feat: 添加跨平台运行时、资产系统和UI适配功能 (#256)
* feat(platform-common): 添加WASM加载器和环境检测API * feat(rapier2d): 新增Rapier2D WASM绑定包 * feat(physics-rapier2d): 添加跨平台WASM加载器 * feat(asset-system): 添加运行时资产目录和bundle格式 * feat(asset-system-editor): 新增编辑器资产管理包 * feat(editor-core): 添加构建系统和模块管理 * feat(editor-app): 重构浏览器预览使用import maps * feat(platform-web): 添加BrowserRuntime和资产读取 * feat(engine): 添加材质系统和着色器管理 * feat(material): 新增材质系统和着色器编辑器 * feat(tilemap): 增强tilemap编辑器和动画系统 * feat(modules): 添加module.json配置 * feat(core): 添加module.json和类型定义更新 * chore: 更新依赖和构建配置 * refactor(plugins): 更新插件模板使用ModuleManifest * chore: 添加第三方依赖库 * chore: 移除BehaviourTree-ai和ecs-astar子模块 * docs: 更新README和文档主题样式 * fix: 修复Rust文档测试和添加rapier2d WASM绑定 * fix(tilemap-editor): 修复画布高DPI屏幕分辨率适配问题 * feat(ui): 添加UI屏幕适配系统(CanvasScaler/SafeArea) * fix(ecs-engine-bindgen): 添加缺失的ecs-framework-math依赖 * fix: 添加缺失的包依赖修复CI构建 * fix: 修复CodeQL检测到的代码问题 * fix: 修复构建错误和缺失依赖 * fix: 修复类型检查错误 * fix(material-system): 修复tsconfig配置支持TypeScript项目引用 * fix(editor-core): 修复Rollup构建配置添加tauri external * fix: 修复CodeQL检测到的代码问题 * fix: 修复CodeQL检测到的代码问题
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YHH
GitHub
207
thirdparty/rapier.js/src.ts/control/pid_controller.ts
vendored
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207
thirdparty/rapier.js/src.ts/control/pid_controller.ts
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import {RawPidController} from "../raw";
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import {Rotation, RotationOps, Vector, VectorOps} from "../math";
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import {Collider, ColliderSet, InteractionGroups, Shape} from "../geometry";
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import {QueryFilterFlags, World} from "../pipeline";
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import {IntegrationParameters, RigidBody, RigidBodySet} from "../dynamics";
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// TODO: unify with the JointAxesMask
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/**
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* An enum representing the possible joint axes controlled by a PidController.
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* They can be ORed together, like:
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* PidAxesMask.LinX || PidAxesMask.LinY
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* to get a pid controller that only constraints the translational X and Y axes.
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*
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* Possible axes are:
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*
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* - `X`: X translation axis
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* - `Y`: Y translation axis
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* - `Z`: Z translation axis
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* - `AngX`: X angular rotation axis (3D only)
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* - `AngY`: Y angular rotation axis (3D only)
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* - `AngZ`: Z angular rotation axis
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*/
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export enum PidAxesMask {
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None = 0,
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LinX = 1 << 0,
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LinY = 1 << 1,
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LinZ = 1 << 2,
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// #if DIM3
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AngX = 1 << 3,
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AngY = 1 << 4,
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// #endif
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AngZ = 1 << 5,
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// #if DIM2
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AllLin = PidAxesMask.LinX | PidAxesMask.LinY,
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AllAng = PidAxesMask.AngZ,
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// #endif
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// #if DIM3
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AllLin = PidAxesMask.LinX | PidAxesMask.LinY | PidAxesMask.LinZ,
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AllAng = PidAxesMask.AngX | PidAxesMask.AngY | PidAxesMask.AngZ,
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// #endif
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All = PidAxesMask.AllLin | PidAxesMask.AllAng,
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}
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/**
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* A controller for controlling dynamic bodies using the
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* Proportional-Integral-Derivative correction model.
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*/
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export class PidController {
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private raw: RawPidController;
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private params: IntegrationParameters;
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private bodies: RigidBodySet;
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constructor(
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params: IntegrationParameters,
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bodies: RigidBodySet,
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kp: number,
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ki: number,
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kd: number,
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axes: PidAxesMask,
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) {
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this.params = params;
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this.bodies = bodies;
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this.raw = new RawPidController(kp, ki, kd, axes);
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}
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/** @internal */
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public free() {
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if (!!this.raw) {
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this.raw.free();
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}
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this.raw = undefined;
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}
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public setKp(kp: number, axes: PidAxesMask) {
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this.raw.set_kp(kp, axes);
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}
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public setKi(ki: number, axes: PidAxesMask) {
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this.raw.set_kp(ki, axes);
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}
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public setKd(kd: number, axes: PidAxesMask) {
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this.raw.set_kp(kd, axes);
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}
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public setAxes(axes: PidAxesMask) {
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this.raw.set_axes_mask(axes);
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}
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public resetIntegrals() {
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this.raw.reset_integrals();
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}
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public applyLinearCorrection(
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body: RigidBody,
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targetPosition: Vector,
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targetLinvel: Vector,
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) {
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let rawPos = VectorOps.intoRaw(targetPosition);
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let rawVel = VectorOps.intoRaw(targetLinvel);
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this.raw.apply_linear_correction(
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this.params.dt,
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this.bodies.raw,
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body.handle,
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rawPos,
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rawVel,
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);
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rawPos.free();
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rawVel.free();
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}
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// #if DIM2
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public applyAngularCorrection(
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body: RigidBody,
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targetRotation: number,
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targetAngVel: number,
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) {
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this.raw.apply_angular_correction(
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this.params.dt,
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this.bodies.raw,
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body.handle,
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targetRotation,
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targetAngVel,
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);
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}
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// #endif
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// #if DIM3
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public applyAngularCorrection(
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body: RigidBody,
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targetRotation: Rotation,
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targetAngVel: Vector,
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) {
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let rawPos = RotationOps.intoRaw(targetRotation);
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let rawVel = VectorOps.intoRaw(targetAngVel);
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this.raw.apply_angular_correction(
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this.params.dt,
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this.bodies.raw,
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body.handle,
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rawPos,
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rawVel,
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);
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rawPos.free();
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rawVel.free();
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}
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// #endif
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public linearCorrection(
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body: RigidBody,
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targetPosition: Vector,
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targetLinvel: Vector,
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): Vector {
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let rawPos = VectorOps.intoRaw(targetPosition);
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let rawVel = VectorOps.intoRaw(targetLinvel);
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let correction = this.raw.linear_correction(
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this.params.dt,
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this.bodies.raw,
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body.handle,
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rawPos,
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rawVel,
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);
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rawPos.free();
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rawVel.free();
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return VectorOps.fromRaw(correction);
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}
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// #if DIM2
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public angularCorrection(
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body: RigidBody,
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targetRotation: number,
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targetAngVel: number,
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): number {
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return this.raw.angular_correction(
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this.params.dt,
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this.bodies.raw,
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body.handle,
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targetRotation,
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targetAngVel,
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);
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}
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// #endif
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// #if DIM3
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public angularCorrection(
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body: RigidBody,
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targetRotation: Rotation,
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targetAngVel: Vector,
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): Vector {
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let rawPos = RotationOps.intoRaw(targetRotation);
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let rawVel = VectorOps.intoRaw(targetAngVel);
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let correction = this.raw.angular_correction(
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this.params.dt,
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this.bodies.raw,
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body.handle,
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rawPos,
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rawVel,
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);
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rawPos.free();
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rawVel.free();
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return VectorOps.fromRaw(correction);
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}
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// #endif
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}
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