# cbloom rants

## 3/16/2008

### 03-16-08

Addendum / FYI : there's been a lot of followup to this and I'll post some useable code some day soon, in like a simple .h you can just include or something.

So, Jon asked this question and I realized that I don't actually know of a good answer :

```You have some state variable with inertia, we'll call it a position & velocity {P,V}
You want to drive that variable towards some target, which may or may not continue to change {TP,TV}
You want to reach the target in finite time, and if the target is still you should reach it within time K
You want both your position and velocity to be at least C0 (value continuous)
```
You want a "good path" which is rather hard to define exactly, but overshooting and oscillating is bad, as is unnecessarily fast accelerations; you don't exactly want to minimize the energy required to move because that will give you very loose springy motion.

(side note : this not actually an "interception" problem, in that the target point is not considered to be actually moving linearly, you need to actually hit the exact end value "TP" and when you hit it you must have the velocity "TV" , you don't get to hit the point TP + t* TV somewhere along its path ; note that if you can solve this problem then you can solve the interception problem by using a moving frame, but the converse is not true).

PD controllers are very commonly used for this in games. They're nice and smooth (they're always C1, and are also C2 if the target moves smoothly), but have a few bad properties. For one thing they never actually reach the target, they just keep getting closer forever. Furthermore, if you damp them enough to prevent overshoot, they converge very slowly. People often use a critically damped controller, but it doesn't really solve these issues (overshooting vs. overdamping), just picks a middle ground where you have a little of each problem.

So far as I know there is no standard good solution to this, which is odd because it seems like something we want to do all the time. Does anybody know if there are good solutions to this problem ? It kind of blows my mind that we don't all just have this routine sitting around.

So I made a test app with various more or less hacky solutions : testdd zip and there are algorithm descriptions in the readme

I also just added a new mode in there today which so far as I can tell is the best way to do this. It's "mode 1" the "cubic maxaccel".

It solves a cubic, which is the lowest order polynomial that hits the endpoints (and thus is C1). The cubic is constrained to never accelerate faster than a max acceleration parameter. This removes all the hacky stuff about resetting the time to get to the target when the target moves slightly. I can't find a flaw with this, it just seems to work.

Now it might also be interesting to go ahead and use a quartic curve, because then you could also keep the acceleration continuous as well. Dunno if that would actually make better looking curves because the cubic paths look pretty good already.

It's very important IMO for whatever algorithm here to not have a lot of hacks/tweaks/prefs that need tuning, because you want to be able to take your interpolator and toss it anything have it "just work". For example, from what I can tell a PID controller is just a no-go because tweaking the values is very difficult and data dependent so it's not practical to use as a generic interpolator. What I want is basically one single parameter factor for the interpolator which controls how fast the value converges to the target.

I would like to see or compare to an AI steering type of interpolator, but I don't really want to write it, so if somebody has code for something like that, please send it to me, ideally as function that plugs right into that testdd/main.cpp

Also the code I've got in there for dealing with finding the root of the quartic polynomial is kind of nasty, so if you want to fix that up go for it. In words : I need to find the lowest non-negative root of a "depressed quartic". Any kind of iterative thing like Newton's is nasty because you have start with some seed, and there's not a simple way to be sure you picked the right seed to get the lowest positive solution.