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follow3d component

Pulls the node's body3d towards the pose of target every fixed step, with rapier's PD or PID controller. node.follow3d.reset_follow() forgets what a PID…

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3d · physics · 12 properties · 3D

Pulls the node's body3d towards the pose of target every fixed step, with rapier's PD or PID controller. node.follow3d.reset_follow() forgets what a PID summed.

In a scene, follow3d is the node key that applies it. A script reaches each property below as a field on node.follow3d: reading one asks the running component, and assigning one leaves the rest alone. The whole table is node.follow3d.get() and node.follow3d.set(table).

Properties

property type default description
integral_gain vec3 [1,1,1] How hard the gap in position summed over time pulls, per axis, with pid
kind enum pd Rapier's proportional-derivative controller, or the same with an integral that keeps pulling against a steady push One of pd, pid.
position_gain vec3 [60,60,60] How hard a gap in position pulls, per axis: about one over the fixed step closes it in one step
rotation_axes flags ["x","y","z"] The axes the body is turned about One of x, y, z.
rotation_gain vec3 [60,60,60] How hard a gap in rotation pulls, per axis
rotation_integral_gain vec3 [1,1,1] How hard the gap in rotation summed over time pulls, per axis, with pid
spin_gain vec3 [0.8,0.8,0.8] How much of a gap in spin a step corrects, per axis
target node — The node whose pose the body is pulled to; empty pulls nothing
target_angular_velocity vec3 [0,0,0] The spin the body is pulled to match about each axis, radians a second in the file
target_linear_velocity vec3 [0,0,0] The velocity the body is pulled to match, in world units per second
translation_axes flags ["x","y","z"] The axes the body is pulled along One of x, y, z.
velocity_gain vec3 [0.8,0.8,0.8] How much of a gap in velocity a step corrects, per axis: 0 none, 1 all of it

Script functions

Methods of node.follow3d, the handle a node carrying this component exposes. Every handle also has get(), set(table), patch(table), has() and remove().

From physics3d:

method what it does
reset_follow() Forget what a pid follow summed, so it pulls from now as if it had just started.