public DeadReckoning(IKinematic physObject, bool estimateVelocity = false)
{
this.estimateVelocity = estimateVelocity;
predictedPhysObject = physObject;
stateOld = new KinematicState(physObject.Position, physObject.Velocity, physObject.Acceleration);
stateNew = new KinematicState(physObject.Position, physObject.Velocity, physObject.Acceleration);
updateTimer.Start();
}
/// <summary>
/// We use this to predict a current state
/// </summary>
/// <param name="oldState"></param>
/// <param name="newState"></param>
/// <param name="interpWeighting"></param>
KinematicState BlendKinematicStates(IKinematic oldState, IKinematic newState, float interpWeighting = 0.5f)
{
interpWeighting = Mathf.Clamp01(interpWeighting);
float interpNew = interpWeighting;
float interpOld = 1 - interpWeighting;
//Explanation of percentateToNew:
//A value of 0.0 will return the exact same state as "oldState",
//A value of 1.0 will return the exact same state as "newState",
//A value of 0.5 will return a state with data exactly in the middle of that of "old" and "new".
//Its value should never be outside of [0, 1].
Vector3 blendedVelocity = oldState.Velocity + (newState.Velocity - oldState.Velocity) * normalizedTime;
KinematicState final = new KinematicState();
final.Position = (interpOld * oldState.Position) + (interpNew * newState.Position);
final.Velocity = (interpOld * oldState.Velocity) + (interpNew * newState.Velocity);
final.Acceleration = (interpOld * oldState.Acceleration) + (interpNew * newState.Acceleration);
return(final);
}
/// <summary>
/// Will modify and update a phys object with an extrapolated position based on a delta time
/// </summary>
/// <param name="physObject"></param>
/// <param name="deltaTime"></param>
public static IKinematic ExtrapolatePosition(IKinematic physObject, float deltaTime)
{
Vector3 newPos = physObject.Position + physObject.Velocity * deltaTime + 0.5f * physObject.Acceleration * deltaTime * deltaTime;
return(new KinematicState(newPos, physObject.Velocity, physObject.Acceleration));
}
