Cargo.toml

@@ -6,23 +6,32 @@ edition = "2021"
 [dependencies]
 rand = "0.8"
 # bevy_polyline = "0.4"
-noise = "0.9"
+noise = { git = "https://github.com/Razaekel/noise-rs" }
-hexasphere = "14"
+hexasphere = "8"
-#wgpu = "0.20"
+wgpu = "0.15"
-# bevy-inspector-egui = "0.18"
+bevy-inspector-egui = "0.18"
 
 [features]
 inspector = []
 
 [dependencies.bevy]
-version = "0.14"
+version = "0.10"
-default-features = true
-features = ["bevy_dev_tools"]
-
-[dependencies.avian3d]
 default-features = false
-version = "0.1"
+features = [
-features = ["3d", "f32", "parry-f32", "debug-plugin", "default-collider", "collider-from-mesh"]
+  "bevy_gilrs",
+  "bevy_winit",
+  "png",
+  "hdr",
+  "x11",
+  "bevy_ui",
+  "bevy_text",
+  "bevy_gltf",
+  "bevy_sprite",
+]
+
+[dependencies.bevy_rapier3d]
+features = ["debug-render-3d"]
+version = "0.21"
 
 # 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},
+    prelude::{Component, ReflectResource, Resource, Vec3},
     reflect::Reflect,
 };
 
@@ -26,6 +26,21 @@ 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 {
@@ -36,8 +51,8 @@ pub struct MovementSettings {
 impl Default for MovementSettings {
     fn default() -> Self {
         Self {
-            accel: 40.0,
+            accel: 20.0,
-            gravity: 9.8,
+            gravity: 4.8,
         }
     }
 }
@@ -53,9 +68,9 @@ pub struct CatControllerSettings {
 impl Default for CatControllerSettings {
     fn default() -> Self {
         Self {
-            kp: 1200.0,
+            kp: 80.0,
             kd: 10.0,
-            ki: 50.0,
+            ki: 0.4,
         }
     }
 }

src/action/mod.rs

@@ -1,11 +1,10 @@
-use avian3d::prelude::{PhysicsPlugins, SubstepCount};
 use bevy::{
-    app::FixedUpdate,
     diagnostic::FrameTimeDiagnosticsPlugin,
     ecs::reflect::ReflectResource,
     prelude::{App, IntoSystemConfigs, Plugin, Resource},
     reflect::Reflect,
 };
+use bevy_rapier3d::prelude::{NoUserData, RapierPhysicsPlugin};
 
 mod components;
 mod systems;
@@ -25,14 +24,24 @@ impl Plugin for CyberActionPlugin {
         app.init_resource::<MovementSettings>()
             .register_type::<MovementSettings>()
             .init_resource::<CatControllerSettings>()
+            .init_resource::<ActionDebugInstant>()
             .init_resource::<CyberLean>()
             .register_type::<CyberLean>()
             .register_type::<CatControllerSettings>()
-            .add_plugins((PhysicsPlugins::default(), FrameTimeDiagnosticsPlugin))
+            .add_plugin(RapierPhysicsPlugin::<NoUserData>::default())
-            .insert_resource(SubstepCount(24))
+            .add_startup_system(timestep_setup)
+            .add_plugin(FrameTimeDiagnosticsPlugin::default())
             .add_systems(
-                FixedUpdate,
+                (
-                (set_gravity, calculate_lean, apply_lean, apply_inputs).chain(),
+                    gravity,
+                    cyber_lean,
+                    falling_cat,
+                    input_forces,
+                    drag,
+                    tunnel_out,
+                    surface_fix,
+                )
+                    .chain(),
             );
     }
 }

src/action/systems.rs

@@ -1,109 +1,20 @@
 use std::f32::consts::{FRAC_PI_3, FRAC_PI_4};
 
-use avian3d::prelude::{AngleLimit, ExternalTorque, Gravity, LinearVelocity, RevoluteJoint};
+use bevy::prelude::{
-#[cfg(feature = "inspector")]
+    Commands, Entity, Quat, Query, Res, ResMut, Time, Transform, Vec3, With, Without,
-use bevy::prelude::Gizmos;
+};
-use bevy::prelude::{Quat, Query, Res, ResMut, Time, Transform, Vec3, With};
+use bevy_rapier3d::prelude::{
-
+    CollisionGroups, ExternalForce, Group, MultibodyJoint, QueryFilter, RapierConfiguration,
-use super::{CatControllerSettings, CatControllerState, CyberLean, MovementSettings};
+    RapierContext, ReadMassProperties, TimestepMode, Velocity,
-use crate::{
-    bike::{CyberBikeBody, CyberSteering, CyberWheel},
-    input::InputState,
 };
 
