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RustPhysicsMQ
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before split into lib

This commit is contained in:
franchioping 2026-03-11 11:39:58 +00:00
parent 9b0dc51d4c
commit 8f8b129a6d
10 changed files with 147 additions and 1200124 deletions
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51
analyze.py
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@ -106,6 +106,9 @@ class SimVisualizer:
# Check if the columns are nested and flatten them if necessary
# If read_json doesn't flatten automatically, we expand the dicts:
for col in [
"linvel_current",
"accel_current",
"accel_target",
"angvel_target",
"angvel_current",
"mot_current",
@ -132,34 +135,30 @@ class SimVisualizer:
c = self.axis_var.get() # current axis (x, y, or z)
self.ax.clear()
# Mapping new nested keys to the plot
# The keys follow the pattern: category.axis
self.ax.plot(
self.df["time"], self.df[f"rot_target.{c}"], label=f"Rot Target {c}"
)
self.ax.plot(
self.df["time"], self.df[f"rot_current.{c}"], label=f"Rot Current {c}"
)
to_plot = [
("rot_target", "Rot Target"),
("rot_current", "Rot Current"),
("angvel_current", "Angvel Current"),
("angvel_target", "Angvel Target"),
("accel_target", "Accel Target"),
("accel_current", "Accel Current"),
("linvel_current", "Linvel Current"),
]
self.ax.plot(
self.df["time"], self.df[f"angvel_target.{c}"], label=f"AngVel Target {c}"
)
self.ax.plot(
self.df["time"], self.df[f"angvel_current.{c}"], label=f"AngVel Current {c}"
)
for name, label in to_plot:
self.ax.plot(self.df["time"], self.df[f"{name}.{c}"], label=f"{label} {c}")
self.ax.plot(
self.df["time"],
self.df[f"mot_target.{c}"],
label=f"Mot Target {c}",
linestyle="--",
)
self.ax.plot(
self.df["time"],
self.df[f"mot_current.{c}"],
label=f"Mot Current {c}",
alpha=0.7,
)
# self.ax.plot(
# self.df["time"],
# self.df[f"mot_target.{c}"],
# label=f"Mot Target {c}",
# linestyle="--",
# )
# self.ax.plot(
# self.df["time"],
# self.df[f"mot_current.{c}"],
# label=f"Mot Current {c}",
# )
self.ax.set_xlabel("Time (s)")
self.ax.set_ylabel("Value")

26
configurations/pid_cont/rate_025.toml
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@ -1,26 +0,0 @@
stack = { max_rate = 3.14, rotation_pid = { kp = [
0.7,
0.7,
0.7,
], ki = [
0.0,
0.0,
0.0,
], kd = [
0.0,
0.0,
0.0,
], frequency = 50.0 }, rate_pid = { kp = [
0.1,
0.1,
1.0,
], ki = [
0.0,
0.0,
0.0,
], kd = [
0.0,
0.0,
0.0,
], frequency = 600.0 } }

18
configurations/pid_cont/rate_030.toml
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@ -1,20 +1,20 @@
stack = { max_rate = 3.14, rotation_pid = { kp = [
1.5,
1.5,
1.5,
6.0,
6.0,
6.0,
], ki = [
0.0,
0.0,
0.0,
2.0,
2.0,
2.0,
], kd = [
0.0,
0.0,
0.0,
], frequency = 50.0 }, rate_pid = { kp = [
0.2,
0.2,
2.0,
0.1,
0.1,
1.0,
], ki = [
0.0,
0.0,

2
configurations/sim/sim_std.toml
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@ -1,2 +1,2 @@
tickrate = 6000.0
tickrate = 1200.0
drone_tick_rate = 600

