Wheeled vehicle simulation using Bevy engine with Rapier's joints

⚠️ Legacy branch! ⚠️

'master' branch is currently broken due to migration to newer rapier and bevy_rapier so unless you want to compare old and new versions this branch offers a better experience

Hello! This is a prototype of vehicle simulator based on Rapier and Bevy written on Rust. Inspired by Godot-6DOF-Vehicle-Demo.

Parameters

From Parameters window these can be adjusted:

• Size of front and rear wheels
• Every individual wheel's density and sizes
• Vehicle's body density and sizes

Motivation

It started as a learning project to check out the underlying tech. State of Rapier v0.12.0-alpha.0 is surprizingly robust, the goal was to get a somewhat working vehicle without any tweaks from game code over the results of simulation using just rigid bodies, joints and motors (just like in 6DOF-Vehicle-Demo).
Unlike Bullet (physics engine used in said demo), Rapier doesnt support 6 degrees of freedom joints yet, but with two chained revolute joints: one for wheel rotation(x-axis) and one for steering(y-axis), a stable and functional wheel was made! Making four of those and attaching them to a box scaled by z-axis made a nice wagon. Using motors for accelerating and steering was also quite intuitive, though I must admit that it took me some time to figure out all the axis and how to orient them in both frames of a joint.

Controls

W / S: gas / reverse
A / D: steer left / steer right
Mouse look: camera orbiting around vehicle
Esc: Toggle Show/Hide mouse cursor
Ctrl + Space: Toggle flying camera (wasd + space + shift)
Ctrl + Esc: Close app