compiles and runs, but crashes

Cargo.lock

@@ -284,9 +284,9 @@ checksum = "0c4b4d0bd25bd0b74681c0ad21497610ce1b7c91b1022cd21c80c6fbdd9476b0"
 
 [[package]]
 name = "avian3d"
-version = "0.1.0"
+version = "0.1.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "0a8da53296a1bc166b84f99aa7c6b9d8c10c71f0c022bc4fc72dd1fc49323b29"
+checksum = "54325576b6efa46576db611624db749b553d0c66e439862bdc60c43e01f012f9"
 dependencies = [
  "avian_derive",
  "bevy",
@@ -1223,9 +1223,9 @@ dependencies = [
 
 [[package]]
 name = "blake3"
-version = "1.5.2"
+version = "1.5.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3d08263faac5cde2a4d52b513dadb80846023aade56fcd8fc99ba73ba8050e92"
+checksum = "e9ec96fe9a81b5e365f9db71fe00edc4fe4ca2cc7dcb7861f0603012a7caa210"
 dependencies = [
  "arrayref",
  "arrayvec",
@@ -1296,9 +1296,9 @@ checksum = "1fd0f2584146f6f2ef48085050886acf353beff7305ebd1ae69500e27c67f64b"
 
 [[package]]
 name = "bytes"
-version = "1.6.0"
+version = "1.6.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "514de17de45fdb8dc022b1a7975556c53c86f9f0aa5f534b98977b171857c2c9"
+checksum = "a12916984aab3fa6e39d655a33e09c0071eb36d6ab3aea5c2d78551f1df6d952"
 
 [[package]]
 name = "calloop"
@@ -1316,13 +1316,12 @@ dependencies = [
 
 [[package]]
 name = "cc"
-version = "1.1.2"
+version = "1.1.5"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "47de7e88bbbd467951ae7f5a6f34f70d1b4d9cfce53d5fd70f74ebe118b3db56"
+checksum = "324c74f2155653c90b04f25b2a47a8a631360cb908f92a772695f430c7e31052"
 dependencies = [
  "jobserver",
  "libc",
- "once_cell",
 ]
 
 [[package]]
@@ -3067,7 +3066,7 @@ checksum = "1e401f977ab385c9e4e3ab30627d6f26d00e2c73eef317493c4ec6d468726cf8"
 dependencies = [
  "cfg-if",
  "libc",
- "redox_syscall 0.5.2",
+ "redox_syscall 0.5.3",
  "smallvec",
  "windows-targets 0.52.6",
 ]
@@ -3367,9 +3366,9 @@ dependencies = [
 
 [[package]]
 name = "redox_syscall"
-version = "0.5.2"
+version = "0.5.3"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "c82cf8cff14456045f55ec4241383baeff27af886adb72ffb2162f99911de0fd"
+checksum = "2a908a6e00f1fdd0dfd9c0eb08ce85126f6d8bbda50017e74bc4a4b7d4a926a4"
 dependencies = [
  "bitflags 2.6.0",
 ]

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

@@ -1,6 +1,6 @@
-use avian3d::prelude::*;
+use avian3d::prelude::{PhysicsPlugins, SubstepCount};
 use bevy::{
-    app::{Startup, Update},
+    app::Update,
     diagnostic::FrameTimeDiagnosticsPlugin,
     ecs::reflect::ReflectResource,
     prelude::{App, IntoSystemConfigs, Plugin, Resource},
@@ -29,14 +29,14 @@ impl Plugin for CyberActionPlugin {
             .init_resource::<CyberLean>()
             .register_type::<CyberLean>()
             .register_type::<CatControllerSettings>()
-            .add_plugins((
-                PhysicsPlugins::default(),
-                FrameTimeDiagnosticsPlugin::default(),
-            ))
+            .add_plugins((PhysicsPlugins::default(), FrameTimeDiagnosticsPlugin))
             .insert_resource(SubstepCount(12))
             .add_systems(
                 Update,
-                (gravity, cyber_lean, falling_cat, input_forces).chain(),
+                (
+                    gravity,
+                    (cyber_lean, suspension, falling_cat, input_forces).after(clear_forces),
+                ),
             );
     }
 }

src/action/systems.rs

@@ -1,17 +1,17 @@
 use std::f32::consts::{FRAC_PI_3, FRAC_PI_4};
 
 use avian3d::{
-    dynamics::solver::xpbd::AngularConstraint, parry::mass_properties::MassProperties, prelude::*,
-};
-use bevy::prelude::{
-    Commands, Entity, Quat, Query, Res, ResMut, Time, Transform, Vec3, With, Without,
+    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,
 };
 
