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Picking pid values

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This commit is contained in:
Sam Gateau 2018-08-28 16:05:57 -07:00
parent 7dfdc79644
commit 0da22db837
5 changed files with 112 additions and 54 deletions
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2
interface/src/Application.cpp
View file

@ -5987,7 +5987,7 @@ void Application::updateRenderArgs(float deltaTime) {
_viewFrustum.calculate();
}
appRenderArgs._renderArgs = RenderArgs(_gpuContext, lodManager->getOctreeSizeScale(),
lodManager->getBoundaryLevelAdjust(), lodManager->getSolidAngleHalfTan(), RenderArgs::DEFAULT_RENDER_MODE,
lodManager->getBoundaryLevelAdjust(), lodManager->getLODAngleHalfTan(), RenderArgs::DEFAULT_RENDER_MODE,
RenderArgs::MONO, RenderArgs::RENDER_DEBUG_NONE);
appRenderArgs._renderArgs._scene = getMain3DScene();

86
interface/src/LODManager.cpp
View file

@ -75,12 +75,8 @@ void LODManager::autoAdjustLOD(float realTimeDelta) {
return;
}
auto Kp = _pid.x;
auto Ki = _pid.y;
auto Kd = _pid.z;
float oldOctreeSizeScale = _octreeSizeScale;
float oldSolidAngle = getSolidAngle();
float oldSolidAngle = getLODAngleDeg();
float targetFPS = getLODDecreaseFPS();
float targetPeriod = 1.0f / targetFPS;
@ -89,29 +85,44 @@ void LODManager::autoAdjustLOD(float realTimeDelta) {
static uint64_t lastTime = usecTimestampNow();
uint64_t now = usecTimestampNow();
auto dt = (float) ((now - lastTime) / double(USECS_PER_MSEC));
if (dt < targetPeriod * _pid.w) return;
if (dt < targetPeriod * _pidCoefs.w) return;
float deltaFPS = currentFPS - getLODDecreaseFPS();
lastTime = now;
auto previous_error = 0.f;
auto integral = 0.f;
auto previous_error = _pidHistory.x;
auto previous_integral = _pidHistory.y;
auto error = getLODDecreaseFPS() - currentFPS;
integral = integral + error * dt;
auto integral = previous_integral + error * dt;
auto derivative = (error - previous_error) / dt;
auto output = Kp * error + Ki * integral + Kd * derivative;
previous_error = error;
_pidHistory.x = error;
_pidHistory.y = integral;
_pidHistory.z = derivative;
auto Kp = _pidCoefs.x;
auto Ki = _pidCoefs.y;
auto Kd = _pidCoefs.z;
_pidOutputs.x = Kp * error;
_pidOutputs.y = Ki * integral;
_pidOutputs.z = Kd * derivative;
auto output = _pidOutputs.x + _pidOutputs.y + _pidOutputs.z;
_pidOutputs.w = output;
auto newSolidAngle = oldSolidAngle + output;
newSolidAngle = std::max( 0.5f, std::min(newSolidAngle, 90.f));
setLODAngleDeg(newSolidAngle);
auto halTan = glm::tan(glm::radians(newSolidAngle * 0.5f));
//newSolidAngle = std::max( 0.5f, std::min(newSolidAngle, 90.f));
auto octreeSizeScale = TREE_SCALE * OCTREE_TO_MESH_RATIO / halTan;
_octreeSizeScale = octreeSizeScale;
//auto halTan = glm::tan(glm::radians(newSolidAngle * 0.5f));
//auto octreeSizeScale = TREE_SCALE * OCTREE_TO_MESH_RATIO / halTan;
// _octreeSizeScale = octreeSizeScale;
/*
if (currentFPS < getLODDecreaseFPS()) {
if (now > _decreaseFPSExpiry) {
@ -363,36 +374,57 @@ float LODManager::getWorldDetailQuality() const {
}
float LODManager::getSolidAngleHalfTan() const {
float LODManager::getLODAngleHalfTan() const {
return getPerspectiveAccuracyAngleTan(_octreeSizeScale, _boundaryLevelAdjust);
}
float LODManager::getSolidAngle() const {
return glm::degrees(2.0 * atan(getSolidAngleHalfTan()));
float LODManager::getLODAngle() const {
return 2.0f * atan(getLODAngleHalfTan());
}
float LODManager::getLODAngleDeg() const {
return glm::degrees(getLODAngle());
}
void LODManager::setLODAngleDeg(float lodAngle) {
auto newSolidAngle = std::max(0.5f, std::min(lodAngle, 90.f));
auto halTan = glm::tan(glm::radians(newSolidAngle * 0.5f));
auto octreeSizeScale = TREE_SCALE * OCTREE_TO_MESH_RATIO / halTan;
setOctreeSizeScale(octreeSizeScale);
}
float LODManager::getPidKp() const {
return _pid.x;
return _pidCoefs.x;
}
float LODManager::getPidKi() const {
return _pid.y;
return _pidCoefs.y;
}
float LODManager::getPidKd() const {
return _pid.z;
return _pidCoefs.z;
}
float LODManager::getPidT() const {
return _pid.w;
return _pidCoefs.w;
}
void LODManager::setPidKp(float k) {
_pid.x = k;
_pidCoefs.x = k;
}
void LODManager::setPidKi(float k) {
_pid.y = k;
_pidCoefs.y = k;
}
void LODManager::setPidKd(float k) {
_pid.z = k;
_pidCoefs.z = k;
}
void LODManager::setPidT(float t) {
_pid.w = t;
_pidCoefs.w = t;
}
float LODManager::getPidOp() const {
return _pidOutputs.x;
}
float LODManager::getPidOi() const {
return _pidOutputs.y;
}
float LODManager::getPidOd() const {
return _pidOutputs.z;
}
float LODManager::getPidO() const {
return _pidOutputs.w;
}

