_render::PhysicsGizmos;
+use bevy::{
+    color::Srgba,
+    gizmos::AppGizmoBuilder,
+    prelude::{App, Color, GizmoConfig, Plugin},
+};
 
 // use crate::planet::CyberPlanet;
 
@@ -9,26 +14,16 @@ pub struct CyberGlamorPlugin;
 impl Plugin for CyberGlamorPlugin {
     fn build(&self, app: &mut App) {
         {
-            use bevy_rapier3d::render::{
-                DebugRenderMode, DebugRenderStyle, RapierDebugRenderPlugin,
-            };
-            let style = DebugRenderStyle {
-                multibody_joint_anchor_color: Color::GREEN.as_rgba_f32(),
-                ..Default::default()
-            };
-            let mode = DebugRenderMode::CONTACTS
-                | DebugRenderMode::SOLVER_CONTACTS
-                | DebugRenderMode::JOINTS
-                | DebugRenderMode::RIGID_BODY_AXES;
+            let plugin = avian3d::debug_render::PhysicsDebugPlugin::default();
 
-            let rplugin = RapierDebugRenderPlugin {
-                style,
-                always_on_top: true,
-                enabled: true,
-                mode,
-            };
-
-            app.add_plugin(rplugin);
+            app.add_plugins(plugin).insert_gizmo_config(
+                PhysicsGizmos {
+                    contact_point_color: Some(Srgba::GREEN.into()),
+                    contact_normal_color: Some(Srgba::WHITE.into()),
+                    ..Default::default()
+                },
+                GizmoConfig::default(),
+            );
         }
     }
 }

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/lights.rs

@@ -4,6 +4,9 @@ use crate::planet::PLANET_RADIUS;
 
 pub const LIGHT_RANGE: f32 = 90.0;
 
+static BLUE: Color = Color::linear_rgb(0.0, 0.0, 1.0);
+static PINK: Color = Color::linear_rgb(199.0 / 255.0, 21.0 / 255.0, 113.0 / 255.0);
+
 fn spawn_static_lights(
     mut commands: Commands,
     mut meshes: ResMut<Assets<Mesh>>,
@@ -12,7 +15,7 @@ fn spawn_static_lights(
     let pink_light = PointLight {
         intensity: 1_00.0,
         range: LIGHT_RANGE,
-        color: Color::PINK,
+        color: PINK,
         radius: 1.0,
         shadows_enabled: true,
         ..Default::default()
@@ -21,7 +24,7 @@ fn spawn_static_lights(
     let blue_light = PointLight {
         intensity: 1_000.0,
         range: LIGHT_RANGE,
-        color: Color::BLUE,
+        color: BLUE,
         radius: 1.0,
         shadows_enabled: true,
         ..Default::default()
@@ -48,16 +51,10 @@ fn spawn_static_lights(
         })
         .with_children(|builder| {
             builder.spawn(PbrBundle {
-                mesh: meshes.add(
-                    Mesh::try_from(shape::Icosphere {
-                        radius: 10.0,
-                        subdivisions: 2,
-                    })
-                    .unwrap(),
-                ),
+                mesh: meshes.add(Mesh::from(Sphere::new(10.0))),
                 material: materials.add(StandardMaterial {
-                    base_color: Color::BLUE,
-                    emissive: Color::PINK,
+                    base_color: BLUE,
+                    emissive: PINK.into(),
                     ..Default::default()
                 }),
                 ..Default::default()
@@ -72,16 +69,10 @@ fn spawn_static_lights(
         })
         .with_children(|builder| {
             builder.spawn(PbrBundle {
-                mesh: meshes.add(
-                    Mesh::try_from(shape::Icosphere {
-                        radius: 10.0,
-                        subdivisions: 2,
-                    })
-                    .unwrap(),
-                ),
+                mesh: meshes.add(Mesh::from(Sphere::new(10.0))),
                 material: materials.add(StandardMaterial {
-                    base_color: Color::PINK,
-                    emissive: Color::BLUE,
+                    base_color: PINK,
+                    emissive: BLUE.into(),
                     ..Default::default()
                 }),
                 ..Default::default()
@@ -92,6 +83,6 @@ fn spawn_static_lights(
 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

@@ -8,7 +8,7 @@ use cyber_rider::{
 };
 
 //const CYBER_SKY: Color = Color::rgb(0.07, 0.001, 0.02);
-const CYBER_SKY: Color = Color::rgb(0.64, 0.745, 0.937); // a light blue sky
+const CYBER_SKY: Color = Color::srgb(0.64, 0.745, 0.937); // a light blue sky
 
 fn main() {
     let mut app = App::new();
@@ -21,18 +21,36 @@ 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, close_on_esc);
 