-/// The gravity vector points from the cyberbike to the center of the planet.
+#[cfg(feature = "inspector")]
-pub(super) fn set_gravity(
+use super::ActionDebugInstant;
-    xform: Query<&Transform, With<CyberBikeBody>>,
+use super::{CatControllerSettings, CatControllerState, CyberLean, MovementSettings, Tunneling};
-    settings: Res<MovementSettings>,
+use crate::{
-    mut gravity: ResMut<Gravity>,
+    bike::{CyberBikeBody, CyberSteering, CyberWheel, WheelConfig, BIKE_WHEEL_COLLISION_GROUP},
-) {
+    input::InputState,
-    let xform = xform.single();
+};
-    *gravity = Gravity(xform.translation.normalize() * -settings.gravity);
-}
-
-/// The desired lean angle, given steering input and speed.
-pub(super) fn calculate_lean(
-    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.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_normal() {
-        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 apply_lean(
-    mut bike_query: Query<(&Transform, &mut ExternalTorque, &mut CatControllerState)>,
-    time: Res<Time>,
-    settings: Res<CatControllerSettings>,
-    lean: Res<CyberLean>,
-    #[cfg(feature = "inspector")] mut gizmos: Gizmos,
-) {
-    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 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_normal() {
-            let tork = mag * *xform.back();
-            torque.apply_torque(tork);
-            #[cfg(feature = "inspector")]
-            gizmos.arrow(
-                xform.translation + Vec3::Y,
-                xform.translation + tork + Vec3::Y,
-                bevy::color::Color::WHITE,
-            );
-        }
-    }
-}
-
-/// Apply forces to the cyberbike as a result of input.
-pub(super) fn apply_inputs(
-    settings: Res<MovementSettings>,
-    input: Res<InputState>,
-    mut wheels: Query<(&Transform, &mut ExternalTorque), With<CyberWheel>>,
-    mut steering: Query<&mut RevoluteJoint, With<CyberSteering>>,
-) {
-    // brake + thrust
-    for (xform, mut torque) in wheels.iter_mut() {
-        let target = input.throttle * settings.accel;
-        let tork = target * *xform.left();
-        torque.apply_torque(tork);
-    }
-
-    // steering
-    let mut steering = steering.single_mut();
-    let angle = yaw_to_angle(input.yaw);
-    let angle = if angle.is_normal() { angle } else { 0.0 };
-    let limit = AngleLimit::new(angle - 0.01, angle + 0.01);
-    steering.angle_limit = Some(limit);
-}
 
 fn yaw_to_angle(yaw: f32) -> f32 {
     let v = yaw.powi(5) * FRAC_PI_4;
@@ -124,3 +35,211 @@ 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

@@ -1,12 +1,14 @@
-use avian3d::prelude::*;
 use bevy::{
-    core::Name,
     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};
+use super::{spawn_wheels, CyberBikeBody, Meshterial, WheelConfig, BIKE_BODY_COLLISION_GROUP};
-use crate::{action::CatControllerState, planet::PLANET_RADIUS, ColliderGroups};
+use crate::{action::CatControllerState, planet::PLANET_RADIUS};
 
 pub(super) fn spawn_cyberbike(
     mut commands: Commands,
@@ -17,15 +19,19 @@ pub(super) fn spawn_cyberbike(
     let altitude = PLANET_RADIUS - 10.0;
 
     let mut xform = Transform::from_translation(Vec3::X * altitude)
-        .with_rotation(Quat::from_axis_angle(Vec3::Z, (-89.0f32).to_radians()));
+        .with_rotation(Quat::from_axis_angle(Vec3::Z, -89.0f32.to_radians()));
 
     let right = xform.right() * 350.0;
     xform.translation += right;
 
+    let damping = Damping {
+        angular_damping: 2.0,
+        linear_damping: 0.1,
+    };
+
     let friction = Friction {
-        dynamic_coefficient: 0.1,
+        coefficient: 0.01,
-        static_coefficient: 0.6,
+        ..Default::default()
-        combine_rule: CoefficientCombine::Average,
     };
 
     let restitution = Restitution {
@@ -33,41 +39,47 @@ pub(super) fn spawn_cyberbike(
         ..Default::default()
     };
 
-    let bike_collision_group =
+    let mass_properties = ColliderMassProperties::Density(1.5);
-        CollisionLayers::new(ColliderGroups::BikeBody, ColliderGroups::Planet);
+
+    let (membership, filter) = BIKE_BODY_COLLISION_GROUP;
+    let bike_collision_group = CollisionGroups::new(membership, filter);
 
     let scene = asset_server.load("cb-no-y_up.glb#Scene0");
 
-    let body_collider =
+    let spatialbundle = SpatialBundle {
-        Collider::capsule_endpoints(0.5, Vec3::new(0.0, 0.0, -0.65), Vec3::new(0.0, 0.0, 0.8));
+        transform: xform,
+        ..Default::default()
+    };
+
     let bike = commands
-        .spawn(SpatialBundle::from_transform(xform))
+        .spawn(RigidBody::Dynamic)
+        .insert(spatialbundle)
         .insert((
-            Name::new("bike body"),
+            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,
-            SleepingDisabled,
+            Sleeping::disabled(),
-            CyberBikeBody,
+            Ccd { enabled: true },
-            CatControllerState::default(),
+            ReadMassProperties::default(),
-            ColliderDensity(20.0),
-            LinearDamping(0.1),
-            AngularDamping(2.0),
-            LinearVelocity::ZERO,
-            AngularVelocity::ZERO,
-            ExternalTorque::ZERO.with_persistence(false),
         ))
+        .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();
 
