AnimControlMath.h 文件参考

#include <cmath>
#include <algorithm>

浏览源代码.

类
struct	eve::animation::SecondOrderCoeffs
	Control-theory helpers for procedural animation. 更多...
struct	eve::animation::DampedSpringStep
	Closed-form coefficients for one damped-spring time step (Juckett). 更多...

命名空间
namespace	eve
namespace	eve::animation

函数
SecondOrderCoeffs	eve::animation::makeSecondOrderCoeffs (float frequencyHz, float dampingZeta, float response)
	Build second-order coefficients from frequency (Hz), damping ζ, response r.
void	eve::animation::stepSecondOrder (float dt, float x, float xd, const SecondOrderCoeffs &c, float &y, float &yd)
	Stable semi-implicit Euler step for a second-order tracker. Estimates input velocity from consecutive targets when xdEstimate is used by caller. k2 is clamped (k2_stable) so large dt cannot explode the integrator.
DampedSpringStep	eve::animation::makeDampedSpringStep (float dt, float angularFrequency, float dampingRatio)
void	eve::animation::stepDampedSpring (float dt, float target, float angularFrequency, float dampingRatio, float &pos, float &vel)
	Advance position/velocity relative to a set-point using closed-form spring step.
void	eve::animation::pdGainsFromOmegaZeta (float omega, float zeta, float &kp, float &kd)
	Unit-mass PD gains from natural frequency ω (rad/s) and damping ratio ζ.
void	eve::animation::stepPd (float dt, float target, float targetVel, float kp, float kd, float &y, float &yd)
	Semi-implicit Euler PD step (unit mass): a = Kp (target − y) + Kd (targetVel − yd), then integrate.
float	eve::animation::hzToOmega (float frequencyHz)
	ω (rad/s) from frequency in Hz.