break up action module, actually do real for real PID
This commit is contained in:
Joe Ardent
parent
b9d49f6e1c
commit
79b2d4b175
5 changed files with 248 additions and 194 deletions
192
src/action.rs
192
src/action.rs
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@ -1,192 +0,0 @@
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use bevy::{
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diagnostic::{Diagnostics, FrameTimeDiagnosticsPlugin},
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prelude::*,
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};
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use bevy_rapier3d::prelude::{
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ExternalForce, Friction, NoUserData, RapierConfiguration, RapierPhysicsPlugin, Velocity,
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};
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use crate::{
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bike::{CyberBikeBody, CyberWheel},
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input::InputState,
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};
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#[derive(Debug, Resource, Reflect)]
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#[reflect(Resource)]
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pub struct MovementSettings {
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pub accel: f32,
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pub gravity: f32,
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pub sensitivity: f32,
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}
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impl Default for MovementSettings {
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fn default() -> Self {
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Self {
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sensitivity: 6.0,
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accel: 40.0,
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gravity: 7.0,
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}
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}
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}
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#[derive(Debug, Resource, Reflect)]
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#[reflect(Resource)]
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struct CatControllerSettings {
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pub kp: f32,
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pub kd: f32,
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pub ki: f32,
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}
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impl Default for CatControllerSettings {
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fn default() -> Self {
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Self {
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kp: 17.0,
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kd: 4.0,
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ki: 0.05,
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}
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}
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}
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#[derive(Component, Debug, Clone, Copy)]
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pub struct CyberBikeControl {
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pub roll_integral: f32,
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pub roll_prev: f32,
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pub pitch_integral: f32,
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pub pitch_prev: f32,
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decay_factor: f32,
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}
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impl Default for CyberBikeControl {
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fn default() -> Self {
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Self {
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roll_integral: Default::default(),
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roll_prev: Default::default(),
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pitch_integral: Default::default(),
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pitch_prev: Default::default(),
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decay_factor: 0.9,
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}
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}
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}
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impl CyberBikeControl {
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fn decay(&mut self) {
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self.roll_integral *= self.decay_factor;
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self.pitch_integral *= self.decay_factor;
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}
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}
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fn zero_gravity(mut config: ResMut<RapierConfiguration>) {
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config.gravity = Vec3::ZERO;
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}
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fn gravity(
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mut query: Query<(&Transform, &mut ExternalForce), With<CyberBikeBody>>,
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settings: Res<MovementSettings>,
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) {
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let (xform, mut forces) = query.single_mut();
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let grav = xform.translation.normalize() * -settings.gravity;
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forces.force = grav;
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forces.torque = Vec3::ZERO;
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}
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fn falling_cat(
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mut bike_query: Query<(&Transform, &mut ExternalForce, &mut CyberBikeControl)>,
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_diagnostics: Res<Diagnostics>,
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settings: Res<CatControllerSettings>,
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) {
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let (xform, mut forces, mut control_vars) = bike_query.single_mut();
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let wup = xform.translation.normalize();
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let bike_up = xform.up();
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let wright = xform.forward().cross(wup).normalize();
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//let wback = wright.cross(wup);
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let roll_error = wright.dot(bike_up);
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let pitch_error = wup.dot(xform.back());
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// roll
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if pitch_error.abs() < 0.8 {
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let derivative = roll_error - control_vars.roll_prev;
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control_vars.roll_prev = roll_error;
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let integral = control_vars.roll_integral + roll_error;
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control_vars.roll_integral = integral.min(2.0).max(-2.0);
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let mag =
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(settings.kp * roll_error) + (settings.ki * integral) + (settings.kd * derivative);
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forces.torque += xform.back() * mag;
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};
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// pitch
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if roll_error.abs() < 0.5 {
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let derivative = pitch_error - control_vars.pitch_prev;
