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still workin on velocity matching

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This commit is contained in:
Jay Christy
2023-11-06 14:51:48 -05:00
parent 3c7a65c58f
commit 2b7e625043
1 changed files with 60 additions and 10 deletions
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70
examples/demo/src/main.rs
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@@ -1,3 +1,5 @@
use std::{f32::consts::PI, ops::Mul};
use bevy::{
diagnostic::{FrameTimeDiagnosticsPlugin, LogDiagnosticsPlugin},
ecs::schedule::ScheduleLabel,
@@ -5,8 +7,9 @@ use bevy::{
prelude::{
default, shape, App, Assets, Color, Commands, Component, Entity, Event, EventReader,
EventWriter, FixedTime, FixedUpdate, GlobalTransform, IntoSystemConfigs,
IntoSystemSetConfigs, Mesh, PbrBundle, PostUpdate, Query, Res, ResMut, Resource, Schedule,
SpatialBundle, StandardMaterial, Startup, Transform, Update, Vec3, With, Without, World,
IntoSystemSetConfigs, Mesh, PbrBundle, PostUpdate, Quat, Query, Res, ResMut, Resource,
Schedule, SpatialBundle, StandardMaterial, Startup, Transform, Update, Vec3, With, Without,
World, Vec3Swizzles,
},
time::{Time, Timer},
transform::TransformSystem,
@@ -88,7 +91,10 @@ fn main() {
.add_plugins(OpenXrHandInput)
.add_plugins(HandInputDebugRenderer)
.add_systems(Startup, spawn_physics_hands)
.add_systems(Update, update_physics_hands);
.add_systems(
FixedUpdate,
update_physics_hands.before(PhysicsSet::SyncBackend),
);
//configure rapier sets
let mut physics_schedule = Schedule::new(PhysicsSchedule);
@@ -294,7 +300,8 @@ fn spawn_physics_hands(mut commands: Commands) {
},
radius,
),
RigidBody::KinematicPositionBased,
RigidBody::KinematicVelocityBased,
Velocity::default(),
// CollisionGroups::new(self_group, interaction_group),
// SolverGroups::new(self_group, interaction_group),
bone.clone(),
@@ -305,6 +312,11 @@ fn spawn_physics_hands(mut commands: Commands) {
}
}
pub enum MatchingType {
PositionMatching,
VelocityMatching,
}
fn update_physics_hands(
hands_res: Option<Res<HandsResource>>,
mut bone_query: Query<(
@@ -313,9 +325,12 @@ fn update_physics_hands(
&PhysicsHandBone,
&mut BoneInitState,
&Hand,
&mut Velocity,
)>,
hand_query: Query<(&Transform, &HandBone, &Hand, Without<PhysicsHandBone>)>,
time: Res<FixedTime>,
) {
let matching = MatchingType::VelocityMatching;
//sanity check do we even have hands?
match hands_res {
Some(res) => {
@@ -342,12 +357,36 @@ fn update_physics_hands(
match *bone.3 {
BoneInitState::True => {
//if we are init then we just move em?
*bone.0 = start_components
.unwrap()
.0
.clone()
.looking_at(end_components.unwrap().0.translation, Vec3::Y);
match matching {
MatchingType::PositionMatching => {
//if we are init then we just move em?
*bone.0 = start_components
.unwrap()
.0
.clone()
.looking_at(end_components.unwrap().0.translation, Vec3::Y);
}
MatchingType::VelocityMatching => {
//calculate position difference
let diff = (start_components.unwrap().0.translation
- bone.0.translation)
/ time.period.as_secs_f32();
bone.5.linvel = diff;
//calculate angular velocity?
let why = direction.xy();
let desired_forward = Quat::from_rotation_arc(bone.0.forward(), direction.normalize());
let ang: Vec3 = why_god(
bone.0.rotation,
desired_forward,
time.period.as_secs_f32(),
);
if *bone.2 == PhysicsHandBone::IndexIntermediate && *bone.4 == Hand::Right {
info!("{}", ang);
// info!("{}", forward);
}
bone.5.angvel = ang * PI / 180.0;
}
}
}
BoneInitState::False => {
//build a new collider?
@@ -370,6 +409,17 @@ fn update_physics_hands(
}
}
fn why_god(q1: Quat, q2: Quat, dt: f32) -> Vec3 {
let huh = Vec3 {
x: (q1.w * q2.x) - (q1.x * q2.x) - (q1.y * q2.z) + (q1.z * q2.y),
y: (q1.w * q2.y) - (q1.x * q2.z) - (q1.y * q2.w) + (q1.z * q2.x),
z: (q1.w * q2.z) - (q1.x * q2.y) - (q1.y * q2.x) + (q1.z * q2.w),
};
let why = 2.0 / dt;
let help = why * huh;
return help;
}
fn get_start_and_end_entities(
hand_res: HandResource,
bone: &PhysicsHandBone,