-    bevy::log::info!("bike body: {bike:?}");
+    spawn_wheels(&mut commands, bike, &wheel_conf, &mut meshterials);
-
-    spawn_wheels(&mut commands, bike, &xform, &wheel_conf, &mut meshterials);
 }

src/bike/components.rs

@@ -6,10 +6,10 @@ use bevy::{
 #[derive(Component)]
 pub struct CyberBikeBody;
 
-#[derive(Clone, Copy, Component)]
+#[derive(Component)]
 pub struct CyberSteering;
 
-#[derive(Clone, Copy, Debug, Component)]
+#[derive(Debug, Component)]
 pub struct CyberWheel;
 
 #[derive(Resource, Reflect)]
@@ -33,15 +33,15 @@ impl Default for WheelConfig {
         Self {
             front_forward: 0.8,
             rear_back: 1.0,
-            y: -0.5,
+            y: -0.1,
             limits: [-0.5, 0.1],
-            stiffness: 3.0,
+            stiffness: 190.0,
             damping: 8.0,
-            radius: 0.40,
+            radius: 0.25,
-            thickness: 0.15,
+            thickness: 0.11,
-            friction: 1.5,
+            friction: 1.2,
-            restitution: 0.1,
+            restitution: 0.95,
-            density: 30.0,
+            density: 0.05,
         }
     }
 }

src/bike/mod.rs

@@ -2,16 +2,16 @@ mod body;
 mod components;
 mod wheels;
 
-use bevy::{
+use bevy::prelude::{
-    app::PostStartup,
+    App, Assets, IntoSystemConfig, Mesh, Plugin, ResMut, StandardMaterial, StartupSet,
-    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: (u32, u32) = (1, 1);
+pub const BIKE_BODY_COLLISION_GROUP: (Group, Group) = (Group::GROUP_1, Group::GROUP_1);
-pub const BIKE_WHEEL_COLLISION_GROUP: (u32, u32) = (2, 2);
+pub const BIKE_WHEEL_COLLISION_GROUP: (Group, Group) = (Group::GROUP_10, Group::GROUP_10);
 
 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_systems(PostStartup, spawn_cyberbike);
+            .add_startup_system(spawn_cyberbike.in_base_set(StartupSet::PostStartup));
     }
 }

src/bike/wheels.rs

@@ -1,21 +1,33 @@
-use avian3d::{math::FRAC_PI_2, prelude::*};
+use bevy::prelude::{shape::Torus as Tire, *};
-use bevy::prelude::*;
+use bevy_rapier3d::prelude::{
+    Ccd, CoefficientCombineRule, Collider, ColliderMassProperties, CollisionGroups, Damping,
+    ExternalForce, Friction, MultibodyJoint, PrismaticJointBuilder, Restitution,
+    RevoluteJointBuilder, RigidBody, Sleeping, TransformInterpolation,
+};
 
-use super::{CyberSteering, CyberWheel, Meshterial, WheelConfig};
+use super::{CyberSteering, CyberWheel, Meshterial, WheelConfig, BIKE_WHEEL_COLLISION_GROUP};
-use crate::ColliderGroups;
 
 pub fn spawn_wheels(
     commands: &mut Commands,
     bike: Entity,
-    xform: &Transform,
     conf: &WheelConfig,
     meshterials: &mut Meshterial,
 ) {
+    let (membership, filter) = BIKE_WHEEL_COLLISION_GROUP;
+    let wheels_collision_group = CollisionGroups::new(membership, filter);
     let wheel_y = conf.y;
-
+    let stiffness = conf.stiffness;
+    let not_sleeping = Sleeping::disabled();
+    let ccd = Ccd { enabled: true };
+    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,
+    };
+
     let mut wheel_poses = Vec::with_capacity(2);
 
     // front
@@ -34,95 +46,132 @@ pub fn spawn_wheels(
         wheel_poses.push((offset, None));
     }
 
-    // tires
-    let outer_radius = conf.radius;
-    let inner_radius = conf.radius - conf.thickness;
-    let mesh = Mesh::from(Torus::new(inner_radius, outer_radius))
-        .rotated_by(Quat::from_rotation_z(FRAC_PI_2));
-    let collider = Collider::convex_hull_from_mesh(&mesh).unwrap();
-
     for (offset, steering) in wheel_poses {
-        let hub = wheels_helper(
+        let (mesh, collider) = gen_tires(conf);
-            commands,
-            meshes,
-            materials,
-            offset + xform.translation,
-            mesh.clone(),
-            collider.clone(),
-            conf,
-        );
 
