private static VehicleDynamicState GetStateFromInternalState(VehicleInternState internalState)
{
var state = new VehicleDynamicState()
{
Position = internalState.Position,
Rotation = internalState.Rotation,
LinearVelocity = internalState.LinearVelocity,
AngularVelocity = internalState.AngularVelocity,
Crashed = internalState.Crashed,
IsSleeping = internalState.IsSleeping,
};
return(state);
}
private static VehicleDynamicState GetStateFromCmd(VehicleCmd cmd)
{
var state = new VehicleDynamicState()
{
Position = cmd.Body.Position.ShiftedVector3(),
Rotation = cmd.Body.Rotation,
LinearVelocity = cmd.Body.LinearVelocity,
AngularVelocity = cmd.Body.AngularVelocity,
IsSleeping = cmd.Body.IsSleeping,
Crashed = false,//state 'crashed' is dertermined by server.
};
return(state);
}
private static VehicleDynamicState GetStateFromController(VehicleCommonController controller)
{
var body = controller.cachedRigidbody;
var state = new VehicleDynamicState()
{
Position = body.position,
Rotation = body.rotation,
LinearVelocity = body.velocity,
AngularVelocity = body.angularVelocity,
IsSleeping = body.IsSleeping(),
SleepingOutSync = controller.SleepingOutSync,
};
return(state);
}
private static VehicleDynamicState MoveToStateInternal(VehicleDynamicState currentState, VehicleDynamicState targetState)
{
// Find out how much of a correction we are making
var targetStatePosition = targetState.Position;
var currentStatePosition = currentState.Position;
Vector3 deltaPos;
deltaPos.x = targetStatePosition.x - currentStatePosition.x;
deltaPos.y = targetStatePosition.y - currentStatePosition.y;
deltaPos.z = targetStatePosition.z - currentStatePosition.z;
var deltaMagSq = deltaPos.x * deltaPos.x + deltaPos.y * deltaPos.y + deltaPos.z * deltaPos.z;
var targetLinVelocity = targetState.LinearVelocity;
var targetLinVelSqrMag = targetLinVelocity.x * targetLinVelocity.x +
targetLinVelocity.y * targetLinVelocity.y +
targetLinVelocity.z * targetLinVelocity.z;
var currentLinVelocity = currentState.LinearVelocity;
var currentLinVelSqrMag = currentLinVelocity.x * currentLinVelocity.x +
currentLinVelocity.y * currentLinVelocity.y +
currentLinVelocity.z * currentLinVelocity.z;
var bodyLinearSpeedSq = targetLinVelSqrMag > currentLinVelSqrMag ? targetLinVelSqrMag : currentLinVelSqrMag;
// Snap position by default (big correction, or we are moving too slowly)
var updatePos = targetStatePosition;
Vector3 fixLinVel;
fixLinVel.x = fixLinVel.y = fixLinVel.z = 0.0f;
var errorCorrection = SingletonManager.Get <DynamicPredictionErrorCorrectionConfigManager>();
// If its a small correction and velocity is above threshold, only make a partial correction,
// and calculate a velocity that would fix it over 'fixTime'.
