Method createPidController

packages/rapier2d/src/pipeline/world.ts:456–472

* Creates a new PID (Proportional-Integral-Derivative) controller. * * @param kp - The Proportional gain applied to the instantaneous linear position errors. * This is usually set to a multiple of the inverse of simulation step time * (e.g. `60` if the del

(
        kp: number,
        ki: number,
        kd: number,
        axes: PidAxesMask,
    )

     *               account when calculating the errors and corrections.
     */
    public createPidController(
        kp: number,
        ki: number,
        kd: number,
        axes: PidAxesMask,
    ): PidController {
        let controller = new PidController(
            this.integrationParameters,
            this.bodies,
            kp,
            ki,
            kd,
            axes,
        );
        this.pidControllers.add(controller);
        return controller;
    }

    /**
     * Removes a PID controller from this world.