-        if let Some(steering) = steering {
+        let material = StandardMaterial {
-            commands.spawn((
+            base_color: Color::Rgba {
-                RevoluteJoint::new(bike, hub)
+                red: 0.01,
-                    .with_aligned_axis(rake_vec)
+                green: 0.01,
-                    .with_angle_limits(-0.01, 0.01)
+                blue: 0.01,
-                    .with_local_anchor_2(Vec3::new(0.0, 0.08, -0.05))
+                alpha: 1.0,
-                    .with_local_anchor_1(offset),
+            },
-                steering,
-            ));
-        } else {
-            commands.spawn(FixedJoint::new(bike, hub).with_local_anchor_1(offset));
-        }
-    }
-}
-
-fn wheels_helper(
-    commands: &mut Commands,
-    meshes: &mut ResMut<Assets<Mesh>>,
-    materials: &mut ResMut<Assets<StandardMaterial>>,
-    position: Vec3,
-    tire_mesh: Mesh,
-    collider: Collider,
-    conf: &WheelConfig,
-) -> Entity {
-    let wheel_material = &StandardMaterial {
-        base_color: Color::srgb(0.01, 0.01, 0.01),
             alpha_mode: AlphaMode::Opaque,
             perceptual_roughness: 0.5,
             ..Default::default()
         };
 
-    let xform = Transform::from_translation(position);
+        let pbr_bundle = PbrBundle {
-    let hub_mesh: Mesh = Sphere::new(0.1).into();
+            material: materials.add(material),
-
+            mesh: meshes.add(mesh),
-    let hub = commands
-        .spawn((
-            Name::new("hub"),
-            RigidBody::Dynamic,
-            MassPropertiesBundle::new_computed(&Collider::sphere(0.1), 200.0),
-            PbrBundle {
-                mesh: meshes.add(hub_mesh),
-                material: materials.add(wheel_material.clone()),
-                transform: xform,
             ..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)
             .id();
 
-    let tire = commands
+        let axel_parent_entity = if let Some(steering) = steering {
-        .spawn((
+            let neck_builder =
-            Name::new("tire"),
+                RevoluteJointBuilder::new(rake_vec).local_anchor1(Vec3::new(0.0, 0.0, 0.1)); // this adds another 0.1m of trail
-            PbrBundle {
+            let neck_joint = MultibodyJoint::new(fork_rb_entity, neck_builder);
-                mesh: meshes.add(tire_mesh),
+            let neck = commands
-                material: materials.add(wheel_material.clone()),
+                .spawn(RigidBody::Dynamic)
-                transform: xform,
+                .insert(neck_joint)
+                .insert(steering)
+                .insert(not_sleeping)
+                .id();
+            neck
+        } else {
+            fork_rb_entity
+        };
+
+        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()
-            },
+        };
-            CyberWheel,
+
-            RigidBody::Dynamic,
+        commands.spawn(pbr_bundle).insert((
             collider,
-            Friction::new(conf.friction),
+            mass_props,
+            wheel_damping,
+            ccd,
+            not_sleeping,
+            axel_joint,
+            wheels_collision_group,
+            friction,
+            CyberWheel,
+            ExternalForce::default(),
             Restitution::new(conf.restitution),
-            ColliderDensity(conf.density),
+            SpatialBundle::default(),
-            CollisionLayers::new(ColliderGroups::Wheels, ColliderGroups::Planet),
+            TransformInterpolation::default(),
-            ExternalTorque::ZERO.with_persistence(false),
+            RigidBody::Dynamic,
-            CollisionMargin(0.05),
+        ));
-            SweptCcd::NON_LINEAR,
+    }
-        ))
+}
-        .id();
+
-
+// do mesh shit
-    // connect hubs and tires to make wheels
+fn gen_tires(conf: &WheelConfig) -> (Mesh, Collider) {
-    commands.spawn(RevoluteJoint::new(hub, tire).with_aligned_axis(Vec3::X));
+    let wheel_rad = conf.radius;
-    hub
+    let tire_thickness = conf.thickness;
+    let tire = Tire {
+        radius: wheel_rad,
+        ring_radius: tire_thickness,
+        ..Default::default()
+    };
+
+    let mut mesh = Mesh::from(tire);
+    let tire_verts = mesh
+        .attribute(Mesh::ATTRIBUTE_POSITION)
+        .unwrap()
+        .as_float3()
+        .unwrap()
+        .iter()
+        .map(|v| {
+            //
+            let v = Vec3::from_array(*v);
+            let m = Mat3::from_rotation_z(90.0f32.to_radians());
+            let p = m.mul_vec3(v);
+            p.to_array()
+        })
+        .collect::<Vec<[f32; 3]>>();
+    mesh.remove_attribute(Mesh::ATTRIBUTE_POSITION);
+    mesh.insert_attribute(Mesh::ATTRIBUTE_POSITION, tire_verts);
+
+    let mut idxs = Vec::new();
+    let indices = mesh.indices().unwrap().iter().collect::<Vec<_>>();
+    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,
+    );
+
+    (mesh, wheel_collider)
 }

src/camera.rs

@@ -1,6 +1,6 @@
 use bevy::prelude::*;
 
-use crate::{bike::CyberBikeBody, input::InputState, ui::setup_ui};
+use crate::{bike::CyberBikeBody, input::InputState};
 
 // 85 degrees in radians
 const MAX_PITCH: f32 = 1.48353;
@@ -38,25 +38,22 @@ impl CyberCameras {
     }
 }
 
