Picking pid values

interface/src/Application.cpp

@@ -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();
 

interface/src/LODManager.cpp

@@ -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 previous_error = _pidHistory.x;
-    auto integral = 0.f;
+    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;
+    //auto halTan = glm::tan(glm::radians(newSolidAngle * 0.5f));
-    _octreeSizeScale = octreeSizeScale;
+
+    //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::getLODAngle() const {
-float LODManager::getSolidAngle() const {
+    return 2.0f * atan(getLODAngleHalfTan());
-    return glm::degrees(2.0 * atan(getSolidAngleHalfTan()));
+}
+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;
 }

interface/src/LODManager.h

@@ -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 lodAngleDeg READ getLODAngleDeg WRITE setLODAngleDeg)
-    Q_PROPERTY(float solidAngle READ getSolidAngle)
 
     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 getLODAngleDeg() const;
-    float getSolidAngle() 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 };

scripts/developer/utilities/render/configSlider/RichSlider.qml

@@ -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

scripts/developer/utilities/render/lod.qml

@@ -68,11 +68,11 @@ Item {
         RichSlider {
             visible: !LODManager.automaticLODAdjust
             showLabel: true
-            label: "LOD Level"
+            label: "LOD Angle [deg]"
-            valueVar: LODManager["lodLevel"]
+            valueVar: LODManager["lodAngleDeg"]
-            valueVarSetter: (function (v) { LODManager["lodLevel"] = v })
+            valueVarSetter: (function (v) { LODManager["lodAngleDeg"] = v })
-            max: 1.0
+            max: 90.0
-            min: 0.0
+            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 
@@ -199,31 +202,40 @@ Item {
             ]
         }
         PlotPerf {
-            title: "LOD"
+            title: "LOD Angle"
             height: parent.evalEvenHeight()
             object: LODManager
-            valueScale: 0.1
+            valueScale: 1.0
-            valueUnit: ""
+            valueUnit: "deg"
             plots: [
                 {
-                    prop: "lodLevel",
+                    prop: "lodAngleDeg",
-                    label: "LOD",
+                    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",
+                    prop: "pidOp",
-                    label: "Solid Angle",
+                    label: "Op",
                     color: "#9999FF"
+                },
+                {
+                    prop: "pidOi",
+                    label: "Oi",
+                    color: "#FFFFFF"
+                },
+                {
+                    prop: "pidOd",
+                    label: "Od",
+                    color: "#FF6666"
                 }
             ]
         }