eve::animation::SecondOrderCoeffs结构体 参考

Control-theory helpers for procedural animation. 更多...

#include <AnimControlMath.h>

Public 属性
float	k1 = 0.f
float	k2 = 1.f
float	k3 = 0.f

详细描述

Control-theory helpers for procedural animation.

Sources (public literature / industry practice):

• Second-order LTI tracking (t3ssel8r): ÿ + k1 ẏ + k2 y = x + k3 ẋ with k1 = ζ/(π f), k2 = 1/(2π f)², k3 = r ζ/(2π f), ω = 2π f.
• Closed-form damped springs (Ryan Juckett): exact step for ẍ + 2 ζ ω ẋ + ω² x = 0 about a set-point (under / critical / over).
• PD pose control (Neff / Tan et al.): τ = Kp (θd − θ) − Kd ω, unit-mass gains Kp = ω², Kd = 2 ζ ω (critically damped when ζ = 1).

在文件 AnimControlMath.h 第 20 行定义.

类成员变量说明

k1

float eve::animation::SecondOrderCoeffs::k1 = 0.f

在文件 AnimControlMath.h 第 21 行定义.

被这些函数引用 eve::animation::makeSecondOrderCoeffs().

k2

float eve::animation::SecondOrderCoeffs::k2 = 1.f

在文件 AnimControlMath.h 第 22 行定义.

k3

float eve::animation::SecondOrderCoeffs::k3 = 0.f

在文件 AnimControlMath.h 第 23 行定义.

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该结构体的文档由以下文件生成:

• src/modules/animation/AnimControlMath.h