-fn setup_cybercams(mut commands: Commands, asset_server: Res<AssetServer>) {
+fn setup_cybercams(mut commands: Commands) {
     let hero_projection = PerspectiveProjection {
         fov: std::f32::consts::FRAC_PI_3,
         ..Default::default()
     };
 
-    let id = commands
+    commands
         .spawn(Camera3dBundle {
             projection: bevy::render::camera::Projection::Perspective(hero_projection),
             ..Default::default()
         })
-        .insert(CyberCameras::Hero)
+        .insert(CyberCameras::Hero);
-        .id();
 
     commands
         .spawn(Camera3dBundle::default())
         .insert(CyberCameras::Debug);
-
-    setup_ui(commands, asset_server, id);
 }
 
 fn follow_cyberbike(
@@ -84,10 +81,10 @@ 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 = Transform::from_translation(bike_xform.translation);
+                let mut ncx = bike_xform.to_owned();
                 ncx.rotate(Quat::from_axis_angle(up, offset.rot.to_radians()));
                 ncx.translation += ncx.forward() * offset.dist;
                 ncx.translation += ncx.up() * offset.alt;
@@ -100,15 +97,12 @@ fn follow_cyberbike(
 
 fn update_active_camera(
     state: Res<State<CyberCameras>>,
-    mut cameras: Query<(Entity, &mut Camera, &CyberCameras)>,
+    mut query: Query<(&mut Camera, &CyberCameras)>,
-    mut target: Query<&mut TargetCamera>,
 ) {
-    let mut target = target.single_mut();
     // find the camera with the current state, set it as the ActiveCamera
-    cameras.iter_mut().for_each(|(ent, mut cam, cyber)| {
+    query.iter_mut().for_each(|(mut cam, cyber)| {
-        if cyber.eq(state.get()) {
+        if cyber.eq(&state.0) {
             cam.is_active = true;
-            *target = TargetCamera(ent);
         } else {
             cam.is_active = false;
         }
@@ -118,13 +112,13 @@ fn update_active_camera(
 fn cycle_cam_state(
     state: Res<State<CyberCameras>>,
     mut next: ResMut<NextState<CyberCameras>>,
-    mut keys: ResMut<ButtonInput<KeyCode>>,
+    mut keys: ResMut<Input<KeyCode>>,
 ) {
-    if keys.just_pressed(KeyCode::KeyD) {
+    if keys.just_pressed(KeyCode::D) {
-        let new_state = state.get().next();
+        let new_state = state.0.next();
         info!("{:?}", new_state);
         next.set(new_state);
-        keys.reset(KeyCode::KeyD);
+        keys.reset(KeyCode::D);
     }
 }
 
@@ -138,13 +132,9 @@ impl Plugin for CyberCamPlugin {
 
 fn common(app: &mut bevy::prelude::App) {
     app.insert_resource(DebugCamOffset::default())
-        .add_systems(Startup, setup_cybercams)
+        .add_startup_system(setup_cybercams)
-        .init_state::<CyberCameras>()
+        .add_state::<CyberCameras>()
-        .add_systems(Update, (cycle_cam_state, update_active_camera))
+        .add_system(cycle_cam_state)
-        .add_systems(
+        .add_system(update_active_camera)
-            PostUpdate,
+        .add_system(follow_cyberbike);
-            follow_cyberbike
-                .after(avian3d::schedule::PhysicsSet::Sync)
-                .before(TransformSystem::TransformPropagate),
-        );
 }

src/glamor.rs

@@ -1,10 +1,4 @@
-use avian3d::debug_render::PhysicsGizmos;
+use bevy::prelude::{App, Color, Plugin};
-use bevy::{
-    color::Srgba,
-    gizmos::AppGizmoBuilder,
-    math::Vec3,
-    prelude::{App, Color, GizmoConfig, Plugin},
-};
 
 // use crate::planet::CyberPlanet;
 
@@ -15,18 +9,26 @@ pub struct CyberGlamorPlugin;
 impl Plugin for CyberGlamorPlugin {
     fn build(&self, app: &mut App) {
         {
-            let plugin = avian3d::debug_render::PhysicsDebugPlugin::default();
+            use bevy_rapier3d::render::{
-
+                DebugRenderMode, DebugRenderStyle, RapierDebugRenderPlugin,
-            app.add_plugins(plugin).insert_gizmo_config(
+            };
-                PhysicsGizmos {
+            let style = DebugRenderStyle {
-                    contact_point_color: Some(Srgba::GREEN.into()),
+                multibody_joint_anchor_color: Color::GREEN.as_rgba_f32(),
-                    contact_normal_color: Some(Srgba::WHITE.into()),
-                    hide_meshes: true,
-                    axis_lengths: Some(Vec3::ZERO),
                 ..Default::default()
-                },
+            };
-                GizmoConfig::default(),
+            let mode = DebugRenderMode::CONTACTS
-            );
+                | DebugRenderMode::SOLVER_CONTACTS
+                | DebugRenderMode::JOINTS
+                | DebugRenderMode::RIGID_BODY_AXES;
+
+            let rplugin = RapierDebugRenderPlugin {
+                style,
+                always_on_top: true,
+                enabled: true,
+                mode,
+            };
+
+            app.add_plugin(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<ButtonInput<KeyCode>>) {
+fn update_debug_cam(mut offset: ResMut<DebugCamOffset>, mut keys: ResMut<Input<KeyCode>>) {
     let keyset: HashSet<_> = keys.get_pressed().collect();
-    let shifted = keyset.contains(&KeyCode::ShiftLeft) || keyset.contains(&KeyCode::ShiftRight);
+    let shifted = keyset.contains(&KeyCode::LShift) || keyset.contains(&KeyCode::RShift);
 
