feat: add PD and PID controller implementations#804
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Currently, Rapier implements a character controller based on kinematic rigid bodies and shape queries. A second common paradigm for character controllers are velocity-based control of dynamic rigid-bodies. This as many advantages over kinematic character controller like the natural interaction with other dynamic bodies and fact it doesn’t need any scene queries (ray-cast/shape-cast) to operate. However, it provides slightly less control for non-physical behaviors than what we can get from kinematic character controllers.
This PR introduces a
PdControllerand aPidControllerimplementing the well-known concept of Proportional-Integral-Derivative control. This tool can be used to facilitate the implementation of character controllers based on dynamic rigid-bodies by calculating desired velocity changes based on the difference between a desired rigid-body pose and the current one.The testbed character controller examples has been updated to let the user pick between kinematic control and dynamic control.
PID.control.mov