RustPhysicsMQ/src/config.rs

use rapier3d::prelude::*;

#[derive(Debug, serde::Deserialize)]
pub struct SimulationConfig {
    pub tickrate: f32,
    pub drone_tick_rate: u64,

    // PID
    pub target_rate: f32,
    pub proportional_multiplier: [f32; 3],
    pub integral_multiplier: [f32; 3],
    pub diferential_multiplier: [f32; 3],

    // Motors
    pub max_thrust: f32,
    pub max_torque: f32,

    #[serde(default)]
    pub time_constant: f32,

    // Drone
    pub mass: f32,
}

impl SimulationConfig {
    pub fn proportional(&self) -> Vector<f32> {
        vector![
            self.proportional_multiplier[0],
            self.proportional_multiplier[1],
            self.proportional_multiplier[2]
        ]
    }

    pub fn integral(&self) -> Vector<f32> {
        vector![
            self.integral_multiplier[0],
            self.integral_multiplier[1],
            self.integral_multiplier[2]
        ]
    }

    pub fn diferential(&self) -> Vector<f32> {
        vector![
            self.diferential_multiplier[0],
            self.diferential_multiplier[1],
            self.diferential_multiplier[2]
        ]
    }
}