src/action/mod.rs

@@ -38,7 +38,7 @@ impl Plugin for CyberActionPlugin {
                     reset_wheel_forces,
                     cyber_lean,
                     falling_cat,
-                    wheel_forces,
+                    input_forces,
                     drag,
                 )
                     .chain(),

src/action/systems.rs

@@ -137,7 +137,7 @@ pub(super) fn wheel_forces(
             &mut PreviousVelocity,
             Option<&CyberSteering>,
         ),
-        (With<CyberWheel>, Without<CyberBikeBody>),
+        With<CyberWheel>,
     >,
     mut body_query: Query<
         (
@@ -146,7 +146,7 @@ pub(super) fn wheel_forces(
             &mut PreviousVelocity,
             &ReadMassProperties,
         ),
-        (With<CyberBikeBody>, Without<CyberWheel>),
+        With<CyberBikeBody>,
     >,
     wheel_config: Res<WheelConfig>,
     rapier_config: Res<RapierConfiguration>,

src/bike/body.rs

@@ -8,10 +8,7 @@ use bevy_rapier3d::prelude::{
 };
 
 use super::{spawn_wheels, CyberBikeBody, Meshterial, WheelConfig, BIKE_BODY_COLLISION_GROUP};
-use crate::{
+use crate::{action::CatControllerState, planet::PLANET_RADIUS};
-    action::{CatControllerState, PreviousVelocity},
-    planet::PLANET_RADIUS,
-};
 
 pub(super) fn spawn_cyberbike(
     mut commands: Commands,
@@ -66,7 +63,6 @@ pub(super) fn spawn_cyberbike(
             Sleeping::disabled(),
             Ccd { enabled: true },
             ReadMassProperties::default(),
-            PreviousVelocity::default(),
         ))
         .insert(TransformInterpolation {
             start: None,

src/bike/wheels.rs

@@ -2,12 +2,13 @@ use bevy::prelude::*;
 use bevy_rapier3d::{
     dynamics::{FixedJointBuilder, Velocity},
     prelude::{
-        ColliderMassProperties, ExternalForce, MultibodyJoint, PrismaticJointBuilder, RigidBody,
+        Ccd, CoefficientCombineRule, Collider, ColliderMassProperties, CollisionGroups, Damping,
-        Sleeping, TransformInterpolation,
+        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::action::PreviousVelocity;
 
 pub(crate) fn spawn_wheels(
@@ -16,13 +17,21 @@ pub(crate) fn spawn_wheels(
     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::Min,
+    };
+
     let mut wheel_poses = Vec::with_capacity(2);
 
     // front
@@ -42,7 +51,7 @@ pub(crate) fn spawn_wheels(
     }
 
     for (offset, steering) in wheel_poses {
-        let mesh = gen_tires(conf);
+        let (mesh, collider) = gen_tires(conf);
 
         let material = StandardMaterial {
             base_color: Color::YELLOW,
@@ -84,6 +93,7 @@ pub(crate) fn spawn_wheels(
                 .spawn(RigidBody::Dynamic)
                 .insert(neck_joint)
                 .insert(steering)
+                .insert(not_sleeping)
                 .id();
             neck
         } else {
@@ -94,11 +104,15 @@ pub(crate) fn spawn_wheels(
         let axel_joint = MultibodyJoint::new(axel_parent_entity, axel_builder);
 
         commands.spawn(pbr_bundle).insert((
+            collider,
             mass_props,
             //wheel_damping,
-            axel_joint,
+            ccd,
-            CyberWheel,
             not_sleeping,
+            axel_joint,
+            wheels_collision_group,
+            friction,
+            CyberWheel,
             Velocity::default(),
             PreviousVelocity::default(),
             ExternalForce::default(),
@@ -110,8 +124,11 @@ pub(crate) fn spawn_wheels(
 }
 
 // do mesh shit
-fn gen_tires(conf: &WheelConfig) -> Mesh {
+fn gen_tires(conf: &WheelConfig) -> (Mesh, Collider) {
     let wheel_rad = conf.radius;
     let tire = Sphere::new(wheel_rad);
-    Mesh::from(tire)
+    let mesh = Mesh::from(tire);
+    let wheel_collider = Collider::ball(wheel_rad);
+
+    (mesh, wheel_collider)
 }

src/ui.rs

@@ -5,6 +5,8 @@ use bevy::{
         TextBundle, TextSection, TextStyle, Transform, With,
     },
 };
+//#[cfg(feature = "inspector")]
+//use bevy_inspector_egui::quick::WorldInspectorPlugin;
 use bevy_rapier3d::prelude::Velocity;
 
 use crate::bike::CyberBikeBody;
@@ -51,6 +53,9 @@ pub struct CyberUIPlugin;
 
 impl Plugin for CyberUIPlugin {
     fn build(&self, app: &mut App) {
+        #[cfg(feature = "inspector")]
+        //app.add_plugins(WorldInspectorPlugin::new());
+
         //
         app.add_systems(Startup, setup_ui)
             .add_systems(Update, update_ui);