     for key in keyset {
         match key {
-            KeyCode::ArrowLeft => offset.rot -= 5.0,
+            KeyCode::Left => offset.rot -= 5.0,
-            KeyCode::ArrowRight => offset.rot += 5.0,
+            KeyCode::Right => offset.rot += 5.0,
-            KeyCode::ArrowUp => {
+            KeyCode::Up => {
                 if shifted {
                     offset.alt += 0.5;
                 } else {
                     offset.dist -= 0.5;
                 }
             }
-            KeyCode::ArrowDown => {
+            KeyCode::Down => {
                 if shifted {
                     offset.alt -= 0.5;
                 } else {
@@ -41,17 +41,16 @@ fn update_debug_cam(mut offset: ResMut<DebugCamOffset>, mut keys: ResMut<ButtonI
     }
 
     if keys.get_just_released().len() > 0 {
-        let unpressed =
+        let unpressed = keys.just_released(KeyCode::LShift) || keys.just_released(KeyCode::RShift);
-            keys.just_released(KeyCode::ShiftLeft) || keys.just_released(KeyCode::ShiftRight);
         keys.reset_all();
         if shifted && !unpressed {
-            keys.press(KeyCode::ShiftLeft);
+            keys.press(KeyCode::LShift);
         }
     }
 }
 
 fn update_input(mut events: EventReader<GamepadEvent>, mut istate: ResMut<InputState>) {
-    for pad_event in events.read() {
+    for pad_event in events.iter() {
         match pad_event {
             GamepadEvent::Button(button_event) => {
                 let GamepadButtonChangedEvent {
@@ -67,7 +66,7 @@ fn update_input(mut events: EventReader<GamepadEvent>, mut istate: ResMut<InputS
                             istate.brake = false;
                         }
                     }
-                    _ => {}
+                    _ => info!("unhandled button press: {button_event:?}"),
                 }
             }
             GamepadEvent::Axis(axis_event) => {
@@ -81,7 +80,7 @@ fn update_input(mut events: EventReader<GamepadEvent>, mut istate: ResMut<InputS
                     GamepadAxisType::RightStickY => {
                         istate.pitch = *value;
                     }
-                    _ => {}
+                    _ => info!("unhandled axis event: {axis_event:?}"),
                 }
             }
             GamepadEvent::Connection(_) => {}
@@ -93,6 +92,7 @@ pub struct CyberInputPlugin;
 impl Plugin for CyberInputPlugin {
     fn build(&self, app: &mut App) {
         app.init_resource::<InputState>()
-            .add_systems(Update, (update_input, update_debug_cam));
+            .add_system(update_input)
+            .add_system(update_debug_cam);
     }
 }

src/lib.rs

@@ -1,4 +1,3 @@
-use avian3d::prelude::PhysicsLayer;
 use bevy::{
     prelude::{Query, Vec3, Window, With},
     window::PrimaryWindow,
@@ -13,13 +12,6 @@ pub mod lights;
 pub mod planet;
 pub mod ui;
 
-#[derive(PhysicsLayer)]
-pub enum ColliderGroups {
-    BikeBody,
-    Wheels,
-    Planet,
-}
-
 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

@@ -2,10 +2,7 @@ use bevy::{pbr::CascadeShadowConfigBuilder, prelude::*};
 
 use crate::planet::PLANET_RADIUS;
 
-pub const LIGHT_RANGE: f32 = 900.0;
+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,
@@ -13,18 +10,18 @@ fn spawn_static_lights(
     mut materials: ResMut<Assets<StandardMaterial>>,
 ) {
     let pink_light = PointLight {
-        intensity: 1_000_000.0,
+        intensity: 1_00.0,
         range: LIGHT_RANGE,
-        color: PINK,
+        color: Color::PINK,
         radius: 1.0,
         shadows_enabled: true,
         ..Default::default()
     };
 
     let blue_light = PointLight {
-        intensity: 1_000_000.0,
+        intensity: 1_000.0,
         range: LIGHT_RANGE,
-        color: BLUE,
+        color: Color::BLUE,
         radius: 1.0,
         shadows_enabled: true,
         ..Default::default()
@@ -32,7 +29,7 @@ fn spawn_static_lights(
 
     commands.insert_resource(AmbientLight {
         color: Color::WHITE,
-        brightness: 8_000.0,
+        brightness: 0.2,
     });
 