     #[cfg(feature = "inspector")]
     app.add_plugin(CyberGlamorPlugin);
 
     app.run();
 }
+
+fn close_on_esc(
+    mut commands: Commands,
+    focused_windows: Query<(Entity, &Window)>,
+    input: Res<ButtonInput<KeyCode>>,
+) {
+    for (window, focus) in focused_windows.iter() {
+        if !focus.focused {
+            continue;
+        }
+
+        if input.just_pressed(KeyCode::Escape) {
+            commands.entity(window).despawn();
+        }
+    }
+}

src/planet.rs

@@ -1,8 +1,8 @@
+use avian3d::prelude::*;
 use bevy::{
-    prelude::{shape::Icosphere, *},
-    render::{color::Color, mesh::Indices},
+    prelude::*,
+    render::{mesh::Indices, render_asset::RenderAssetUsages},
 };
-use bevy_rapier3d::prelude::*;
 use hexasphere::shapes::IcoSphere;
 use noise::{HybridMulti, NoiseFn, SuperSimplex};
 use rand::{Rng, SeedableRng};
@@ -20,20 +20,12 @@ fn spawn_planet(
     mut meshes: ResMut<Assets<Mesh>>,
     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 pbody = (RigidBody::Fixed, Ccd { enabled: true });
+    let (mesh, shape) = gen_planet(PLANET_RADIUS);
 
     let pcollide = (
         shape,
         Friction {
-            coefficient: 1.2,
+            static_coefficient: 1.2,
             ..Default::default()
         },
         Restitution::new(0.8),
@@ -42,18 +34,22 @@ fn spawn_planet(
     commands
         .spawn(PbrBundle {
             mesh: meshes.add(mesh),
-            material: materials.add(Color::WHITE.into()),
+            material: materials.add(Color::WHITE),
             ..Default::default()
         })
-        .insert(pbody)
-        .insert(pcollide)
-        .insert(CyberPlanet);
+        .insert((
+            RigidBody::Static,
+            pcollide,
+            CyberPlanet,
+            CollisionLayers::new(u32::MAX, u32::MAX),
+            CollisionMargin(0.2),
+        ));
 }
 
 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);
     }
 }
 
@@ -61,10 +57,10 @@ impl Plugin for CyberPlanetPlugin {
 // utils
 //---------------------------------------------------------------------
 
-fn gen_planet(sphere: Icosphere) -> (Mesh, Collider) {
+fn gen_planet(radius: f32) -> (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 generated = IcoSphere::new(79, |point| {
         let inclination = point.y.acos();
         let azimuth = point.z.atan2(point.x);
 
@@ -90,7 +86,7 @@ fn gen_planet(sphere: Icosphere) -> (Mesh, Collider) {
 
     let points = noisy_points
         .iter()
-        .map(|&p| (Vec3::from_slice(&p) * sphere.radius).into())
+        .map(|&p| (Vec3::from_slice(&p) * radius).into())
         .collect::<Vec<[f32; 3]>>();
 
     for p in &points {
@@ -108,10 +104,13 @@ fn gen_planet(sphere: Icosphere) -> (Mesh, Collider) {
     }
 
     let indices = Indices::U32(indices);
-    let collider = Collider::trimesh(points.iter().map(|p| Vect::from_slice(p)).collect(), idxs);
+    let collider = Collider::trimesh(points.iter().map(|p| Vec3::from_slice(p)).collect(), idxs);
 
-    let mut mesh = Mesh::new(PrimitiveTopology::TriangleList);
-    mesh.set_indices(Some(indices));
+    let mut mesh = Mesh::new(
+        PrimitiveTopology::TriangleList,
+        RenderAssetUsages::default(),
+    );
+    mesh.insert_indices(indices);
     mesh.insert_attribute(Mesh::ATTRIBUTE_POSITION, points);
     //mesh.insert_attribute(Mesh::ATTRIBUTE_UV_0, uvs);
     mesh.duplicate_vertices();
@@ -129,7 +128,9 @@ fn gen_planet(sphere: Icosphere) -> (Mesh, Collider) {
         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();
+        let color = Color::hsl(h, PLANET_SATURATION, l)
+            .to_linear()
+            .to_f32_array();
         for _ in 0..3 {
             colors.push(color);
         }

src/ui.rs

@@ -1,10 +1,13 @@
-use bevy::prelude::{
-    AlignSelf, App, AssetServer, Color, Commands, Component, Plugin, Query, Res, Style, Text,
-    TextBundle, TextSection, TextStyle, Transform, With,
+use avian3d::prelude::LinearVelocity;
+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;
-use bevy_rapier3d::prelude::Velocity;
 
 use crate::bike::CyberBikeBody;
 
@@ -26,7 +29,7 @@ fn setup_ui(mut commands: Commands, asset_server: Res<AssetServer>) {
                     style: TextStyle {
                         font: asset_server.load("fonts/FiraMono-Medium.ttf"),
                         font_size: 40.0,
-                        color: Color::GOLD,
+                        color: Color::srgba_u8(255, 215, 0, 230),
                     },
                 }],
                 ..Default::default()
@@ -37,12 +40,12 @@ fn setup_ui(mut commands: Commands, asset_server: Res<AssetServer>) {
 }
 
 fn update_ui(
-    state_query: Query<(&Velocity, &Transform), With<CyberBikeBody>>,
+    state_query: Query<(&LinearVelocity, &Transform), With<CyberBikeBody>>,
     mut text_query: Query<&mut Text, With<UpText>>,
 ) {
     let mut text = text_query.single_mut();
     let (velocity, xform) = state_query.single();
-    let speed = velocity.linvel.dot(xform.forward());
+    let speed = velocity.dot(*xform.forward());
     text.sections[0].value = format!("spd: {:.2}", speed);
 }
 
@@ -53,6 +56,7 @@ impl Plugin for CyberUIPlugin {
         #[cfg(feature = "inspector")]
         app.add_plugin(WorldInspectorPlugin);
 
-        app.add_startup_system(setup_ui).add_system(update_ui);
+        app.add_systems(Startup, setup_ui)
+            .add_systems(Update, update_ui);
     }
 }