Mirrored_Repos/veloren
1
0
Fork 0
mirror of https://gitlab.com/veloren/veloren.git synced 2024-08-30 18:12:32 +00:00
Code Issues Packages Projects Releases Wiki Activity

Implement PID controllers and use them to stabilize Agent airship flight.

Browse Source
This commit is contained in:
Avi Weinstock
2021-05-29 14:45:46 -04:00
parent a8fb168315
commit 8b20175b6e
7 changed files with 138 additions and 13 deletions
Download Patch File Download Diff File Expand all files Collapse all files

17
server/src/cmd.rs
View File

@ -1152,9 +1152,10 @@ fn handle_spawn_airship(
200.0,
)
});
let ship = comp::ship::Body::DefaultAirship;
let mut builder = server
.state
.create_ship(pos, comp::ship::Body::DefaultAirship, true)
.create_ship(pos, ship, true)
.with(LightEmitter {
col: Rgb::new(1.0, 0.65, 0.2),
strength: 2.0,
@ -1162,7 +1163,19 @@ fn handle_spawn_airship(
animated: true,
});
if let Some(pos) = destination {
builder = builder.with(comp::Agent::default().with_destination(pos))
let (kp, ki, kd) = ship.pid_coefficients();
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(
kp,
ki,
kd,
Vec3::zero(),
0.0,
pure_z,
));
builder = builder.with(agent);
}
builder.build();