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control_vars.pitch_prev = pitch_error;
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let integral = control_vars.pitch_integral + pitch_error;
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control_vars.pitch_integral = integral.min(1.1).max(-1.1);
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let mag =
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(settings.kp * pitch_error) + (settings.ki * integral) + (settings.kd * derivative);
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forces.torque += wright * mag * 0.6;
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};
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#[cfg(feature = "inspector")]
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if let Some(count) = _diagnostics
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.get(FrameTimeDiagnosticsPlugin::FRAME_COUNT)
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.and_then(|d| d.smoothed())
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.map(|x| x as u64)
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{
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if count % 30 == 0 {
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dbg!(roll_error, pitch_error, &control_vars);
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}
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}
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control_vars.decay();
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}
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fn input_forces(
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settings: Res<MovementSettings>,
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input: Res<InputState>,
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mut cquery: Query<&mut Friction, With<CyberWheel>>,
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mut bquery: Query<(&Transform, &mut ExternalForce), With<CyberBikeBody>>,
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) {
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let (xform, mut forces) = bquery.single_mut();
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// thrust
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let thrust = xform.forward() * input.throttle * settings.accel;
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forces.force += thrust;
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// brake
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for mut friction in cquery.iter_mut() {
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friction.coefficient = if input.brake { 2.0 } else { 0.0 };
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}
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// steering
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let force = xform.right() * input.yaw * settings.sensitivity;
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let point = xform.translation + xform.forward();
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let force = ExternalForce::at_point(force, point, xform.translation);
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*forces += force;
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}
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fn drag(mut query: Query<(&Velocity, &mut ExternalForce), With<CyberBikeBody>>) {
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let (vels, mut forces) = query.single_mut();
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if let Some(vel) = vels.linvel.try_normalize() {
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let v2 = vels.linvel.length_squared();
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forces.force -= vel * (v2 * 0.02);
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}
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}
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pub struct CyberActionPlugin;
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impl Plugin for CyberActionPlugin {
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fn build(&self, app: &mut App) {
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app.init_resource::<MovementSettings>()
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.register_type::<MovementSettings>()
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.init_resource::<CatControllerSettings>()
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.register_type::<CatControllerSettings>()
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.add_plugin(RapierPhysicsPlugin::<NoUserData>::default())
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.add_plugin(FrameTimeDiagnosticsPlugin::default())
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.add_startup_system(zero_gravity)
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.add_system(gravity.before("cat"))
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.add_system(falling_cat.label("cat"))
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.add_system(input_forces.label("iforces").after("cat"))
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.add_system(drag.label("drag").after("iforces"));
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}
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}
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108
src/action/components.rs
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108
src/action/components.rs
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@ -0,0 +1,108 @@
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use std::time::Instant;
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use bevy::{
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prelude::{Component, ReflectResource, Resource},
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reflect::Reflect,
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};
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#[derive(Debug, Resource)]
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pub(crate) struct ActionDebugInstant(pub Instant);
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impl Default for ActionDebugInstant {
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fn default() -> Self {
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ActionDebugInstant(Instant::now())
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}
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}
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#[derive(Debug, Resource, Reflect)]
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#[reflect(Resource)]
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pub struct MovementSettings {
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pub accel: f32,
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pub gravity: f32,
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pub sensitivity: f32,
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}
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impl Default for MovementSettings {
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fn default() -> Self {
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Self {
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sensitivity: 6.0,
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accel: 40.0,
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gravity: 7.0,
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}
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}
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}
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#[derive(Debug, Resource, Reflect)]
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#[reflect(Resource)]
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pub struct CatControllerSettings {
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pub kp: f32,
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pub kd: f32,
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pub ki: f32,
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}
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impl Default for CatControllerSettings {
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fn default() -> Self {
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Self {
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kp: 17.0,
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kd: 4.0,