     let _cascade_shadow_config = CascadeShadowConfigBuilder {
@@ -51,10 +48,16 @@ fn spawn_static_lights(
         })
         .with_children(|builder| {
             builder.spawn(PbrBundle {
-                mesh: meshes.add(Mesh::from(Sphere::new(10.0))),
+                mesh: meshes.add(
+                    Mesh::try_from(shape::Icosphere {
+                        radius: 10.0,
+                        subdivisions: 2,
+                    })
+                    .unwrap(),
+                ),
                 material: materials.add(StandardMaterial {
-                    base_color: BLUE,
+                    base_color: Color::BLUE,
-                    emissive: PINK.into(),
+                    emissive: Color::PINK,
                     ..Default::default()
                 }),
                 ..Default::default()
@@ -69,10 +72,16 @@ fn spawn_static_lights(
         })
         .with_children(|builder| {
             builder.spawn(PbrBundle {
-                mesh: meshes.add(Mesh::from(Sphere::new(10.0))),
+                mesh: meshes.add(
+                    Mesh::try_from(shape::Icosphere {
+                        radius: 10.0,
+                        subdivisions: 2,
+                    })
+                    .unwrap(),
+                ),
                 material: materials.add(StandardMaterial {
-                    base_color: PINK,
+                    base_color: Color::PINK,
-                    emissive: BLUE.into(),
+                    emissive: Color::BLUE,
                     ..Default::default()
                 }),
                 ..Default::default()
@@ -83,6 +92,6 @@ fn spawn_static_lights(
 pub struct CyberSpaceLightsPlugin;
 impl Plugin for CyberSpaceLightsPlugin {
     fn build(&self, app: &mut App) {
-        app.add_systems(Startup, spawn_static_lights);
+        app.add_startup_system(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::srgb(0.64, 0.745, 0.937); // a light blue sky
+const CYBER_SKY: Color = Color::rgb(0.64, 0.745, 0.937); // a light blue sky
 
 fn main() {
     let mut app = App::new();
@@ -21,35 +21,18 @@ fn main() {
             }),
             ..Default::default()
         }))
-        .add_plugins((
+        .add_plugin(CyberPlanetPlugin)
-            CyberPlanetPlugin,
+        .add_plugin(CyberInputPlugin)
-            CyberInputPlugin,
+        .add_plugin(CyberActionPlugin)
-            CyberActionPlugin,
+        .add_plugin(CyberCamPlugin)
-            CyberCamPlugin,
+        .add_plugin(CyberSpaceLightsPlugin)
-            CyberSpaceLightsPlugin,
+        .add_plugin(CyberUIPlugin)
-            CyberUIPlugin,
+        .add_plugin(CyberBikePlugin)
-            CyberBikePlugin,
+        .add_startup_system(disable_mouse_trap)
+        .add_system(bevy::window::close_on_esc);
+
     #[cfg(feature = "inspector")]
-            CyberGlamorPlugin,
+    app.add_plugin(CyberGlamorPlugin);
-        ))
-        .add_systems(Startup, disable_mouse_trap)
-        .add_systems(Update, close_on_esc);
 
     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

@@ -1,14 +1,12 @@
-use avian3d::prelude::*;
 use bevy::{
-    prelude::*,
+    prelude::{shape::Icosphere, *},
-    render::{
+    render::{color::Color, mesh::Indices},
-        mesh::{Indices, PrimitiveTopology},
-        render_asset::RenderAssetUsages,
-    },
 };
+use bevy_rapier3d::prelude::*;
 use hexasphere::shapes::IcoSphere;
 use noise::{HybridMulti, NoiseFn, SuperSimplex};
 use rand::{Rng, SeedableRng};
+use wgpu::PrimitiveTopology;
 
 pub const PLANET_RADIUS: f32 = 4_000.0;
 pub const PLANET_HUE: f32 = 31.0;
@@ -22,14 +20,21 @@ fn spawn_planet(
     mut meshes: ResMut<Assets<Mesh>>,
     mut materials: ResMut<Assets<StandardMaterial>>,
 ) {
-    let (mesh, shape) = gen_planet(PLANET_RADIUS);
+    //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 pcollide = (
         shape,
         Friction {
-            static_coefficient: 0.8,
+            coefficient: 1.2,
-            dynamic_coefficient: 0.5,
+            ..Default::default()
-            combine_rule: CoefficientCombine::Average,
         },
         Restitution::new(0.8),
     );
@@ -37,22 +42,18 @@ fn spawn_planet(
     commands
         .spawn(PbrBundle {
             mesh: meshes.add(mesh),
-            material: materials.add(Color::WHITE),
+            material: materials.add(Color::WHITE.into()),
             ..Default::default()
         })
-        .insert((
+        .insert(pbody)
-            RigidBody::Static,
+        .insert(pcollide)
-            pcollide,
+        .insert(CyberPlanet);
-            CyberPlanet,
-            CollisionLayers::new(LayerMask::ALL, LayerMask::ALL),
-            CollisionMargin(0.2),
-        ));
 }
 
 pub struct CyberPlanetPlugin;
 impl Plugin for CyberPlanetPlugin {
     fn build(&self, app: &mut App) {
-        app.add_systems(Startup, spawn_planet);
+        app.add_startup_system(spawn_planet);
     }
 }
 
