Math: Add PidController class

include/Nazara/Math.hpp

@@ -40,6 +40,7 @@
 #include <Nazara/Math/Frustum.hpp>
 #include <Nazara/Math/Matrix4.hpp>
 #include <Nazara/Math/OrientedBox.hpp>
+#include <Nazara/Math/PidController.hpp>
 #include <Nazara/Math/Plane.hpp>
 #include <Nazara/Math/Quaternion.hpp>
 #include <Nazara/Math/Ray.hpp>

include/Nazara/Math/PidController.hpp

@@ -0,0 +1,31 @@
+// Copyright (C) 2021 Jérôme Leclercq
+// This file is part of the "Nazara Engine - Mathematics module"
+// For conditions of distribution and use, see copyright notice in Config.hpp
+
+#pragma once
+
+#ifndef NAZARA_PIDCONTROLLER_HPP
+#define NAZARA_PIDCONTROLLER_HPP
+
+namespace Nz
+{
+	template<typename T>
+	class PidController
+	{
+		public:
+			PidController(float p, float i, float d);
+
+			T Update(const T& currentError, float elapsedTime);
+
+		private:
+			T m_lastError;
+			T m_integral;
+			float m_dFactor;
+			float m_iFactor;
+			float m_pFactor;
+	};
+}
+
+#include <Nazara/Math/PidController.inl>
+
+#endif

include/Nazara/Math/PidController.inl

@@ -0,0 +1,28 @@
+// Copyright (C) 2021 Jérôme Leclercq
+// This file is part of the "Nazara Engine - Mathematics module"
+// For conditions of distribution and use, see copyright notice in Config.hpp
+
+#include <Nazara/Math/PidController.hpp>
+
+namespace Nz
+{
+	template<typename T>
+	PidController<T>::PidController(float p, float i, float d) :
+	m_lastError(0),
+	m_integral(0),
+	m_dFactor(d),
+	m_iFactor(i),
+	m_pFactor(p)
+	{
+	}
+
+	template<typename T>
+	T PidController<T>::Update(const T& currentError, float elapsedTime)
+	{
+		m_integral += currentError * elapsedTime;
+		T deriv = (currentError - m_lastError) / elapsedTime;
+		m_lastError = currentError;
+
+		return currentError * m_pFactor + m_integral * m_iFactor + deriv * m_dFactor;
+	}
+}