23
interface/src/LODManager.h
View file

@ -69,14 +69,17 @@ class LODManager : public QObject, public Dependency {
Q_PROPERTY(float worldDetailQuality READ getWorldDetailQuality WRITE setWorldDetailQuality NOTIFY worldDetailQualityChanged)
Q_PROPERTY(float solidAngleHalfTan READ getSolidAngleHalfTan)
Q_PROPERTY(float solidAngle READ getSolidAngle)
Q_PROPERTY(float lodAngleDeg READ getLODAngleDeg WRITE setLODAngleDeg)
Q_PROPERTY(float pidKp READ getPidKp WRITE setPidKp)
Q_PROPERTY(float pidKi READ getPidKi WRITE setPidKi)
Q_PROPERTY(float pidKd READ getPidKd WRITE setPidKd)
Q_PROPERTY(float pidT READ getPidT WRITE setPidT)
Q_PROPERTY(float pidOp READ getPidOp)
Q_PROPERTY(float pidOi READ getPidOi)
Q_PROPERTY(float pidOd READ getPidOd)
Q_PROPERTY(float pidO READ getPidO)
public:
@ -187,14 +190,17 @@ public:
float getAverageRenderTime() const { return _avgRenderTime; };
float getMaxTheoreticalFPS() const { return (float)MSECS_PER_SECOND / _avgRenderTime; };
float getLODLevel() const;
void setLODLevel(float level);
void setWorldDetailQuality(float quality);
float getWorldDetailQuality() const;
float getSolidAngleHalfTan() const;
float getSolidAngle() const;
float getLODAngleDeg() const;
void setLODAngleDeg(float lodAngle);
float getLODAngleHalfTan() const;
float getLODAngle() const;
float getPidKp() const;
float getPidKi() const;
@ -205,6 +211,11 @@ public:
void setPidKd(float k);
void setPidT(float t);
float getPidOp() const;
float getPidOi() const;
float getPidOd() const;
float getPidO() const;
signals:
/**jsdoc
@ -237,7 +248,9 @@ private:
float _octreeSizeScale = DEFAULT_OCTREE_SIZE_SCALE;
int _boundaryLevelAdjust = 0;
glm::vec4 _pid{ 0.06f, 0.005f, 0.01f, 4.0f };
glm::vec4 _pidCoefs{ 0.1526f, 0.00000015f, 15.f, 4.0f };
glm::vec4 _pidHistory{ 0.0f };
glm::vec4 _pidOutputs{ 0.0f };
uint64_t _decreaseFPSExpiry { 0 };
uint64_t _increaseFPSExpiry { 0 };

