Physics Hand PD Control

[SparkMint]

PD Controllers

Useful Resources:
https://deltamotion.com/support/webhelp/rmctools/Controller_Features/Control_Modes/Velocity_PID.htm
https://digitalopus.ca/site/pd-controllers/

PID Controllers are a closed loop system that outputs a stable control signal using an input signal. They are used widely in robotics and they are useful in many other applications. VR Physics Dev is one of those applications that benefit from them! Here is a simple explanation of what each part of PID means:

Proportional Gain - Outputs a signal proportional to the input signal.

Integral Gain - Outputs a signal that changes over time to account for the cumulating error from the proportional value.

Derivative Gain - Outputs a signal that tries to minimise any overshooting caused by the P and I values. Dampening!

We are excluding the Integral for the physics hand, as integral gain isnt required when calculating target velocities.

TODO

• Create a generic PD scalar class. This is a 1 dimensional PD controller, and will act as the base of all PD controllers.

• Create a Vector3 PD Controller Class. This should use 3 PD scalars to calculate and output the value we want.

• Create a Quaternion PD Controller Class. This is a little more involved compared to the vector3 variant.

• Connect the outputs of the Vector3 and Quaternion PD controllers to the targetVelocity and targetAngularVelocities of the configurable joint in the PhysicsHand class.

[SparkMint]

Position PD has been added on the SM_BIMOS fork and the BIMOS rig's strength has been reduced to account for the extra strength provided from it. SparkMint@7dc05d9

Working on Quaternion PD.