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ki: 0.05,
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}
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}
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}
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#[derive(Component, Debug, Clone, Copy)]
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pub struct CatControllerState {
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pub roll_integral: f32,
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pub roll_prev: f32,
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pub pitch_integral: f32,
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pub pitch_prev: f32,
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decay_factor: f32,
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roll_limit: f32,
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pitch_limit: f32,
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}
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impl Default for CatControllerState {
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fn default() -> Self {
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Self {
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roll_integral: Default::default(),
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roll_prev: Default::default(),
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pitch_integral: Default::default(),
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pitch_prev: Default::default(),
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decay_factor: 0.9,
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roll_limit: 1.5,
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pitch_limit: 1.2,
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}
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}
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}
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impl CatControllerState {
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pub fn decay(&mut self) {
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if self.roll_integral.abs() > 0.1 {
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self.roll_integral *= self.decay_factor;
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}
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if self.pitch_integral.abs() > 0.1 {
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self.pitch_integral *= self.decay_factor;
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}
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}
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pub fn update_roll(&mut self, error: f32, dt: f32) -> (f32, f32) {
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let lim = self.roll_limit;
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self.roll_integral = (self.roll_integral + (error * dt)).min(lim).max(-lim);
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let derivative = (error - self.roll_prev) / dt;
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self.roll_prev = error;
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(derivative, self.roll_integral)
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}
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pub fn update_pitch(&mut self, error: f32, dt: f32) -> (f32, f32) {
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let lim = self.pitch_limit;
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self.pitch_integral = (self.pitch_integral + (error * dt)).min(lim).max(-lim);
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let derivative = (error - self.pitch_prev) / dt;
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self.pitch_prev = error;
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(derivative, self.pitch_integral)
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}
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pub fn set_limits(&mut self, roll: f32, pitch: f32) {
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self.roll_limit = roll;
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self.pitch_limit = pitch;
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}
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}
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29
src/action/mod.rs
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29
src/action/mod.rs
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@ -0,0 +1,29 @@
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use bevy::{
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diagnostic::FrameTimeDiagnosticsPlugin,
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prelude::{App, IntoSystemDescriptor, Plugin},
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};
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use bevy_rapier3d::prelude::{NoUserData, RapierPhysicsPlugin};
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mod components;
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mod systems;
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pub use components::*;
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use systems::*;
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pub struct CyberActionPlugin;
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impl Plugin for CyberActionPlugin {
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fn build(&self, app: &mut App) {
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app.init_resource::<MovementSettings>()
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.register_type::<MovementSettings>()
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.init_resource::<CatControllerSettings>()
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.init_resource::<ActionDebugInstant>()
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.register_type::<CatControllerSettings>()
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.add_plugin(RapierPhysicsPlugin::<NoUserData>::default())
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.add_plugin(FrameTimeDiagnosticsPlugin::default())
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.add_startup_system(zero_gravity)
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.add_system(gravity.before("cat"))
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.add_system(falling_cat.label("cat"))
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.add_system(input_forces.label("iforces").after("cat"))
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.add_system(drag.label("drag").after("iforces"));
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}
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}
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109
src/action/systems.rs
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109
src/action/systems.rs
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@ -0,0 +1,109 @@
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#[cfg(feature = "inspector")]
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use std::time::Instant;
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use bevy::prelude::{Query, Res, ResMut, Time, Transform, Vec3, With};
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use bevy_rapier3d::prelude::{ExternalForce, Friction, RapierConfiguration, Velocity};
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#[cfg(feature = "inspector")]
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use super::ActionDebugInstant;
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use super::{CatControllerSettings, CatControllerState, MovementSettings};
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use crate::{
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bike::{CyberBikeBody, CyberWheel},
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input::InputState,
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};
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/// Disable gravity in Rapier.
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pub(crate) fn zero_gravity(mut config: ResMut<RapierConfiguration>) {
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config.gravity = Vec3::ZERO;
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}
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/// The gravity vector points from the cyberbike to the center of the planet.
