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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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53
src_testbed/ui.rs
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@@ -1,4 +1,3 @@
use rapier::control::CharacterLength;
use rapier::counters::Counters;
use rapier::math::Real;
use std::num::NonZeroUsize;
@@ -10,14 +9,16 @@ use crate::testbed::{
PHYSX_BACKEND_PATCH_FRICTION, PHYSX_BACKEND_TWO_FRICTION_DIR,
};
pub use bevy_egui::egui;
use crate::settings::SettingValue;
use crate::PhysicsState;
use bevy_egui::egui::{Slider, Ui};
use bevy_egui::{egui, EguiContexts};
use bevy_egui::egui::{ComboBox, Slider, Ui, Window};
use bevy_egui::EguiContexts;
use rapier::dynamics::IntegrationParameters;
use web_time::Instant;
pub fn update_ui(
pub(crate) fn update_ui(
ui_context: &mut EguiContexts,
state: &mut TestbedState,
harness: &mut Harness,
@@ -30,10 +31,10 @@ pub fn update_ui(
example_settings_ui(ui_context, state);
egui::Window::new("Parameters").show(ui_context.ctx_mut(), |ui| {
Window::new("Parameters").show(ui_context.ctx_mut(), |ui| {
if state.backend_names.len() > 1 && !state.example_names.is_empty() {
let mut changed = false;
egui::ComboBox::from_label("backend")
ComboBox::from_label("backend")
.width(150.0)
.selected_text(state.backend_names[state.selected_backend])
.show_ui(ui, |ui| {
@@ -247,46 +248,14 @@ pub fn update_ui(
ui.checkbox(&mut debug_render.enabled, "debug render enabled");
state.flags.set(TestbedStateFlags::SLEEP, sleep);
state.flags.set(TestbedStateFlags::DRAW_SURFACES, draw_surfaces);
state
.flags
.set(TestbedStateFlags::DRAW_SURFACES, draw_surfaces);
// state
// .flags
// .set(TestbedStateFlags::CONTACT_POINTS, contact_points);
// state.flags.set(TestbedStateFlags::WIREFRAME, wireframe);
ui.separator();
if let Some(character_controller) = &mut state.character_controller {
ui.label("Character controller");
ui.checkbox(&mut character_controller.slide, "slide").on_hover_text("Should the character try to slide against the floor if it hits it?");
#[allow(clippy::useless_conversion)]
{
ui.add(Slider::new(&mut character_controller.max_slope_climb_angle, 0.0..=std::f32::consts::TAU.into()).text("max_slope_climb_angle"))
.on_hover_text("The maximum angle (radians) between the floor’s normal and the `up` vector that the character is able to climb.");
ui.add(Slider::new(&mut character_controller.min_slope_slide_angle, 0.0..=std::f32::consts::FRAC_PI_2.into()).text("min_slope_slide_angle"))
.on_hover_text("The minimum angle (radians) between the floor’s normal and the `up` vector before the character starts to slide down automatically.");
}
let mut is_snapped = character_controller.snap_to_ground.is_some();
if ui.checkbox(&mut is_snapped, "snap_to_ground").changed {
match is_snapped {
true => {
character_controller.snap_to_ground = Some(CharacterLength::Relative(0.1));
},
false => {
character_controller.snap_to_ground = None;
},
}
}
if let Some(snapped) = &mut character_controller.snap_to_ground {
match snapped {
CharacterLength::Relative(val) => {
ui.add(Slider::new(val, 0.0..=10.0).text("Snapped Relative Character Length"));
},
CharacterLength::Absolute(val) => {
ui.add(Slider::new(val, 0.0..=10.0).text("Snapped Absolute Character Length"));
},
}
}
ui.separator();
}
let label = if state.running == RunMode::Stop {
"Start (T)"
} else {
@@ -465,7 +434,7 @@ fn example_settings_ui(ui_context: &mut EguiContexts, state: &mut TestbedState)
return;
}
egui::Window::new("Example settings").show(ui_context.ctx_mut(), |ui| {
Window::new("Example settings").show(ui_context.ctx_mut(), |ui| {
let mut any_changed = false;
for (name, value) in state.example_settings.iter_mut() {
let prev_value = value.clone();