Struct PidController 

pub struct PidController {
    pub target: PidTarget,
    pub lin_kp: Vect,
    pub lin_ki: Vect,
    pub lin_kd: Vect,
    pub ang_kp: AngVector,
    pub ang_ki: AngVector,
    pub ang_kd: AngVector,
    pub axes: AxesMask,
    pub lin_integral: Vect,
    pub ang_integral: AngVector,
}

A Proportional-Integral-Derivative (PID) controller driving a rigid-body toward a PidTarget.

When attached to an entity with a non-fixed rigid-body, the plugin computes a velocity correction before each simulation step and adds it to the rigid-body’s velocity. The accumulated errors of the Integral part are updated at each step. Use either this or a PdController on a given entity, not both.

Fields

target: PidTarget

The pose and velocities the rigid-body is driven toward.

lin_kp: Vect

The Proportional gain applied to the instantaneous linear position errors.

This is usually set to a multiple of the inverse of the simulation timestep (e.g. 60 if the timestep is 1.0 / 60.0).

lin_ki: Vect

The Integral gain applied to the accumulated linear position errors.

lin_kd: Vect

The Derivative gain applied to the instantaneous linear velocity errors.

This is usually in [0.0, 1.0], where 1.0 corrects velocity errors in a single step.

ang_kp: AngVector

The Proportional gain applied to the instantaneous angular position errors.

ang_ki: AngVector

The Integral gain applied to the accumulated angular position errors.

ang_kd: AngVector

The Derivative gain applied to the instantaneous angular velocity errors.

axes: AxesMask

The axes affected by this controller.

lin_integral: Vect

The linear position error accumulated through time (updated by the plugin).

ang_integral: AngVector

The angular position error accumulated through time (updated by the plugin).

Implementations

impl PidController

pub fn new(kp: Real, ki: Real, kd: Real, axes: AxesMask) -> Self

Initializes a PID controller with the same gains on all axes, and a default target.

Only the axes specified in axes are controlled.

pub fn with_target(self, target: PidTarget) -> Self

Sets the target of this controller.

pub fn reset_integrals(&mut self)

Resets to zero the accumulated errors used by the Integral part of the controller.

pub fn from_raw(raw: &PidController) -> Self

Converts a Rapier PID controller into this component, with a default target.

pub fn to_raw(&self) -> PidController

Converts this component into a Rapier PID controller (the target is not part of it).

pub fn correction( &mut self, dt: Real, pose_errors: &PdErrors, vel_errors: &PdErrors, ) -> Velocity

Computes the velocity correction from the given position and velocity errors, and accumulates the position errors for the Integral part.

pub fn rigid_body_correction( &mut self, dt: Real, body: &RapierRigidBody, ) -> Velocity

Computes the velocity correction driving the given Rapier rigid-body toward Self::target, and accumulates the position errors for the Integral part.

Trait Implementations

impl Clone for PidController

fn clone(&self) -> PidController

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Component for PidController

where Self: Send + Sync + 'static,

const STORAGE_TYPE: StorageType = ::bevy::ecs::component::StorageType::Table

A constant indicating the storage type used for this component.

type Mutability = Mutable

A marker type to assist Bevy with determining if this component is mutable, or immutable. Mutable components will have Component<Mutability = Mutable>, while immutable components will instead have Component<Mutability = Immutable>.

fn register_required_components( _requiree: ComponentId, required_components: &mut RequiredComponentsRegistrator<'_, '_>, )

Registers required components.

fn clone_behavior() -> ComponentCloneBehavior

Called when registering this component, allowing to override clone function (or disable cloning altogether) for this component.

fn relationship_accessor() -> Option<ComponentRelationshipAccessor<Self>>

Returns ComponentRelationshipAccessor required for working with relationships in dynamic contexts.

fn on_add() -> Option<for<'w> fn(DeferredWorld<'w>, HookContext)>

Gets the on_add ComponentHook for this Component if one is defined.

fn on_insert() -> Option<for<'w> fn(DeferredWorld<'w>, HookContext)>

Gets the on_insert ComponentHook for this Component if one is defined.

fn on_discard() -> Option<for<'w> fn(DeferredWorld<'w>, HookContext)>

Gets the on_discard ComponentHook for this Component if one is defined.

fn on_remove() -> Option<for<'w> fn(DeferredWorld<'w>, HookContext)>

Gets the on_remove ComponentHook for this Component if one is defined.

fn on_despawn() -> Option<for<'w> fn(DeferredWorld<'w>, HookContext)>

Gets the on_despawn ComponentHook for this Component if one is defined.

fn map_entities<E>(_this: &mut Self, _mapper: &mut E)

where E: EntityMapper,

Maps the entities on this component using the given EntityMapper. This is used to remap entities in contexts like scenes and entity cloning. When deriving Component, this is populated by annotating fields containing entities with #[entities]

const HAS_SUMMARY_TICK: bool = false

Set this constant to true if the component should track a summary tick.

impl Copy for PidController

impl Debug for PidController

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Default for PidController

fn default() -> Self

Returns the “default value” for a type.

impl FromReflect for PidController

fn from_reflect(reflect: &dyn PartialReflect) -> Option<Self>

Constructs a concrete instance of Self from a reflected value.

fn take_from_reflect( reflect: Box<dyn PartialReflect>, ) -> Result<Self, Box<dyn PartialReflect>>

Attempts to downcast the given value to Self using, constructing the value using from_reflect if that fails.

impl GetTypeRegistration for PidController

fn get_type_registration() -> TypeRegistration

Returns the default TypeRegistration for this type.

fn register_type_dependencies(registry: &mut TypeRegistry)

Registers other types needed by this type.

impl PartialEq for PidController

fn eq(&self, other: &PidController) -> bool

Equality operator ==.

