47 lines
1.0 KiB
Rust
47 lines
1.0 KiB
Rust
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use rapier3d::prelude::*;
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#[derive(Debug, serde::Deserialize)]
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pub struct SimulationConfig {
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pub tickrate: f32,
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pub drone_tick_rate: u64,
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// PID
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pub target_rate: f32,
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pub proportional_multiplier: [f32; 3],
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pub integral_multiplier: [f32; 3],
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pub diferential_multiplier: [f32; 3],
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// Motors
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pub max_thrust: f32,
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pub max_torque: f32,
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// Drone
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pub mass: f32,
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}
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impl SimulationConfig {
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pub fn proportional(&self) -> Vector<f32> {
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vector![
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self.proportional_multiplier[0],
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self.proportional_multiplier[1],
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self.proportional_multiplier[2]
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]
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}
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pub fn integral(&self) -> Vector<f32> {
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vector![
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self.integral_multiplier[0],
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self.integral_multiplier[1],
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self.integral_multiplier[2]
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]
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}
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pub fn diferential(&self) -> Vector<f32> {
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vector![
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self.diferential_multiplier[0],
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self.diferential_multiplier[1],
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self.diferential_multiplier[2]
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]
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}
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}
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