public void FixedUpdate(UnityEngine.Transform rootTransform)
{
// - physics rigid body management
// -set transforms/velocities for key framed bodies
// get all the prediction time infos in this struct
PredictionTimeParameters timeInfo = new PredictionTimeParameters(UnityEngine.Time.fixedDeltaTime);
// start the predictor
_predictor.StartBodyPredicitonForNextFrame();
int index = 0;
MultiSourceCombinedSnapshot snapshot;
_snapshotManager.Step(timeInfo.DT, out snapshot);
_snapshotManager.UpdateDebugDisplay(rootTransform); // guarded by ifdef internally
foreach (var rb in _rigidBodies.Values)
{
// if the body is owned then we only set the kinematic flag for the physics
if (rb.Ownership)
{
if (rb.IsKeyframed)
{
rb.RigidBody.isKinematic = true;
}
else
{
rb.RigidBody.isKinematic = false;
}
continue;
}
// Find corresponding rigid body info.
// since both are sorted list this should hit without index=0 at the beginning
while (index < snapshot.RigidBodies.Count && rb.Id.CompareTo(snapshot.RigidBodies.Values[index].Id) > 0)
{
index++;
}
if (index < snapshot.RigidBodies.Count && rb.Id == snapshot.RigidBodies.Values[index].Id)
{
// todo: kick-in prediction if we are missing an update for this rigid body
//if (!snapshot.RigidBodies.Values[index].HasUpdate)
//{
// rb.RigidBody.isKinematic = false;
// continue;
//}
RigidBodyTransform transform = snapshot.RigidBodies.Values[index].Transform;
float timeOfSnapshot = snapshot.RigidBodies.Values[index].LocalTime;
// get the key framed stream, and compute implicit velocities
UnityEngine.Vector3 keyFramedPos = rootTransform.TransformPoint(transform.Position);
UnityEngine.Quaternion keyFramedOrientation = rootTransform.rotation * transform.Rotation;
UnityEngine.Vector3 JBLinearVelocity =
rootTransform.rotation * snapshot.RigidBodies.Values[index].LinearVelocity;
UnityEngine.Vector3 JBAngularVelocity =
rootTransform.rotation * snapshot.RigidBodies.Values[index].AngularVelocity;
// if there is a really new update then also store the implicit velocity
if (rb.lastTimeKeyFramedUpdate < timeOfSnapshot)
{
// we moved the velocity estimation into the jitter buffer
rb.lastValidLinerVelocityOrPos = JBLinearVelocity;
rb.lastValidAngularVelocityorAng = JBAngularVelocity;
#if MRE_PHYSICS_DEBUG
// test the source of large velocities
if (rb.lastValidLinerVelocityOrPos.sqrMagnitude > _maxEstimatedLinearVelocity * _maxEstimatedLinearVelocity)
{
// limited debug version
Debug.Log(" ACTIVE SPEED LIMIT TRAP RB: " //+ rb.Id.ToString() + " got update lin vel:"
+ rb.lastValidLinerVelocityOrPos + " ang vel:" + rb.lastValidAngularVelocityorAng
+ " time:" + timeOfSnapshot
+ " newR:" + rb.lastTimeKeyFramedUpdate
+ " hasupdate:" + snapshot.RigidBodies.Values[index].HasUpdate
+ " DangE:" + eulerAngles + " DangR:" + radianAngles);
}
#endif
// cap the velocities
rb.lastValidLinerVelocityOrPos = UnityEngine.Vector3.ClampMagnitude(
rb.lastValidLinerVelocityOrPos, _maxEstimatedLinearVelocity);
rb.lastValidAngularVelocityorAng = UnityEngine.Vector3.ClampMagnitude(
rb.lastValidAngularVelocityorAng, _maxEstimatedAngularVelocity);
// if body is sleeping then all velocities are zero
if (snapshot.RigidBodies.Values[index].motionType == Patching.Types.MotionType.Sleeping)
{
rb.lastValidLinerVelocityOrPos.Set(0.0F, 0.0F, 0.0F);
rb.lastValidAngularVelocityorAng.Set(0.0F, 0.0F, 0.0F);
}
#if MRE_PHYSICS_DEBUG
if (true)
{
// limited debug version
Debug.Log(" Remote body: " + rb.Id.ToString() + " got update lin vel:"
+ rb.lastValidLinerVelocityOrPos + " ang vel:" + rb.lastValidAngularVelocityorAng
+ " time:" + timeOfSnapshot + " newR:" + rb.lastTimeKeyFramedUpdate);
}
else
{
Debug.Log(" Remote body: " + rb.Id.ToString() + " got update lin vel:"
+ rb.lastValidLinerVelocityOrPos + " ang vel:" + rb.lastValidAngularVelocityorAng
//+ " DangE:" + eulerAngles + " DangR:" + radianAngles
+ " time:" + timeOfSnapshot + " newp:" + keyFramedPos
+ " newR:" + keyFramedOrientation
+ " oldP:" + rb.RigidBody.transform.position
+ " oldR:" + rb.RigidBody.transform.rotation
+ " OriginalRot:" + transform.Rotation
+ " keyF:" + rb.RigidBody.isKinematic
+ " KF:" + rb.IsKeyframed);
}
#endif
// cap the velocities
rb.lastValidLinerVelocityOrPos = UnityEngine.Vector3.ClampMagnitude(
rb.lastValidLinerVelocityOrPos, _maxEstimatedLinearVelocity);
rb.lastValidAngularVelocityorAng = UnityEngine.Vector3.ClampMagnitude(
rb.lastValidAngularVelocityorAng, _maxEstimatedAngularVelocity);
// if body is sleeping then all velocities are zero
if (snapshot.RigidBodies.Values[index].motionType == Patching.Types.MotionType.Sleeping)
{
rb.lastValidLinerVelocityOrPos.Set(0.0F, 0.0F, 0.0F);
