125 lines
3.8 KiB
Rust
125 lines
3.8 KiB
Rust
use bevy::prelude::{shape::UVSphere as Tire, *};
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use bevy_rapier3d::prelude::{
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Ccd, CoefficientCombineRule, Collider, ColliderMassProperties, CollisionGroups, Damping,
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ExternalForce, Friction, MultibodyJoint, PrismaticJointBuilder, Restitution,
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RevoluteJointBuilder, RigidBody, Sleeping, TransformInterpolation,
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};
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use super::{CyberSteering, CyberWheel, Meshterial, WheelConfig, BIKE_WHEEL_COLLISION_GROUP};
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pub fn spawn_tires(
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commands: &mut Commands,
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_xform: &Transform,
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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 (membership, filter) = BIKE_WHEEL_COLLISION_GROUP;
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let wheels_collision_group = CollisionGroups::new(membership, filter);
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let wheel_y = conf.y;
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let wheel_rad = conf.radius;
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let stiffness = conf.stiffness;
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let not_sleeping = Sleeping::disabled();
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let ccd = Ccd { enabled: true };
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let limits = conf.limits;
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let (meshes, materials) = meshterials;
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let tire = Tire {
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radius: wheel_rad,
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..Default::default()
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};
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let material = StandardMaterial {
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base_color: Color::Rgba {
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red: 0.01,
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green: 0.01,
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blue: 0.01,
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alpha: 1.0,
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},
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alpha_mode: AlphaMode::Opaque,
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perceptual_roughness: 0.5,
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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::from(tire)),
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..Default::default()
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};
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let friction = Friction {
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coefficient: 0.8,
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combine_rule: CoefficientCombineRule::Min,
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};
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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 wheel_damping = Damping {
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linear_damping: 0.8,
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..Default::default()
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};
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let wheel_collider = Collider::ball(wheel_rad);
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let mass_props = ColliderMassProperties::Density(0.1);
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let damping = conf.damping;
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let prismatic_builder = PrismaticJointBuilder::new(Vec3::Y)
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.local_anchor1(offset)
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.limits(limits)
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.motor_position(limits[0], stiffness, damping);
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let prismatic_joint = MultibodyJoint::new(bike, prismatic_builder);
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let fork_rb_entity = commands
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.spawn(RigidBody::Dynamic)
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.insert(prismatic_joint)
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.id();
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let axel_parent = if let Some(steering) = steering {
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let neck_builder = RevoluteJointBuilder::new(Vec3::Y);
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let neck_joint = MultibodyJoint::new(fork_rb_entity, neck_builder);
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let hub = 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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dbg!(hub);
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hub
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} else {
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fork_rb_entity
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};
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let revolute_builder = RevoluteJointBuilder::new(Vec3::X);
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let axel_joint = MultibodyJoint::new(axel_parent, revolute_builder);
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commands.spawn(pbr_bundle.clone()).insert((
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wheel_collider,
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mass_props,
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wheel_damping,
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ccd,
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not_sleeping,
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axel_joint,
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wheels_collision_group,
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friction,
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CyberWheel,
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ExternalForce::default(),
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Restitution::new(0.2),
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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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