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Add serde derives to Pd, Pid and DynamicRaycastVehicle controllers #883

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Merged
sebcrozet merged 2 commits into from
Oct 9, 2025
Merged

Add serde derives to Pd, Pid and DynamicRaycastVehicle controllers #883

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a18aa71
Add serde derives to Pd, Pid and DynamicRaycastVehicle controllers
lokimckay Oct 9, 2025
ad2598b
Add Clone and Debug derives to DynamicRayCastVehicleController
lokimckay Oct 9, 2025
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2 changes: 2 additions & 0 deletions src/control/pid_controller.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -10,6 +10,7 @@ use parry::math::AngVector;
/// This is a [PID controller](https://en.wikipedia.org/wiki/Proportional%E2%80%93integral%E2%80%93derivative_controller)
/// without the Integral part to keep the API immutable, while having a behaviour generally
/// sufficient for games.
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
#[derive(Debug, Copy, Clone, PartialEq)]
pub struct PdController {
/// The Proportional gain applied to the instantaneous linear position errors.
Expand Down Expand Up @@ -51,6 +52,7 @@ impl Default for PdController {
///
/// For video games, the Proportional-Derivative [`PdController`] is generally sufficient and
/// offers an immutable API.
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
#[derive(Debug, Copy, Clone, PartialEq)]
pub struct PidController {
/// The Proportional-Derivative (PD) part of this PID controller.
Expand Down
5 changes: 5 additions & 0 deletions src/control/ray_cast_vehicle_controller.rs
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Expand Up @@ -8,6 +8,8 @@ use crate::prelude::QueryPipelineMut;
use crate::utils::{SimdCross, SimdDot};

/// A character controller to simulate vehicles using ray-casting for the wheels.
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
#[derive(Clone, Debug)]
pub struct DynamicRayCastVehicleController {
wheels: Vec<Wheel>,
forward_ws: Vec<Vector<Real>>,
Expand All @@ -23,6 +25,7 @@ pub struct DynamicRayCastVehicleController {
pub index_forward_axis: usize,
}

#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
#[derive(Copy, Clone, Debug, PartialEq)]
/// Parameters affecting the physical behavior of a wheel.
pub struct WheelTuning {
Expand Down Expand Up @@ -101,6 +104,7 @@ struct WheelDesc {
pub side_friction_stiffness: Real,
}

#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
#[derive(Copy, Clone, Debug, PartialEq)]
/// A wheel attached to a vehicle.
pub struct Wheel {
Expand Down Expand Up @@ -225,6 +229,7 @@ impl Wheel {

/// Information about suspension and the ground obtained from the ray-casting
/// to simulate a wheel’s suspension.
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
#[derive(Copy, Clone, Debug, PartialEq, Default)]
pub struct RayCastInfo {
/// The (world-space) contact normal between the wheel and the floor.
Expand Down