rb.lastValidAngularVelocityorAng.Set(0.0F, 0.0F, 0.0F);
}
#if MRE_PHYSICS_DEBUG
Debug.Log(" Remote body: " + rb.Id.ToString() + " got update lin vel:"
+ rb.lastValidLinerVelocityOrPos + " ang vel:" + rb.lastValidAngularVelocityorAng
//+ " DangE:" + eulerAngles + " DangR:" + radianAngles
+ " time:" + timeOfSnapshot + " newp:" + keyFramedPos
+ " newR:" + keyFramedOrientation
+ " incUpdateDt:" + invUpdateDT
+ " oldP:" + rb.RigidBody.transform.position
+ " oldR:" + rb.RigidBody.transform.rotation
+ " OriginalRot:" + transform.Rotation
+ " keyF:" + rb.RigidBody.isKinematic
+ " KF:" + rb.IsKeyframed);
#endif
}
rb.lastTimeKeyFramedUpdate = timeOfSnapshot;
rb.IsKeyframed = (snapshot.RigidBodies.Values[index].motionType == Patching.Types.MotionType.Keyframed);
// code to disable prediction and to use just key framing (and comment out the prediction)
//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);
// call the predictor with this remotely owned body
_predictor.AddAndProcessRemoteBodyForPrediction(rb, transform,
keyFramedPos, keyFramedOrientation, timeOfSnapshot, timeInfo);
}
}
// call the predictor
_predictor.PredictAllRemoteBodiesWithOwnedBodies(ref _rigidBodies, timeInfo);
}
public void FixedUpdate(UnityEngine.Transform rootTransform)
{
// - physics rigid body management
// -set transforms/velocities for key framed bodies
// get all the prediction time infos in this struct
PredictionTimeParameters timeInfo = new PredictionTimeParameters(UnityEngine.Time.fixedDeltaTime);
// start the predictor
_predictor.StartBodyPredicitonForNextFrame();
int index = 0;
MultiSourceCombinedSnapshot snapshot = _snapshotManager.GetNextSnapshot(timeInfo.DT);
foreach (var rb in _rigidBodies.Values)
{
// if the body is owned then we only set the kinematic flag for the physics
if (rb.Ownership)
{
if (rb.IsKeyframed)
{
rb.RigidBody.isKinematic = true;
}
else
{
rb.RigidBody.isKinematic = false;
}
continue;
}
// Find corresponding rigid body info.
// since both are sorted list this should hit without index=0 at the beginning
while (index < snapshot.RigidBodies.Count && rb.Id.CompareTo(snapshot.RigidBodies.Values[index].Id) > 0)
{
index++;
}
if (index < snapshot.RigidBodies.Count && rb.Id == snapshot.RigidBodies.Values[index].Id)
{
// todo: kick-in prediction if we are missing an update for this rigid body
//if (!snapshot.RigidBodies.Values[index].HasUpdate)
//{
// rb.RigidBody.isKinematic = false;
// continue;
//}
RigidBodyTransform transform = snapshot.RigidBodies.Values[index].Transform;
float timeOfSnapshot = snapshot.RigidBodies.Values[index].LocalTime;
// get the key framed stream, and compute implicit velocities
UnityEngine.Vector3 keyFramedPos = rootTransform.TransformPoint(transform.Position);
UnityEngine.Quaternion keyFramedOrientation = rootTransform.rotation * transform.Rotation;
// if there is a really new update then also store the implicit velocity
if (rb.lastTimeKeyFramedUpdate < timeOfSnapshot)
{
// <todo> for long running times this could be a problem
float invUpdateDT = 1.0f / (timeOfSnapshot - rb.lastTimeKeyFramedUpdate);
rb.lastValidLinerVelocity = (keyFramedPos - rb.RigidBody.transform.position) * invUpdateDT;
// transform to radians and take the angular velocity
UnityEngine.Vector3 eulerAngles = (
UnityEngine.Quaternion.Inverse(rb.RigidBody.transform.rotation)
* keyFramedOrientation).eulerAngles;
UnityEngine.Vector3 radianAngles = UtilMethods.TransformEulerAnglesToRadians(eulerAngles);
rb.lastValidAngularVelocity = radianAngles * invUpdateDT;
#if MRE_PHYSICS_DEBUG
Debug.Log(" Remote body: " + rb.Id.ToString() + " got update lin vel:"
+ rb.lastValidLinerVelocity + " ang vel:" + rb.lastValidAngularVelocity
//+ " DangE:" + eulerAngles + " DangR:" + radianAngles
+ " time:" + timeOfSnapshot + " newp:" + keyFramedPos
+ " newR:" + keyFramedOrientation
+ " incUpdateDt:" + invUpdateDT
+ " oldP:" + rb.RigidBody.transform.position
+ " oldR:" + rb.RigidBody.transform.rotation
+ " OriginalRot:" + transform.Rotation
+ " keyF:" + rb.RigidBody.isKinematic
+ " KF:" + rb.IsKeyframed);
#endif
}
rb.lastTimeKeyFramedUpdate = timeOfSnapshot;
rb.IsKeyframed = (snapshot.RigidBodies.Values[index].motionType == Patching.Types.MotionType.Keyframed);
// code to disable prediction and to use just 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);
// call the predictor with this remotely owned body
_predictor.AddAndProcessRemoteBodyForPrediction(rb, transform,
keyFramedPos, keyFramedOrientation, timeOfSnapshot, timeInfo);
}
}
// call the predictor
_predictor.PredictAllRemoteBodiesWithOwnedBodies(ref _rigidBodies, timeInfo);
}