@@ -37,14 +37,42 @@ fn rotate_point(pt: &Vec3, rot: &Quat) -> Vec3 {
 
 /// 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 gravity: ResMut<Gravity>,
-    #[cfg(feature = "inspector")] mut debug_instant: ResMut<ActionDebugInstant>,
 ) {
-    let (xform, mut forces) = query.single_mut();
+    let xform = xform.single();
     *gravity = Gravity(xform.translation.normalize() * -settings.gravity);
-    forces.clear();
+
+    // 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();
+    }
+}
+
+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.
@@ -106,26 +134,30 @@ pub(super) fn input_forces(
     settings: Res<MovementSettings>,
     input: Res<InputState>,
     time: Res<Time>,
-    axle: Query<Entity, With<CyberSteering>>,
+    fork: Query<&PrismaticJoint, With<CyberFork>>,
+    mut axle: Query<(RigidBodyQuery, &Transform), With<CyberSteering>>,
     mut braking_query: Query<&mut ExternalTorque, With<CyberWheel>>,
     mut body_query: Query<
         (
-            Entity,
+            RigidBodyQuery,
             &Transform,
             &ColliderMassProperties,
             &mut ExternalForce,
         ),
-        With<CyberBikeBody>,
+        (With<CyberBikeBody>, Without<CyberSteering>),
     >,
 ) {
-    let (bike, xform, mass, 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();
 
-    *forces.apply_force_at_point(dt * thrust, point, mass.center_of_mass.0);
+    let _ = *forces.apply_force_at_point(dt * thrust, point, mass.center_of_mass.0);
 
     // brake + thrust
     for mut motor in braking_query.iter_mut() {
@@ -142,7 +174,14 @@ pub(super) fn input_forces(
 
     // steering
     let _angle = yaw_to_angle(input.yaw);
-    let _axle = axle.single();
-    //steering.align_orientation(bike, steering, rotation_difference, lagrange,
-    // compliance, dt)
+    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

@@ -37,24 +37,20 @@ pub(super) fn spawn_cyberbike(
 
     let scene = asset_server.load("cb-no-y_up.glb#Scene0");
 
-    let spatialbundle = SpatialBundle {
-        transform: xform,
-        ..Default::default()
-    };
-
-    let body =
+    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 mass_props = MassPropertiesBundle::new_computed(&body, 0.6);
     let bike = commands
-        .spawn(RigidBody::Dynamic)
-        .insert(spatialbundle)
+        .spawn(SpatialBundle::from_transform(xform))
         .insert((
-            body,
-            mass_props.clone(),
+            RigidBody::Dynamic,
+            body_collider,
             bike_collision_group,
             restitution,
             friction,
             SleepingDisabled,
+            CyberBikeBody,
+            CatControllerState::default(),
+            ColliderDensity(0.6),
             LinearDamping(0.1),
             AngularDamping(2.0),
             LinearVelocity::ZERO,
@@ -68,8 +64,6 @@ pub(super) fn spawn_cyberbike(
                 ..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(Clone, Component)]
+#[derive(Clone, Copy, Component)]
 pub struct CyberSteering;
 
-#[derive(Clone, 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

@@ -3,7 +3,7 @@ mod components;
 mod wheels;
 
 use bevy::{
-    app::PostStartup,
+    app::{PostStartup, Startup},
     prelude::{App, Assets, Mesh, Plugin, ResMut, StandardMaterial},
 };
 
@@ -23,6 +23,6 @@ impl Plugin for CyberBikePlugin {
     fn build(&self, app: &mut App) {
         app.insert_resource(WheelConfig::default())
             .register_type::<WheelConfig>()
-            .add_systems(PostStartup, spawn_cyberbike);
+            .add_systems(Startup, spawn_cyberbike);
     }
 }

src/bike/wheels.rs

@@ -1,7 +1,10 @@
 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,
@@ -12,7 +15,6 @@ pub fn spawn_wheels(
     let (membership, filter) = BIKE_WHEEL_COLLISION_GROUP;
     let wheels_collision_group = CollisionLayers::new(membership, filter);
     let wheel_y = conf.y;
-    let stiffness = conf.stiffness;
     let not_sleeping = SleepingDisabled;
     let ccd = SweptCcd::NON_LINEAR.include_dynamic(false);
     let limits = conf.limits;
@@ -84,11 +86,26 @@ pub fn spawn_wheels(
             ))
             .id();
 
-        let axel = if let Some(ref steering) = steering {
-            commands.spawn((RigidBody::Dynamic, ExternalForce::ZERO, steering.clone()))
+        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 {
-            commands.spawn((RigidBody::Dynamic, ExternalForce::ZERO))
+            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);
@@ -100,7 +117,7 @@ pub fn spawn_wheels(
                 .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);
+            commands.spawn((joint, CyberFork));
         } else {
             let joint = PrismaticJoint::new(axel, bike)
                 .with_free_axis(suspension_axis)

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/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();
+        }
+    }
+}