bevy_ahoy 0.1.0

A fun 3D Kinematic Character Controller for Bevy + Avian + BEI.
Documentation 
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use bevy_ecs::{intern::Interned, schedule::ScheduleLabel};

use crate::{CharacterControllerOutput, prelude::*};

pub struct AhoyDynamicPlugin {
    pub schedule: Interned<dyn ScheduleLabel>,
}

impl Plugin for AhoyDynamicPlugin {
    fn build(&self, app: &mut App) {
        app.add_systems(
            self.schedule,
            apply_forces.in_set(AhoySystems::ApplyForcesToDynamicRigidBodies),
        );
    }
}

fn apply_forces(
    kccs: Query<(&ComputedMass, &CharacterControllerOutput)>,
    colliders: Query<&ColliderOf>,
    mut rigid_bodies: Query<(&RigidBody, Forces)>,
) {
    for (mass, output) in &kccs {
        let mass = mass.value();
        for touch in &output.touching_entities {
            let Ok(collider_of) = colliders.get(touch.entity) else {
                continue;
            };
            let Ok((rigid_body, mut forces)) = rigid_bodies.get_mut(collider_of.body) else {
                continue;
            };
            if !rigid_body.is_dynamic() {
                continue;
            }
            // TODO: not on step up

            let touch_dir = -touch.normal;
            let relative_velocity = touch.character_velocity - forces.linear_velocity();
            let touch_velocity = touch_dir.dot(relative_velocity) * touch_dir;
            let impulse = touch_velocity * mass;

            forces.apply_linear_impulse_at_point(impulse, touch.point);
        }
    }
}