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add sod pole matching for extra stability

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This commit is contained in:
Teatov 2025-07-29 15:11:04 +10:00
parent 0bccbbd5ce
commit d16f9b97a3
2 changed files with 22 additions and 4 deletions
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3
scenes/game_key.tscn
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@ -51,6 +51,9 @@ _lower_right_label = NodePath("LowerRightLabel")
_center_label = NodePath("CenterLabel")
_press_light = NodePath("PressLight")
_sfx_player = NodePath("SFXPlayer")
_idle_frequency = 20.0
_idle_amplitude = 1.46
_idle_offset = 2.11
_press_sfx = SubResource("AudioStreamRandomizer_agrko")
_release_sfx = SubResource("AudioStreamRandomizer_ch32x")

23
scripts/second_order_dynamics.gd
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@ -5,6 +5,10 @@ var _k1: float
var _k2: float
var _k3: float
var _w: float
var _z: float
var _d: float
var _xp: Vector3
var _y: Vector3
var _yd: Vector3
@ -15,9 +19,13 @@ func _init(fzr: Vector3, x0: Vector3) -> void:
var z := fzr.y
var r := fzr.z
_w = 2 * PI * f
_z = z
_d = _w * sqrt(absf(z * z - 1))
_k1 = z / (PI * f)
_k2 = 1 / ((2 * PI * f) * (2 * PI * f))
_k3 = r * z / (2 * PI * f)
_k2 = 1 / (_w * _w)
_k3 = r * z / _w
_xp = x0
_y = x0
@ -28,8 +36,15 @@ func process(t: float, x: Vector3, xd: Vector3 = Vector3.INF) -> Vector3:
if xd == Vector3.INF:
xd = (x - _xp) / t
_xp = x
# var k2_stable := maxf(_k2, 1.1 * (t * t / 4 + t * _k1 / 2))
var k2_stable := max(_k2, t * t / 2 + t * _k1 / 2, t * _k1) as float
var k2_stable: float
if _w * t < _z:
k2_stable = max(_k2, t * t / 2 + t * _k1 / 2, t * _k1)
else:
var t1 := exp(-_z * _w * t)
var alpha := 2 * t1 * (cos(t * _d) if _z <= 1 else cosh(t * _d))
var beta := t1 * t1
var t2 := t / (1 + beta - alpha)
k2_stable = t * t2
_y = _y + t * _yd
_yd = _yd + t * (x + _k3 * xd - _y - _k1 * _yd) / k2_stable
return _y