19
src/drone.rs
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@ -11,7 +11,7 @@ pub use input::JoystickInput;
const AIR_DENSITY: f32 = 1.23;
const DRAG_CONSTANT: f32 = 1.3;
const DRAG_MAGIC_NUM: f32 = 0.25;
const DRAG_MAGIC_NUM: f32 = 0.00;
pub struct MotorCharacteristics {
pub relative_motor_positions: [na::OPoint<f32, na::Const<3>>; 4],
@ -55,6 +55,8 @@ pub struct Drone {
pub current_throttles: [f32; 4],
target_throttles: [f32; 4],
last_time: f32,
linvel: na::Vector3<f32>,
accel: na::Vector3<f32>,
}
fn calculate_drag(velocity: f32, area: f32, constant: f32) -> f32 {
@ -110,6 +112,8 @@ impl Drone {
current_throttles: [0.0; 4],
target_throttles: [0.0; 4],
last_time: world.get_time(),
linvel: na::Vector3::zeros(),
accel: na::Vector3::zeros(),
};
}
@ -138,7 +142,6 @@ impl Drone {
*/
drone_rb.reset_forces(true);
drone_rb.reset_torques(true);
for (i, motor_position) in self
.motor_characteristics
.relative_motor_positions
@ -191,9 +194,17 @@ impl Drone {
self.target_throttles = self.controller.get_motor_throttles();
}
pub fn get_accel(&self) -> na::Vector3<f32> {
self.accel
}
pub fn get_angvel(&self, world: &World) -> na::Vector3<f32> {
*world.bodies.get(self.rb_handle).unwrap().angvel()
}
pub fn get_rb<'a>(&self, world: &'a World) -> &'a rp::RigidBody {
world.bodies.get(self.rb_handle).unwrap()
}
pub fn get_rot(&self, world: &World) -> na::Unit<na::Quaternion<f32>> {
*world.bodies.get(self.rb_handle).unwrap().rotation()
}
@ -205,6 +216,10 @@ impl Drone {
pub fn process_tick(&mut self, world: &mut World) {
self.apply_throttles(world, world.get_time() - self.last_time);
self.apply_drag(world);
let cur_linvel = self.get_rb(world).linvel();
self.accel = (cur_linvel - self.linvel) / (world.get_time() - self.last_time);
self.linvel = *cur_linvel;
self.last_time = world.get_time();
}
}

33
src/drone/stacked.rs
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@ -18,11 +18,13 @@ use modules::*;
pub struct DroneState {
pub rotation: na::UnitQuaternion<f32>,
pub angular_velocity: na::Vector3<f32>,
pub mass: f32,
}
pub struct StackedController {
pub rotation_rt: ModuleRuntime<RotationController>,
pub rate_rt: ModuleRuntime<AngularRateController>,
pub linaccel_rt: ModuleRuntime<AccelerationController>,
mixer: MotorMixer,
config: SimulationConfig,
@ -36,23 +38,30 @@ pub struct StackedController {
impl StackedController {
pub fn new(config: SimulationConfig) -> Self {
let min_throttle = 0.0;
let max_throttle = 1.0;
let lin_accel_ctrl =
AccelerationController::new(max_throttle, min_throttle, config.max_thrust);
let rotation_ctrl = RotationController::new(PidProcessor::new(&config.stack.rotation_pid));
let rate_ctrl = AngularRateController::new(PidProcessor::new(&config.stack.rate_pid));
Self {
linaccel_rt: ModuleRuntime::new(lin_accel_ctrl, config.stack.rotation_pid.frequency),
rotation_rt: ModuleRuntime::new(rotation_ctrl, config.stack.rotation_pid.frequency),
rate_rt: ModuleRuntime::new(rate_ctrl, config.stack.rate_pid.frequency),
mixer: MotorMixer {
motor_map: config.motor_map,
min_throttle: 0.1,
min_throttle: 0.0,
max_throttle: 1.0,
mixing_mode: mixer::MotorMixingMode::ThrottleAuthorityReasonable { min_scale: 0.5 },
mixing_mode: mixer::MotorMixingMode::default(),
},
config,
config: config.clone(),
input: Input::default(),
drone_state: DroneState {
rotation: na::UnitQuaternion::identity(),
angular_velocity: na::Vector3::zeros(),
mass: config.mass,
},
last_time: 0.0,
current_time: 0.0,
@ -78,10 +87,24 @@ impl DroneController for StackedController {
fn get_motor_throttles(&mut self) -> [f32; 4] {
let frame_dt = (self.current_time - self.last_time).max(0.0);
let mut throttle = self.input.joystick.throttle_input;
let angular_rate_setpoint = if self.input.mode != ModeInput::Acro {
let rotation_setpoint = if self.input.mode != ModeInput::Rotation {
panic!("Not Implemented")
let lin_accel_setpoint = if self.input.mode != ModeInput::Acceleration {
panic!("Not Implemented")
} else {
Acceleration(na::vector![
self.input.acceleration.x,
self.input.acceleration.y,
self.input.acceleration.z
])
};
let ret = self
.linaccel_rt
.update(lin_accel_setpoint, &self.drone_state, frame_dt);
throttle = ret.1 .0;
ret.0
} else {
// println!("Rotation!");
Rotation(na::vector![
@ -106,7 +129,7 @@ impl DroneController for StackedController {
.rate_rt
.update(angular_rate_setpoint, &self.drone_state, frame_dt);
self.mixer.mix(self.input.joystick.throttle_input, torque.0)
self.mixer.mix(throttle, torque.0)
}
fn as_any(&self) -> &dyn Any {