@@ -60,10 +61,10 @@ impl Plugin for CyberPlanetPlugin {
 // utils
 //---------------------------------------------------------------------
 
-fn gen_planet(radius: f32) -> (Mesh, Collider) {
+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(79, |point| {
+    let generated = IcoSphere::new(sphere.subdivisions, |point| {
         let inclination = point.y.acos();
         let azimuth = point.z.atan2(point.x);
 
@@ -89,7 +90,7 @@ fn gen_planet(radius: f32) -> (Mesh, Collider) {
 
     let points = noisy_points
         .iter()
-        .map(|&p| (Vec3::from_slice(&p) * radius).into())
+        .map(|&p| (Vec3::from_slice(&p) * sphere.radius).into())
         .collect::<Vec<[f32; 3]>>();
 
     for p in &points {
@@ -107,13 +108,10 @@ fn gen_planet(radius: f32) -> (Mesh, Collider) {
     }
 
     let indices = Indices::U32(indices);
-    let collider = Collider::trimesh(points.iter().map(|p| Vec3::from_slice(p)).collect(), idxs);
+    let collider = Collider::trimesh(points.iter().map(|p| Vect::from_slice(p)).collect(), idxs);
 
-    let mut mesh = Mesh::new(
+    let mut mesh = Mesh::new(PrimitiveTopology::TriangleList);
-        PrimitiveTopology::TriangleList,
+    mesh.set_indices(Some(indices));
-        RenderAssetUsages::default(),
-    );
-    mesh.insert_indices(indices);
     mesh.insert_attribute(Mesh::ATTRIBUTE_POSITION, points);
     //mesh.insert_attribute(Mesh::ATTRIBUTE_UV_0, uvs);
     mesh.duplicate_vertices();
@@ -131,14 +129,13 @@ fn gen_planet(radius: f32) -> (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)
+        let color = Color::hsl(h, PLANET_SATURATION, l).as_linear_rgba_f32();
-            .to_linear()
-            .to_f32_array();
         for _ in 0..3 {
             colors.push(color);
         }
     }
 
+    dbg!(&colors.len());
     mesh.insert_attribute(Mesh::ATTRIBUTE_COLOR, colors);
 
     (mesh, collider)

src/ui.rs

@@ -1,23 +1,17 @@
-use avian3d::prelude::LinearVelocity;
+use bevy::prelude::{
-use bevy::{
+    AlignSelf, App, AssetServer, Color, Commands, Component, Plugin, Query, Res, Style, Text,
-    app::Update,
+    TextBundle, TextSection, TextStyle, Transform, With,
-    prelude::{
-        AlignSelf, App, AssetServer, Color, Commands, Component, Entity, Plugin, Query, Res, Style,
-        Text, TextBundle, TextSection, TextStyle, With,
-    },
-    ui::TargetCamera,
 };
+#[cfg(feature = "inspector")]
+use bevy_inspector_egui::quick::WorldInspectorPlugin;
+use bevy_rapier3d::prelude::Velocity;
 
 use crate::bike::CyberBikeBody;
 
 #[derive(Component)]
 struct UpText;
 
-pub(crate) fn setup_ui(
+fn setup_ui(mut commands: Commands, asset_server: Res<AssetServer>) {
-    mut commands: Commands,
-    asset_server: Res<AssetServer>,
-    target_camera: Entity,
-) {
     commands
         .spawn(TextBundle {
             style: Style {
@@ -32,23 +26,23 @@ pub(crate) fn setup_ui(
                     style: TextStyle {
                         font: asset_server.load("fonts/FiraMono-Medium.ttf"),
                         font_size: 40.0,
-                        color: Color::srgba_u8(255, 215, 0, 230),
+                        color: Color::GOLD,
                     },
                 }],
                 ..Default::default()
             },
             ..Default::default()
         })
-        .insert((UpText, TargetCamera(target_camera)));
+        .insert(UpText);
 }
 
 fn update_ui(
-    state_query: Query<&LinearVelocity, With<CyberBikeBody>>,
+    state_query: Query<(&Velocity, &Transform), With<CyberBikeBody>>,
     mut text_query: Query<&mut Text, With<UpText>>,
 ) {
     let mut text = text_query.single_mut();
-    let velocity = state_query.single();
+    let (velocity, xform) = state_query.single();
-    let speed = velocity.0.length();
+    let speed = velocity.linvel.dot(xform.forward());
     text.sections[0].value = format!("spd: {:.2}", speed);
 }
 
@@ -56,6 +50,9 @@ pub struct CyberUIPlugin;
 
 impl Plugin for CyberUIPlugin {
     fn build(&self, app: &mut App) {
-        app.add_systems(Update, update_ui);
+        #[cfg(feature = "inspector")]
+        app.add_plugin(WorldInspectorPlugin);
+
+        app.add_startup_system(setup_ui).add_system(update_ui);
     }
 }