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feat: add PD and PID controller implementations (#804)

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* feat: add a PID controller implementation

* feat: add small rigid-body utilities + test interpolation test

* fix: make scrolling weaker on macos

* feat: add the option to use the PID controller in the character controller demo.

* feat: add a stateless PD controller

* feat(rapier_testbed): cleanup & support PidController in 2D too

* chore: add comments for the PD and PID controllers

* chore: update changelog

* feat: rename PidErrors to PdErrors which is more accurate

* fix cargo doc

* chore: remove dead code

* chore: make test module non-pub
This commit is contained in:
Sébastien Crozet
2025-03-05 14:06:49 +01:00
committed by GitHub
parent 955795dfbb
commit 108a2a18d6
19 changed files with 1275 additions and 242 deletions
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29
CHANGELOG.md
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@@ -1,27 +1,41 @@
## Unreleased
### Added
- Add `PdController` and `PidController` for making it easier to control dynamic rigid-bodies at the velocity level.
This can for example be used as a building block for a dynamic character controller.
- Add `RigidBodyPosition::pose_errors` which computes the translational and rotational delta between
`RigidBodyPosition::position` and `::next_position`.
- Implement `Sub` for `RigidBodyVelocity`.
- Add `RigidBody::local_center_of_mass()` to get its center-of-mass in the rigid-body’s local-space.
## v0.23.0 (08 Jan 2025)
### Fix
- The broad-phase region key has been replaced by an i64 in the f64 version of rapier, increasing the range before panics occur.
- The broad-phase region key has been replaced by an i64 in the f64 version of rapier, increasing the range before
panics occur.
- Fix `BroadphaseMultiSap` not being able to serialize correctly with serde_json.
- Fix `KinematicCharacterController::move_shape` not respecting parameters `max_slope_climb_angle` and `min_slope_slide_angle`.
- Fix `KinematicCharacterController::move_shape` not respecting parameters `max_slope_climb_angle` and
`min_slope_slide_angle`.
- Improve ground detection reliability for `KinematicCharacterController`. (#715)
- Fix wasm32 default values for physics hooks filter to be consistent with native: `COMPUTE_IMPULSES`.
- Fix changing a collider parent when ongoing collisions should be affected (#742):
- Fix collisions not being removed when a collider is parented to a rigidbody while in collision with it.
- Fix collisions not being added when the parent was removed while intersecting a (previously) sibling collider.
- Fix collisions not being removed when a collider is parented to a rigidbody while in collision with it.
- Fix collisions not being added when the parent was removed while intersecting a (previously) sibling collider.
### Added
- `RigidBodySet` and `ColliderSet` have a new constructor `with_capacity`.
- Use `profiling` crate to provide helpful profiling information in different tools.
- The testbeds have been updated to use `puffin_egui`
- The testbeds have been updated to use `puffin_egui`
### Modified
- `InteractionGroups` default value for `memberships` is now `GROUP_1` (#706)
- `ImpulseJointSet::get_mut` has a new parameter `wake_up: bool`, to wake up connected bodies.
- Removed unmaintained `instant` in favor of `web-time`. This effectively removes the `wasm-bindgen` transitive dependency as it's no longer needed.
- Removed unmaintained `instant` in favor of `web-time`. This effectively removes the `wasm-bindgen` transitive
dependency as it's no longer needed.
- Significantly improve performances of `QueryPipeline::intersection_with_shape`.
## v0.22.0 (20 July 2024)
@@ -748,7 +762,8 @@ Several new shape types are now supported:
It is possible to build `ColliderDesc` using these new shapes:
- `ColliderBuilder::round_cuboid`, `ColliderBuilder::segment`, `ColliderBuilder::triangle`, `ColliderBuilder::round_triangle`,
- `ColliderBuilder::round_cuboid`, `ColliderBuilder::segment`, `ColliderBuilder::triangle`,
`ColliderBuilder::round_triangle`,
`ColliderBuilder::convex_hull`, `ColliderBuilder::round_convex_hull`, `ColliderBuilder::polyline`,
`ColliderBuilder::convex_decomposition`, `ColliderBuilder::round_convex_decomposition`,
`ColliderBuilder::convex_polyline` (2D only), `ColliderBuilder::round_convex_polyline` (2D only),