public void AddAndProcessRemoteBodyForPrediction(RigidBodyPhysicsBridgeInfo rb,
RigidBodyTransform transform, UnityEngine.Vector3 keyFramedPos,
UnityEngine.Quaternion keyFramedOrientation, float timeOfSnapshot,
PredictionTimeParameters timeInfo)
{
var collisionInfo = new CollisionSwitchInfo();
collisionInfo.startPosition = rb.RigidBody.transform.position;
collisionInfo.startOrientation = rb.RigidBody.transform.rotation;
collisionInfo.rigidBodyId = rb.Id;
collisionInfo.isKeyframed = rb.IsKeyframed;
// test is this remote body is in the monitor stream or if this is grabbed & key framed then this should not be dynamic
if (_monitorCollisionInfo.ContainsKey(rb.Id) && !rb.IsKeyframed)
{
// dynamic
rb.RigidBody.isKinematic = false;
collisionInfo.monitorInfo = _monitorCollisionInfo[rb.Id];
collisionInfo.monitorInfo.timeFromStartCollision += timeInfo.DT;
collisionInfo.linearVelocity = rb.RigidBody.velocity;
collisionInfo.angularVelocity = rb.RigidBody.angularVelocity;
#if MRE_PHYSICS_DEBUG
Debug.Log(" Remote body: " + rb.Id.ToString() + " is dynamic since:"
+ collisionInfo.monitorInfo.timeFromStartCollision + " relative distance:" + collisionInfo.monitorInfo.relativeDistance
+ " interpolation:" + collisionInfo.monitorInfo.keyframedInterpolationRatio);
#endif
// if time passes by then make a transformation between key framed and dynamic
// but only change the positions not the velocity
if (collisionInfo.monitorInfo.keyframedInterpolationRatio > 0.05f)
{
// interpolate between key framed and dynamic transforms
float t = collisionInfo.monitorInfo.keyframedInterpolationRatio;
UnityEngine.Vector3 interpolatedPos;
UnityEngine.Quaternion interpolatedQuad;
interpolatedPos = t * keyFramedPos + (1.0f - t) * rb.RigidBody.transform.position;
interpolatedQuad = UnityEngine.Quaternion.Slerp(keyFramedOrientation, rb.RigidBody.transform.rotation, t);
#if MRE_PHYSICS_DEBUG
Debug.Log(" Interpolate body " + rb.Id.ToString() + " t=" + t
+ " time=" + UnityEngine.Time.time
+ " pos KF:" + keyFramedPos
+ " dyn:" + rb.RigidBody.transform.position
+ " interp pos:" + interpolatedPos
+ " rb vel:" + rb.RigidBody.velocity
+ " KF vel:" + rb.lastValidLinerVelocity);
#endif
// apply these changes only if they are significant in order to not to bother the physics engine
// for settled objects
UnityEngine.Vector3 posdiff = rb.RigidBody.transform.position - interpolatedPos;
if (posdiff.magnitude > interpolationPosEpsilon)
{
rb.RigidBody.transform.position = interpolatedPos;
}
float angleDiff = Math.Abs(
UnityEngine.Quaternion.Angle(rb.RigidBody.transform.rotation, interpolatedQuad));
if (angleDiff > interpolationAngularEps)
{
rb.RigidBody.transform.rotation = interpolatedQuad;
}
// apply velocity damping if we are in the interpolation phase
if (collisionInfo.monitorInfo.keyframedInterpolationRatio >= velocityDampingInterpolationValueStart)
{
rb.RigidBody.velocity *= velocityDampingForInterpolation;
rb.RigidBody.angularVelocity *= velocityDampingForInterpolation;
}
}
}
else
{
// 100% key framing
rb.RigidBody.isKinematic = true;
rb.RigidBody.transform.position = keyFramedPos;
rb.RigidBody.transform.rotation = keyFramedOrientation;
rb.RigidBody.velocity.Set(0.0f, 0.0f, 0.0f);
rb.RigidBody.angularVelocity.Set(0.0f, 0.0f, 0.0f);
collisionInfo.linearVelocity = rb.lastValidLinerVelocity;
collisionInfo.angularVelocity = rb.lastValidAngularVelocity;
collisionInfo.monitorInfo = new CollisionMonitorInfo();
#if MRE_PHYSICS_DEBUG
if (rb.IsKeyframed)
{
Debug.Log(" Remote body: " + rb.Id.ToString() + " is key framed:"
+ " linvel:" + collisionInfo.linearVelocity
+ " angvel:" + collisionInfo.angularVelocity);
}
#endif
}
// <todo> add more filtering here to cancel out unnecessary items,
// but for small number of bodies should be OK
_switchCollisionInfos.Add(collisionInfo);
}
public void AddAndProcessRemoteBodyForPrediction(RigidBodyPhysicsBridgeInfo rb,
RigidBodyTransform transform, Godot.Vector3 keyFramedPos,
Godot.Quat keyFramedOrientation, float timeOfSnapshot,
