118 lines
3.6 KiB
Rust
118 lines
3.6 KiB
Rust
use bevy::prelude::*;
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use bevy_rapier3d::{
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dynamics::{FixedJointBuilder, Velocity},
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prelude::{
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ColliderMassProperties, ExternalForce, MultibodyJoint, PrismaticJointBuilder, RigidBody,
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Sleeping, TransformInterpolation,
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},
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};
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use super::{CyberSteering, CyberWheel, Meshterial, WheelConfig};
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use crate::action::PreviousVelocity;
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pub(crate) fn spawn_wheels(
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commands: &mut Commands,
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bike: Entity,
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conf: &WheelConfig,
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meshterials: &mut Meshterial,
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) {
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let wheel_y = conf.y;
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let stiffness = conf.stiffness;
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let not_sleeping = Sleeping::disabled();
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let limits = conf.limits;
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let (meshes, materials) = meshterials;
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let rake_vec: Vec3 = Vec3::new(0.0, 1.0, 0.57).normalize(); // about 30 degrees of rake
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let mut wheel_poses = Vec::with_capacity(2);
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// front
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{
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let wheel_x = 0.0;
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let wheel_z = -conf.front_forward;
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let offset = Vec3::new(wheel_x, wheel_y, wheel_z);
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wheel_poses.push((offset, Some(CyberSteering)));
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}
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// rear
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{
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let wheel_x = 0.0;
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let wheel_z = conf.rear_back;
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let offset = Vec3::new(wheel_x, wheel_y, wheel_z);
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wheel_poses.push((offset, None));
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}
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for (offset, steering) in wheel_poses {
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let mesh = gen_tires(conf);
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let material = StandardMaterial {
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base_color: Color::YELLOW,
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alpha_mode: AlphaMode::Opaque,
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perceptual_roughness: 0.1,
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..Default::default()
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};
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let pbr_bundle = PbrBundle {
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material: materials.add(material),
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mesh: meshes.add(mesh),
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..Default::default()
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};
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let mass_props = ColliderMassProperties::Density(conf.density);
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let suspension_damping = conf.damping;
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let suspension_axis = if steering.is_some() {
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// rake_vec
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Vec3::Y
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} else {
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Vec3::Y
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};
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let suspension_joint_builder = PrismaticJointBuilder::new(suspension_axis)
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.local_anchor1(offset)
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.limits(limits)
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.motor_position(limits[0], stiffness, suspension_damping);
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let suspension_joint = MultibodyJoint::new(bike, suspension_joint_builder);
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let fork_rb_entity = commands
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.spawn(RigidBody::Dynamic)
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.insert(suspension_joint)
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.insert(not_sleeping)
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.id();
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let axel_parent_entity = if let Some(steering) = steering {
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let neck_builder = FixedJointBuilder::new().local_anchor1(Vec3::new(0.0, 0.0, 0.1)); // this adds another 0.1m of trail
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let neck_joint = MultibodyJoint::new(fork_rb_entity, neck_builder);
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let neck = commands
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.spawn(RigidBody::Dynamic)
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.insert(neck_joint)
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.insert(steering)
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.id();
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neck
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} else {
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fork_rb_entity
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};
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let axel_builder = FixedJointBuilder::new();
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let axel_joint = MultibodyJoint::new(axel_parent_entity, axel_builder);
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commands.spawn(pbr_bundle).insert((
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mass_props,
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//wheel_damping,
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axel_joint,
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CyberWheel,
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not_sleeping,
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Velocity::default(),
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PreviousVelocity::default(),
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ExternalForce::default(),
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SpatialBundle::default(),
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TransformInterpolation::default(),
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RigidBody::Dynamic,
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));
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}
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}
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// do mesh shit
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fn gen_tires(conf: &WheelConfig) -> Mesh {
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let wheel_rad = conf.radius;
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let tire = Sphere::new(wheel_rad);
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Mesh::from(tire)
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}
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