Exemplos de UnityEngine Vector3d.InvertNoNaN em C# (CSharp)

Exemplo n.º 1

Arquivo: FlightCore.cs Projeto: RemoteTechnologiesGroup/RemoteTech

        private static void SetPIDParameters(FlightComputer fc, Vector3d TfV, double kdFactor, double kpFactor, double kiFactor)
        {
            var pid = fc.pid;

            Vector3d invTf = TfV.InvertNoNaN();
            pid.Kd = kdFactor * invTf;

            pid.Kp = (1 / (kpFactor * Math.Sqrt(2))) * pid.Kd;
            pid.Kp.Scale(invTf);

            pid.Ki = (1 / (kiFactor * Math.Sqrt(2))) * pid.Kp;
            pid.Ki.Scale(invTf);

            pid.intAccum = pid.intAccum.Clamp(-5, 5);
        }