6
src/drone/stacked/mixer.rs
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@ -82,9 +82,9 @@ impl MotorMixer {
let delta_dif = max_delta - min_delta;
if delta_dif > throttle_range_len {
scale *= throttle_range_len / delta_dif * 0.9;
max_delta *= throttle_range_len / delta_dif * 0.9;
min_delta *= throttle_range_len / delta_dif * 0.9;
scale *= throttle_range_len / delta_dif * 0.99;
max_delta *= throttle_range_len / delta_dif * 0.99;
min_delta *= throttle_range_len / delta_dif * 0.99;
}
let lim_throttle = throttle.clamp(

3
src/logger.rs
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@ -51,6 +51,9 @@ impl From<Vec3Serialize> for na::Vector3<f32> {
#[derive(Debug, Serialize)]
pub struct SimLogRow {
pub time: f32,
pub linvel_current: Vec3Serialize,
pub accel_current: Vec3Serialize,
pub accel_target: Vec3Serialize,
pub angvel_target: Vec3Serialize,
pub angvel_current: Vec3Serialize,
pub mot_current: Vec3Serialize,

110
src/simulation.rs
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@ -159,33 +159,8 @@ impl Simulation {
}
self.drone.process_tick(&mut self.world);
let mut target_angular_vel: na::Vector3<f32> = na::vector![
current_input.joystick.roll_input,
current_input.joystick.pitch_input,
current_input.joystick.yaw_input,
] * 3.14;
/* Logging */
let mut target_mot: na::Vector3<f32> = Default::default();
if let Some(cont) = self
.drone
.controller
.as_mut_any()
.downcast_mut::<crate::drone::stacked::StackedController>()
{
if current_input.mode != ModeInput::Acro {
target_angular_vel = cont.rotation_rt.last_output.unwrap_or_default().0;
}
target_mot = cont.rate_rt.last_output.unwrap_or_default().0;
}
/*
# roll, pitch, yaw
motor_map = [
[1.0, -1.0, 1.0], # Front Right
[-1.0, -1.0, -1.0], # Front Left
[-1.0, 1.0, 1.0], # Rear Left
[1.0, 1.0, -1.0], # Rear Right
]
*/
let applied_motor_diff: na::Vector3<f32> = na::vector![
(self.drone.current_throttles[0] + self.drone.current_throttles[3]
- self.drone.current_throttles[1]
@ -198,30 +173,67 @@ impl Simulation {
- self.drone.current_throttles[3])
] / 2.0;
if let Some(logger) = &mut self.logger {
logger
.log(&SimLogRow {
time: self.world.get_time(),
angvel_target: target_angular_vel.into(),
angvel_current: self
.drone
.get_rot(&self.world)
.inverse()
.transform_vector(&self.drone.get_angvel(&self.world))
.into(),
rot_current: self.drone.get_rot(&self.world).scaled_axis().into(),
rot_target: na::UnitQuaternion::from_scaled_axis(vector![
current_input.rotation.roll,
current_input.rotation.pitch,
current_input.rotation.yaw
])
.scaled_axis()
.into(),
mot_current: applied_motor_diff.into(),
mot_target: target_mot.into(),
})
.unwrap();
if let Some(cont) = self
.drone
.controller
.as_mut_any()
.downcast_mut::<crate::drone::stacked::StackedController>()
{
let target_mot = cont.rate_rt.last_output.unwrap_or_default().0;
let target_angular_vel = if current_input.mode != ModeInput::Acro {
cont.rotation_rt.last_output.unwrap_or_default().0
} else {
na::vector![
current_input.joystick.roll_input,
current_input.joystick.pitch_input,
current_input.joystick.yaw_input,
] * 3.14
};
let target_rot = if current_input.mode != ModeInput::Rotation {
cont.linaccel_rt.last_output.unwrap_or_default().0 .0
} else {
na::vector![
current_input.rotation.roll,
current_input.rotation.pitch,
current_input.rotation.yaw,
] * 3.14
};
let accel_target = na::vector![
current_input.acceleration.x,
current_input.acceleration.y,
current_input.acceleration.z
];
let accel = self.drone.get_accel();
if let Some(logger) = &mut self.logger {
logger
.log(&SimLogRow {
time: self.world.get_time(),
linvel_current: (*self.drone.get_rb(&self.world).linvel()).into(),
accel_current: accel.into(),
accel_target: accel_target.into(),
angvel_target: target_angular_vel.into(),
angvel_current: self
.drone
.get_rot(&self.world)
.inverse()
.transform_vector(&self.drone.get_angvel(&self.world))
.into(),
rot_current: self.drone.get_rot(&self.world).scaled_axis().into(),
rot_target: na::UnitQuaternion::from_scaled_axis(target_rot)
.scaled_axis()
.into(),
mot_current: applied_motor_diff.into(),
mot_target: target_mot.into(),
})
.unwrap();
}
}
Ok(StepOutcome::Continue)
}

1200003
test.txt
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