private void KalmanFPSIndependentCorrect(KalmanFilterComponent kalmanFilterComponent, Vector3 tankPosition, float dt)
{
kalmanFilterComponent.kalmanUpdateTimeAccumulator += dt;
while (kalmanFilterComponent.kalmanUpdateTimeAccumulator > kalmanFilterComponent.kalmanUpdatePeriod)
{
kalmanFilterComponent.kalmanFilterPosition.Correct(tankPosition);
kalmanFilterComponent.kalmanUpdateTimeAccumulator -= kalmanFilterComponent.kalmanUpdatePeriod;
}
}
public void OnTankCreation(NodeAddedEvent e, RemoteTankNode node)
{
Entity entity = node.Entity;
KalmanFilterComponent component = new KalmanFilterComponent {
kalmanFilterPosition = new KalmanFilter(node.rigidbody.RigidbodyTransform.position)
};
entity.AddComponent(component);
entity.AddComponent <RemoteTankSmootherComponent>();
base.ScheduleEvent <PositionSmoothingSnapEvent>(node);
}
public void OnUpdate(TimeUpdateEvent e, RemoteSmoothTankNode node)
{
float deltaTime = e.DeltaTime;
KalmanFilterComponent kalmanFilter = node.kalmanFilter;
RemoteTankSmootherComponent remoteTankSmoother = node.remoteTankSmoother;
Rigidbody rigidbody = node.rigidbody.Rigidbody;
Transform transform = node.tankVisualRoot.transform;
Transform rigidbodyTransform = node.rigidbody.RigidbodyTransform;
this.KalmanFPSIndependentCorrect(kalmanFilter, rigidbodyTransform.position, deltaTime);
float smoothingCoeff = deltaTime * remoteTankSmoother.smoothingCoeff;
remoteTankSmoother.prevVisualPosition = this.SmoothPositionValue(remoteTankSmoother.prevVisualPosition, rigidbody.velocity, deltaTime, kalmanFilter.kalmanFilterPosition.State, smoothingCoeff);
remoteTankSmoother.prevVisualRotation = this.SmoothRotationValue(remoteTankSmoother.prevVisualRotation, rigidbody.angularVelocity, deltaTime, rigidbodyTransform.rotation, smoothingCoeff);
if (PhysicsUtil.IsValidVector3(remoteTankSmoother.prevVisualPosition) && PhysicsUtil.IsValidQuaternion(remoteTankSmoother.prevVisualRotation))
{
transform.position = remoteTankSmoother.prevVisualPosition;
transform.rotation = remoteTankSmoother.prevVisualRotation;
}
}