3
scripts/developer/utilities/render/configSlider/RichSlider.qml
View file

@ -29,6 +29,7 @@ Item {
property var labelAreaWidthScale: 0.5
property bool integral: false
property var numDigits: 2
property var valueVarSetter: defaultSet
property alias valueVar : sliderControl.value
@ -71,7 +72,7 @@ Item {
HifiControls.Label {
id: labelValue
enabled: root.showValue
text: sliderControl.value.toFixed(root.integral ? 0 : 2)
text: sliderControl.value.toFixed(root.integral ? 0 : root.numDigits)
anchors.right: labelControl.right
anchors.rightMargin: 5
anchors.verticalCenter: root.verticalCenter

52
scripts/developer/utilities/render/lod.qml
View file

@ -68,11 +68,11 @@ Item {
RichSlider {
visible: !LODManager.automaticLODAdjust
showLabel: true
label: "LOD Level"
valueVar: LODManager["lodLevel"]
valueVarSetter: (function (v) { LODManager["lodLevel"] = v })
max: 1.0
min: 0.0
label: "LOD Angle [deg]"
valueVar: LODManager["lodAngleDeg"]
valueVarSetter: (function (v) { LODManager["lodAngleDeg"] = v })
max: 90.0
min: 0.5
integral: false
anchors.left: parent.left
@ -85,9 +85,10 @@ Item {
label: "LOD PID Kp"
valueVar: LODManager["pidKp"]
valueVarSetter: (function (v) { LODManager["pidKp"] = v })
max: 1.0
max: 0.2
min: 0.0
integral: false
numDigits: 3
anchors.left: parent.left
anchors.right: parent.right
@ -98,9 +99,10 @@ Item {
label: "LOD PID Ki"
valueVar: LODManager["pidKi"]
valueVarSetter: (function (v) { LODManager["pidKi"] = v })
max: 0.02
max: 0.000005
min: 0.0
integral: false
numDigits: 8
anchors.left: parent.left
anchors.right: parent.right
@ -111,9 +113,10 @@ Item {
label: "LOD PID Kd"
valueVar: LODManager["pidKd"]
valueVarSetter: (function (v) { LODManager["pidKd"] = v })
max: 0.1
max: 10.0
min: 0.0
integral: false
numDigits: 3
anchors.left: parent.left
anchors.right: parent.right
@ -124,9 +127,9 @@ Item {
label: "LOD PID Num T"
valueVar: LODManager["pidT"]
valueVarSetter: (function (v) { LODManager["pidT"] = v })
max: 5.0
max: 10.0
min: 0.0
integral: false
integral: true
anchors.left: parent.left
anchors.right: parent.right
@ -199,34 +202,43 @@ Item {
]
}
PlotPerf {
title: "LOD"
title: "LOD Angle"
height: parent.evalEvenHeight()
object: LODManager
valueScale: 0.1
valueUnit: ""
valueScale: 1.0
valueUnit: "deg"
plots: [
{
prop: "lodLevel",
label: "LOD",
prop: "lodAngleDeg",
label: "LOD Angle",
color: "#9999FF"
}
]
}
PlotPerf {
title: "Solid Angle"
title: "PID Output"
height: parent.evalEvenHeight()
object: LODManager
valueScale: 1.0
valueUnit: "deg"
//valueNumDigits: 0
plots: [
{
prop: "solidAngle",
label: "Solid Angle",
prop: "pidOp",
label: "Op",
color: "#9999FF"
},
{
prop: "pidOi",
label: "Oi",
color: "#FFFFFF"
},
{
prop: "pidOd",
label: "Od",
color: "#FF6666"
}
]
}
}
Separator {
id: bottomLine
}