PredictionTimeParameters timeInfo)
{
var collisionInfo = new CollisionSwitchInfo();
collisionInfo.startPosition = rb.RigidBody.GlobalTransform.origin;
collisionInfo.startOrientation = rb.RigidBody.GlobalTransform.basis.RotationQuat();
collisionInfo.rigidBodyId = rb.Id;
collisionInfo.isKeyframed = rb.IsKeyframed;
// test is this remote body is in the monitor stream or if this is grabbed & key framed then this should not be dynamic
if (_monitorCollisionInfo.ContainsKey(rb.Id) && !rb.IsKeyframed)
{
// dynamic
if (rb.RigidBody.Mode != Godot.RigidBody.ModeEnum.Rigid)
{
rb.RigidBody.Mode = Godot.RigidBody.ModeEnum.Rigid;
}
collisionInfo.monitorInfo = _monitorCollisionInfo[rb.Id];
collisionInfo.monitorInfo.timeFromStartCollision += timeInfo.DT;
collisionInfo.linearVelocity = rb.RigidBody.LinearVelocity;
collisionInfo.angularVelocity = rb.RigidBody.AngularVelocity;
#if MRE_PHYSICS_DEBUG
GD.Print(" Remote body: " + rb.Id.ToString() + " is dynamic since:"
+ collisionInfo.monitorInfo.timeFromStartCollision + " relative distance:" + collisionInfo.monitorInfo.relativeDistance
+ " interpolation:" + collisionInfo.monitorInfo.keyframedInterpolationRatio);
#endif
// if time passes by then make a transformation between key framed and dynamic
// but only change the positions not the velocity
if (collisionInfo.monitorInfo.keyframedInterpolationRatio > 0.05f)
{
// interpolate between key framed and dynamic transforms
float t = collisionInfo.monitorInfo.keyframedInterpolationRatio;
Godot.Vector3 interpolatedPos;
Godot.Quat interpolatedQuad;
interpolatedPos = t * keyFramedPos + (1.0f - t) * rb.RigidBody.GlobalTransform.origin;
interpolatedQuad = keyFramedOrientation.Slerp(rb.RigidBody.GlobalTransform.basis.RotationQuat(), t);
#if MRE_PHYSICS_DEBUG
GD.Print(" Interpolate body " + rb.Id.ToString() + " t=" + t
+ " time=" + OS.GetTicksMsec() * 0.001
+ " pos KF:" + keyFramedPos
+ " dyn:" + rb.RigidBody.Transform.origin
+ " interp pos:" + interpolatedPos
+ " rb vel:" + rb.RigidBody.LinearVelocity
+ " KF vel:" + rb.lastValidLinerVelocityOrPos);
#endif
// apply these changes only if they are significant in order to not to bother the physics engine
// for settled objects
Godot.Vector3 posdiff = rb.RigidBody.GlobalTransform.origin - interpolatedPos;
Vector3 rigidBodyOrigin = rb.RigidBody.GlobalTransform.origin;
Basis rigidBodyBasis = rb.RigidBody.GlobalTransform.basis;
if (posdiff.Length() > interpolationPosEpsilon)
{
rigidBodyOrigin = interpolatedPos;
}
float angleDiff = Math.Abs(Mathf.Rad2Deg(rigidBodyBasis.GetEuler().AngleTo(interpolatedQuad.GetEuler())));
if (angleDiff > interpolationAngularEps)
{
rigidBodyBasis = new Basis(interpolatedQuad);
}
rb.RigidBody.GlobalTransform = new Transform(rigidBodyBasis, rigidBodyOrigin);
// apply velocity damping if we are in the interpolation phase
if (collisionInfo.monitorInfo.keyframedInterpolationRatio >= velocityDampingInterpolationValueStart)
{
rb.RigidBody.LinearVelocity *= velocityDampingForInterpolation;
rb.RigidBody.AngularVelocity *= velocityDampingForInterpolation;
}
}
}
else
{
// 100% key framing
if (rb.RigidBody.Mode != Godot.RigidBody.ModeEnum.Kinematic)
{
rb.RigidBody.Mode = Godot.RigidBody.ModeEnum.Kinematic;
}
rb.RigidBody.GlobalTransform = new Transform(new Basis(keyFramedOrientation), keyFramedPos);
rb.RigidBody.LinearVelocity = new Vector3(0.0f, 0.0f, 0.0f);
rb.RigidBody.AngularVelocity = new Vector3(0.0f, 0.0f, 0.0f);
collisionInfo.linearVelocity = rb.lastValidLinerVelocityOrPos;
collisionInfo.angularVelocity = rb.lastValidAngularVelocityorAng;
collisionInfo.monitorInfo = new CollisionMonitorInfo();
#if MRE_PHYSICS_DEBUG
if (rb.IsKeyframed)
{
GD.Print(" Remote body: " + rb.Id.ToString() + " is key framed:"
+ " linvel:" + collisionInfo.linearVelocity
+ " angvel:" + collisionInfo.angularVelocity);
}
#endif
}
// <todo> add more filtering here to cancel out unnecessary items,
// but for small number of bodies should be OK
_switchCollisionInfos.Add(collisionInfo);
}
