A lightweight, fast PID controller for Godot implemented as a C++ GDExtension.
Click the AssetLib button at the top of the Godot editor and search for EzPID.
Head over to the EzPID page on the asset library website and click the download button. Unzip the download into a location of your choosing. To put the addon in your project, just copy the "addons" folder into the project directory.
You can download the full repository for EzPID here. You can clone this repository by doing git clone https://github.com/iiMidknightii/EzPID.git in the directory of your choosing. If you want to compile your own binaries this is the best option. To put the addon in your project, just copy the "addons" folder into the project directory.
This plugin adds a single node type to Godot: The PIDController. Add a PIDController node anywhere in the scene to enable PID control in one of 2 control_methods: PID_CONTROL_AUTO_PROPERTY and PID_CONTROL_USER_SCRIPT.
When control_method is set to this value, you select another node and one if its properties to be controlled by the PIDController. For example, to control the position of a Node3D when unknown outside disturbances are affecting it, you set the controller's controlled_node property to the node path to the Node3D and the controlled_property property to position. From there, just select your target position and any other parameters for the controller.
You can have the PIDController update the position of the node during PID_PROCESS_IDLE (during _process), PID_PROCESS_PHYSICS (during _physics_process), an equivalent TOOL mode (for use in the editor), or PID_PROCESS_MANUAL (the position will only update when you specifically call advance(delta) in script).
When control_method is set to this value, the PIDController node makes no attempt to directly control the state of anything. Instead, you must extend the PIDController with a custom attached script. Inside that script, you can override _process, _physics_process, or any other engine callback to do your own state update. Inside that function, you can update the target value, call calculate_control_output with a state variable, and use the control output to drive the system however you choose.
For example, to keep a RigidBody3D pointing in a specific orientation, you might override the _physics_process callback inside a script attached to the PIDController or RigidBody3D itself. Inside _physics_process, you can set the target to the rotation desired, then call the PIDController::calculate__control_output with the current rotation of the rigid body. The output of the function should be the forces required to keep the rigid body in the chosen direction, so call RigidBody3D::apply_torque with the output of the controller.
- 1.1 - Reworked
PIDControllerto no longer use any resources for tuning. Also squashed some bugs around the variant property initialization.
Feel free to leave any feedback, bug reports, and contributions to the repository at https://github.com/iiMidknightii/EzPID.
