From 7aac77288b9b07dc3923b16e2a5d0cf97f42d0be Mon Sep 17 00:00:00 2001
From: Avi Weinstock <aweinstock314@gmail.com>
Date: Sun, 30 May 2021 11:38:47 -0400
Subject: [PATCH] Address MR 2356 comments.
---
common/src/comp/agent.rs | 23 +++++++++++++++++++----
common/src/comp/body/ship.rs | 7 -------
server/src/cmd.rs | 4 ++--
server/src/events/entity_creation.rs | 13 ++++++++++---
server/src/sys/agent.rs | 4 ++--
5 files changed, 33 insertions(+), 18 deletions(-)
diff --git a/common/src/comp/agent.rs b/common/src/comp/agent.rs
index 4b0a9150dd..3fade71b8c 100644
--- a/common/src/comp/agent.rs
+++ b/common/src/comp/agent.rs
@@ -1,5 +1,5 @@
use crate::{
- comp::{humanoid, quadruped_low, quadruped_medium, quadruped_small, Body},
+ comp::{humanoid, quadruped_low, quadruped_medium, quadruped_small, ship, Body},
path::Chaser,
rtsim::RtSimController,
trade::{PendingTrade, ReducedInventory, SiteId, SitePrices, TradeId, TradeResult},
@@ -314,7 +314,7 @@ pub struct Agent {
pub bearing: Vec2<f32>,
pub sounds_heard: Vec<Sound>,
pub awareness: f32,
- pub pid_controller: Option<PidController<fn(Vec3<f32>, Vec3<f32>) -> f32, 16>>,
+ pub position_pid_controller: Option<PidController<fn(Vec3<f32>, Vec3<f32>) -> f32, 16>>,
}
#[derive(Clone, Debug, Default)]
@@ -339,11 +339,11 @@ impl Agent {
}
#[allow(clippy::type_complexity)]
- pub fn with_pid_controller(
+ pub fn with_position_pid_controller(
mut self,
pid: PidController<fn(Vec3<f32>, Vec3<f32>) -> f32, 16>,
) -> Self {
- self.pid_controller = Some(pid);
+ self.position_pid_controller = Some(pid);
self
}
@@ -503,3 +503,18 @@ impl<F: Fn(Vec3<f32>, Vec3<f32>) -> f32, const NUM_SAMPLES: usize> PidController
(f(x1) - f(x0)) / h as f32
}
}
+
+/// Get the PID coefficients associated with some Body, since it will likely
+/// need to be tuned differently for each body type
+pub fn pid_coefficients(body: &Body) -> (f32, f32, f32) {
+ match body {
+ Body::Ship(ship::Body::DefaultAirship) => {
+ let kp = 1.0;
+ let ki = 1.0;
+ let kd = 1.0;
+ (kp, ki, kd)
+ },
+ // default to a pure-proportional controller, which is the first step when tuning
+ _ => (1.0, 0.0, 0.0),
+ }
+}
diff --git a/common/src/comp/body/ship.rs b/common/src/comp/body/ship.rs
index ccedd285b5..f880683d47 100644
--- a/common/src/comp/body/ship.rs
+++ b/common/src/comp/body/ship.rs
@@ -52,13 +52,6 @@ impl Body {
pub fn density(&self) -> Density { Density(AIR_DENSITY) }
pub fn mass(&self) -> Mass { Mass((self.hull_vol() + self.balloon_vol()) * self.density().0) }
-
- pub fn pid_coefficients(&self) -> (f32, f32, f32) {
- let kp = 1.0;
- let ki = 1.0;
- let kd = 1.0;
- (kp, ki, kd)
- }
}
/// Terrain is 11.0 scale relative to small-scale voxels,
diff --git a/server/src/cmd.rs b/server/src/cmd.rs
index b93550d1fe..b350359a88 100644
--- a/server/src/cmd.rs
+++ b/server/src/cmd.rs
@@ -1163,11 +1163,11 @@ fn handle_spawn_airship(
animated: true,
});
if let Some(pos) = destination {
- let (kp, ki, kd) = ship.pid_coefficients();
+ let (kp, ki, kd) = comp::agent::pid_coefficients(&comp::Body::Ship(ship));
fn pure_z(sp: Vec3<f32>, pv: Vec3<f32>) -> f32 { (sp - pv).z }
let agent = comp::Agent::default()
.with_destination(pos)
- .with_pid_controller(comp::PidController::new(
+ .with_position_pid_controller(comp::PidController::new(
kp,
ki,
kd,
diff --git a/server/src/events/entity_creation.rs b/server/src/events/entity_creation.rs
index 1e659477e7..c66317cf0e 100644
--- a/server/src/events/entity_creation.rs
+++ b/server/src/events/entity_creation.rs
@@ -3,6 +3,7 @@ use common::{
character::CharacterId,
comp::{
self,
+ agent::pid_coefficients,
aura::{Aura, AuraKind, AuraTarget},
beam,
buff::{BuffCategory, BuffData, BuffKind, BuffSource},
@@ -147,10 +148,16 @@ pub fn handle_create_ship(
) {
let mut entity = server.state.create_ship(pos, ship, mountable);
if let Some(mut agent) = agent {
- let (kp, ki, kd) = ship.pid_coefficients();
+ let (kp, ki, kd) = pid_coefficients(&Body::Ship(ship));
fn pure_z(sp: Vec3<f32>, pv: Vec3<f32>) -> f32 { (sp - pv).z }
- agent =
- agent.with_pid_controller(PidController::new(kp, ki, kd, Vec3::zero(), 0.0, pure_z));
+ agent = agent.with_position_pid_controller(PidController::new(
+ kp,
+ ki,
+ kd,
+ Vec3::zero(),
+ 0.0,
+ pure_z,
+ ));
entity = entity.with(agent);
}
if let Some(rtsim_entity) = rtsim_entity {
diff --git a/server/src/sys/agent.rs b/server/src/sys/agent.rs
index 1b407e4ee6..7f191c6405 100644
--- a/server/src/sys/agent.rs
+++ b/server/src/sys/agent.rs
@@ -271,7 +271,7 @@ impl<'a> System<'a> for Sys {
Some(CharacterState::GlideWield) | Some(CharacterState::Glide(_))
) && !physics_state.on_ground;
- if let Some(pid) = agent.pid_controller.as_mut() {
+ if let Some(pid) = agent.position_pid_controller.as_mut() {
pid.add_measurement(read_data.time.0, pos.0);
}
@@ -870,7 +870,7 @@ impl<'a> AgentData<'a> {
} else {
0.05 //normal land traveller offset
};
- if let Some(pid) = agent.pid_controller.as_mut() {
+ if let Some(pid) = agent.position_pid_controller.as_mut() {
pid.sp = self.pos.0.z + height_offset * Vec3::unit_z();
controller.inputs.move_z = pid.calc_err();
} else {