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Class Summary |
| BalanceController |
Balance controller
Entry condition: both feet are flat on the ground
Uses the rotation of both feet to determine the local facing direction of the physical humanoid. |
| BallJointController |
A PD-controller that guides a ball joint
to a certain desired angle and (optionally) desired avelocity
for each angle:
torque = ks * (desiredangle-currentangle) + ds * (desiredavelocity - currentavelocity)
with ks the spring gain, ds the damper gain
Note that this controller requires a high physical simulation rate (3 ms or less) |
| FrictionController |
Applies uniform friction on each DoF of a joint, implemented as a damper
TODO: test through BML |
| HingeJointController |
A PD-controller that guides a hinge joint (or one angle of a joint with more DoF)
to a certain desired angle and (optionally) desired avelocity
torque = ks * (desiredangle-currentangle) + ds * (desiredavelocity - currentavelocity)
with ks the spring gain, ds the damper gain |
| MeathookBalanceController |
TODO: test this |
| NoController |
A controller that does not, in fact, control any joints. |
| RagdollController |
Ragdoll controller: just let all joints hang loose... |
| RigidBodyDamper |
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| ScriptController |
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| ScriptHumanoidController |
The ScriptJointController controls a PhysicalHumanoid, using a Rhino (javascript syntax) script. |
| ScriptJointController |
The ScriptJointController controls a single joint, using a Rhino (javascript syntax) script. |