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App/humanoid/Balancing.h

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+/* Copyright 2003-2005 ROBLOX Corporation, All Rights Reserved */
+
+#pragma once
+
+#include "Humanoid/HumanoidState.h"
+
+namespace RBX {
+namespace HUMAN {
+
+
+	class Balancing : public HumanoidState
+	{
+	private:
+		float kP;   // units: 1/sec^2      torque = kP * momentOfInertia * rotation
+		float kD;   // units: 1/sec        torque = kD * momentOfInertia * rotVelocity
+
+		Vector3 lastBalanceTorque;
+		int tick;
+
+		static int balanceRate(double torqueMag);
+		static int balanceRateForPGS();
+	protected:
+		static const float maxTorqueComponent() {return 4000.0f;}	// units: 1/sec^2      torque <= maxTorqueComponent * momentOfInertia
+		
+		void setBalanceP(float P) { kP = P; }; 
+		void setBalanceD(float D) { kD = D; };
+
+		// Humanoid::State
+		/*override*/ void onComputeForceImpl();
+
+	public:
+		Balancing(Humanoid* humanoid, StateType priorState);
+		Balancing(Humanoid* humanoid, StateType priorState, const float kP, const float kD);
+	};
+
+
+} // namespace HUMAN
+} // namespace RBX
+