if (deltaMagSq < errorCorrection.LinearDeltaThresholdSq && (deltaMagSq > errorCorrection.BodyPositionThresholdSq ||
bodyLinearSpeedSq > errorCorrection.BodySpeedThresholdSq))
{
updatePos = Vector3.Lerp(currentState.Position, targetState.Position, errorCorrection.LinearInterpAlpha);
var linearRecipFixTime = errorCorrection.LinearRecipFixTime;
fixLinVel.x = (targetStatePosition.x - updatePos.x) * linearRecipFixTime;
fixLinVel.y = (targetStatePosition.y - updatePos.y) * linearRecipFixTime;
fixLinVel.z = (targetStatePosition.z - updatePos.z) * linearRecipFixTime;
}
// else
// {
// _logger.DebugFormat("Delta Position is too large {0}", (targetState.Position - currentState.Position).magnitude);
// }
/////// ORIENTATION CORRECTION ///////
// Get quaternion that takes us from old to new
var newRot = targetState.Rotation;
var invCurrentRot = Quaternion.Inverse(currentState.Rotation);
var deltaRot = newRot * invCurrentRot;
Vector3 deltaAxis;
float deltaAng = .0f;
deltaRot.ToAngleAxis(out deltaAng, out deltaAxis);
//clamp to [-90, 90]
if (deltaAng >= 180)
{
deltaAng = 360 - deltaAng;
deltaAxis = -deltaAxis;
}
if (deltaAng >= 90)
{
deltaAng -= 180;
}
deltaAng *= Mathf.Deg2Rad;
var updateRot = targetState.Rotation;
Vector3 fixAngVel;
fixAngVel.x = fixAngVel.y = fixAngVel.z = 0;
var absDeltaAng = Math.Abs(deltaAng);
if (absDeltaAng < errorCorrection.AngularDeltaThreshold)
{
updateRot = Quaternion.Lerp(currentState.Rotation, newRot, errorCorrection.AngularInterpAlpha);
fixAngVel = VehicleMath.Vector3Normalized(deltaAxis);
var recipFixTime = deltaAng * (1.0f - errorCorrection.AngularInterpAlpha) * errorCorrection.AngularRecipFixTime;
fixAngVel.x *= recipFixTime;
fixAngVel.y *= recipFixTime;
fixAngVel.z *= recipFixTime;
}
// else
// {
// _logger.DebugFormat("Delta Angle is too large {0}", deltaAng);
// }
/////// STATE UPDATE ///////
var lerpState = targetState;
lerpState.Position = updatePos;
lerpState.Rotation = updateRot;
var lerpStateLinVel = lerpState.LinearVelocity;
lerpStateLinVel.x += fixLinVel.x;
lerpStateLinVel.y += fixLinVel.y;
lerpStateLinVel.z += fixLinVel.z;
lerpState.LinearVelocity = lerpStateLinVel;
var lerpStateAngVel = lerpState.AngularVelocity;
lerpStateAngVel.x += fixAngVel.x;
lerpStateAngVel.y += fixAngVel.y;
lerpStateAngVel.z += fixAngVel.z;
lerpState.AngularVelocity = lerpStateAngVel;
lerpState.Crashed = targetState.Crashed;
var fixLinVelSqrMag = fixLinVel.x * fixLinVel.x + fixLinVel.y * fixLinVel.y + fixLinVel.z * fixLinVel.z;
var fixAngVelSqrMag = fixAngVel.x * fixAngVel.x + fixAngVel.y * fixAngVel.y + fixAngVel.z * fixAngVel.z;
const float epsilon = 0.0001f;
const int maxSleepingOutSyncCount = 100;
if (targetState.IsSleeping)
{
lerpState.SleepingOutSync = currentState.SleepingOutSync + 1;
}
else
{
lerpState.SleepingOutSync = 0;
}
if (targetState.IsSleeping &&
(currentState.SleepingOutSync > maxSleepingOutSyncCount || //put to sleep if target have been sleeping for a long time, prevent vehicle jitter on some cases.
(fixLinVelSqrMag <= epsilon && fixAngVelSqrMag <= epsilon)))
{
lerpState.Position = targetState.Position;
lerpState.Rotation = targetState.Rotation;
lerpState.IsSleeping = true;
}
else
{
lerpState.IsSleeping = false;
}
// Debug.LogFormat("id {0}, isSleeping {1}, fixLinearVel {2}, fixAngVel {3}",
// vehicle.entityKey.Value.EntityId,
// lerpState.IsSleeping,
// fixLinVel.sqrMagnitude,
// fixAngVel.sqrMagnitude);
return(lerpState);
}
private static VehicleDynamicState MoveToStateInternal(VehicleCommonController controller, VehicleDynamicState targetState)
{
if (controller.IsKinematic)
{
return(targetState);
}
var currentState = GetStateFromController(controller);
//ShiftContactObject(vehicle, targetState.Position - currentState.Position);
return(MoveToStateInternal(currentState, targetState));
}