fn ne(&self, other: &Rhs) -> bool

Inequality operator !=.

impl PartialReflect for PidController

fn get_represented_type_info(&self) -> Option<&'static TypeInfo>

Returns the TypeInfo of the type represented by this value.

fn try_apply(&mut self, value: &dyn PartialReflect) -> Result<(), ApplyError>

Tries to apply a reflected value to this value.

fn reflect_kind(&self) -> ReflectKind

Returns a zero-sized enumeration of “kinds” of type.

fn reflect_ref(&self) -> ReflectRef<'_>

Returns an immutable enumeration of “kinds” of type.

fn reflect_mut(&mut self) -> ReflectMut<'_>

Returns a mutable enumeration of “kinds” of type.

fn reflect_owned(self: Box<Self>) -> ReflectOwned

Returns an owned enumeration of “kinds” of type.

fn try_into_reflect( self: Box<Self>, ) -> Result<Box<dyn Reflect>, Box<dyn PartialReflect>>

Attempts to cast this type to a boxed, fully-reflected value.

fn try_as_reflect(&self) -> Option<&dyn Reflect>

Attempts to cast this type to a fully-reflected value.

fn try_as_reflect_mut(&mut self) -> Option<&mut dyn Reflect>

Attempts to cast this type to a mutable, fully-reflected value.

fn into_partial_reflect(self: Box<Self>) -> Box<dyn PartialReflect>

Casts this type to a boxed, reflected value.

fn as_partial_reflect(&self) -> &dyn PartialReflect

Casts this type to a reflected value.

fn as_partial_reflect_mut(&mut self) -> &mut dyn PartialReflect

Casts this type to a mutable, reflected value.

fn reflect_partial_eq(&self, value: &dyn PartialReflect) -> Option<bool>

Returns a “partial equality” comparison result.

fn reflect_partial_cmp(&self, value: &dyn PartialReflect) -> Option<Ordering>

Returns a “partial comparison” result.

fn debug(&self, f: &mut Formatter<'_>) -> Result

Debug formatter for the value.

fn reflect_clone(&self) -> Result<Box<dyn Reflect>, ReflectCloneError>

Attempts to clone Self using reflection.

fn apply(&mut self, value: &(dyn PartialReflect + 'static))

Applies a reflected value to this value.

fn to_dynamic(&self) -> Result<Box<dyn PartialReflect>, ReflectCloneError>

Converts this reflected value into its dynamic representation based on its kind.

fn reflect_clone_and_take<T>(&self) -> Result<T, ReflectCloneError>

where T: 'static, Self: Sized + TypePath,

For a type implementing PartialReflect, combines reflect_clone and take in a useful fashion, automatically constructing an appropriate ReflectCloneError if the downcast fails.

fn reflect_hash(&self) -> Option<u64>

Returns a hash of the value (which includes the type).

fn is_dynamic(&self) -> bool

Indicates whether or not this type is a dynamic type.

impl Reflect for PidController

fn into_any(self: Box<Self>) -> Box<dyn Any>

Returns the value as a Box<dyn Any>.

fn as_any(&self) -> &dyn Any

Returns the value as a &dyn Any.

fn as_any_mut(&mut self) -> &mut dyn Any

Returns the value as a &mut dyn Any.

fn into_reflect(self: Box<Self>) -> Box<dyn Reflect>

Casts this type to a boxed, fully-reflected value.

fn as_reflect(&self) -> &dyn Reflect

Casts this type to a fully-reflected value.

fn as_reflect_mut(&mut self) -> &mut dyn Reflect

Casts this type to a mutable, fully-reflected value.

fn set(&mut self, value: Box<dyn Reflect>) -> Result<(), Box<dyn Reflect>>

Performs a type-checked assignment of a reflected value to this value.

impl Struct for PidController

fn field(&self, name: &str) -> Option<&dyn PartialReflect>

Gets a reference to the value of the field named name as a &dyn PartialReflect.

fn field_mut(&mut self, name: &str) -> Option<&mut dyn PartialReflect>

Gets a mutable reference to the value of the field named name as a &mut dyn PartialReflect.

fn field_at(&self, index: usize) -> Option<&dyn PartialReflect>

Gets a reference to the value of the field with index index as a &dyn PartialReflect.

fn field_at_mut(&mut self, index: usize) -> Option<&mut dyn PartialReflect>

Gets a mutable reference to the value of the field with index index as a &mut dyn PartialReflect.

fn name_at(&self, index: usize) -> Option<&str>

Gets the name of the field with index index.

fn index_of_name(&self, name: &str) -> Option<usize>

Gets the index of the field with the given name.

fn field_len(&self) -> usize

Returns the number of fields in the struct.

fn iter_fields(&self) -> FieldIter<'_>

Returns an iterator over the values of the reflectable fields for this struct.

fn to_dynamic_struct(&self) -> Result<DynamicStruct, ReflectCloneError>

Creates a new DynamicStruct from this struct.

fn get_represented_struct_info(&self) -> Option<&'static StructInfo>

Will return None if TypeInfo is not available.

impl StructuralPartialEq for PidController

impl TypePath for PidController

fn type_path() -> &'static str

Returns the fully qualified path of the underlying type.

fn short_type_path() -> &'static str

Returns a short, pretty-print enabled path to the type.

fn type_ident() -> Option<&'static str>

Returns the name of the type, or None if it is anonymous.

fn crate_name() -> Option<&'static str>

Returns the name of the crate the type is in, or None if it is anonymous.

fn module_path() -> Option<&'static str>

Returns the path to the module the type is in, or None if it is anonymous.

impl Typed for PidController

fn type_info() -> &'static TypeInfo

Returns the compile-time info for the underlying type.