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pub(crate) fn gravity(
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mut query: Query<(&Transform, &mut ExternalForce), With<CyberBikeBody>>,
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settings: Res<MovementSettings>,
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) {
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let (xform, mut forces) = query.single_mut();
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let grav = xform.translation.normalize() * -settings.gravity;
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forces.force = grav;
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forces.torque = Vec3::ZERO;
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}
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/// PID-based controller for stabilizing attitude; keeps the cyberbike upright.
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pub(crate) fn falling_cat(
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mut bike_query: Query<(&Transform, &mut ExternalForce, &mut CatControllerState)>,
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time: Res<Time>,
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settings: Res<CatControllerSettings>,
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#[cfg(feature = "inspector")] mut debug_instant: ResMut<ActionDebugInstant>,
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) {
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let (xform, mut forces, mut control_vars) = bike_query.single_mut();
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let wup = xform.translation.normalize();
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let bike_up = xform.up();
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let wright = xform.forward().cross(wup).normalize();
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let roll_error = wright.dot(bike_up);
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let pitch_error = wup.dot(xform.back());
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// only try to correct roll if we're not totally vertical
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if pitch_error.abs() < 0.8 {
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let (derivative, integral) = control_vars.update_roll(roll_error, time.delta_seconds());
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let mag =
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(settings.kp * roll_error) + (settings.ki * integral) + (settings.kd * derivative);
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if mag.is_finite() {
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forces.torque += xform.back() * mag;
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}
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}
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// we can do pitch correction any time, it's not coupled to roll
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let (derivative, integral) = control_vars.update_pitch(pitch_error, time.delta_seconds());
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let mag = (settings.kp * pitch_error) + (settings.ki * integral) + (settings.kd * derivative);
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if mag.is_finite() {
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forces.torque += wright * mag * 0.2;
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}
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#[cfg(feature = "inspector")]
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{
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let now = Instant::now();
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if (now - debug_instant.0).as_millis() > 500 {
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dbg!(roll_error, pitch_error, &control_vars);
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debug_instant.0 = now;
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}
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}
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control_vars.decay();
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}
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/// Apply forces to the cyberbike as a result of input.
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pub(crate) fn input_forces(
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settings: Res<MovementSettings>,
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input: Res<InputState>,
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mut cquery: Query<&mut Friction, With<CyberWheel>>,
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mut bquery: Query<(&Transform, &mut ExternalForce), With<CyberBikeBody>>,
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) {
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let (xform, mut forces) = bquery.single_mut();
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// thrust
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let thrust = xform.forward() * input.throttle * settings.accel;
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forces.force += thrust;
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// brake
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for mut friction in cquery.iter_mut() {
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friction.coefficient = if input.brake { 2.0 } else { 0.0 };
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}
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// steering
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let force = xform.right() * input.yaw * settings.sensitivity;
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let point = xform.translation + xform.forward();
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let force = ExternalForce::at_point(force, point, xform.translation);
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*forces += force;
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}
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/// General velocity-based drag-force calculation; does not take orientation
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/// into account.
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pub(crate) fn drag(mut query: Query<(&Velocity, &mut ExternalForce), With<CyberBikeBody>>) {
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let (vels, mut forces) = query.single_mut();
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if let Some(vel) = vels.linvel.try_normalize() {
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let v2 = vels.linvel.length_squared();
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forces.force -= vel * (v2 * 0.02);
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}
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}
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@ -10,7 +10,7 @@ use bevy_rapier3d::{
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},
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};
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use crate::{action::CyberBikeControl, planet::PLANET_RADIUS};
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use crate::{action::CatControllerState, planet::PLANET_RADIUS};
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type Meshterial<'a> = (
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ResMut<'a, Assets<Mesh>>,
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@ -127,7 +127,7 @@ fn spawn_cyberbike(
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});
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})
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.insert(CyberBikeBody)
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.insert(CyberBikeControl::default())
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.insert(CatControllerState::default())
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.id();
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spawn_tires(&mut commands, &xform, bike, &wheel_conf, &mut meshterials);
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