1a55b550fb
* Improve math module - Mark almost everything constexpr - Equality (a == b) is now exact, down to the bit level. If you want approximate equality use the new ApproxEqual method/static method - Rename Nz::Extend to Nz::Extent - Removed Make[] and Set[] methods in favor of their static counterpart and operator=
31 lines
791 B
C++
31 lines
791 B
C++
// Copyright (C) 2023 Jérôme "Lynix" Leclercq (lynix680@gmail.com)
|
|
// This file is part of the "Nazara Engine - Math module"
|
|
// For conditions of distribution and use, see copyright notice in Config.hpp
|
|
|
|
#include <Nazara/Core/Debug.hpp>
|
|
|
|
namespace Nz
|
|
{
|
|
template<typename T>
|
|
constexpr 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>
|
|
constexpr 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;
|
|
}
|
|
}
|
|
|
|
#include <Nazara/Core/DebugOff.hpp>
|