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Assets/Mirror/Components/PredictedRigidbody/RigidbodyState.cs

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+// PredictedRigidbody stores a history of its rigidbody states.
+using System.Runtime.CompilerServices;
+using UnityEngine;
+
+namespace Mirror
+{
+    // inline everything because this is performance critical!
+    public struct RigidbodyState : PredictedState
+    {
+        public double timestamp { [MethodImpl(MethodImplOptions.AggressiveInlining)] get; [MethodImpl(MethodImplOptions.AggressiveInlining)] private set; }
+
+        // we want to store position delta (last + delta = current), and current.
+        // this way we can apply deltas on top of corrected positions to get the corrected final position.
+        public Vector3    positionDelta { [MethodImpl(MethodImplOptions.AggressiveInlining)] get; [MethodImpl(MethodImplOptions.AggressiveInlining)] set; } // delta to get from last to this position
+        public Vector3    position { [MethodImpl(MethodImplOptions.AggressiveInlining)] get; [MethodImpl(MethodImplOptions.AggressiveInlining)] set; }
+
+        public Quaternion rotationDelta { [MethodImpl(MethodImplOptions.AggressiveInlining)] get; [MethodImpl(MethodImplOptions.AggressiveInlining)] set; } // delta to get from last to this rotation
+        public Quaternion rotation { [MethodImpl(MethodImplOptions.AggressiveInlining)] get; [MethodImpl(MethodImplOptions.AggressiveInlining)] set; }
+
+        public Vector3 velocityDelta { [MethodImpl(MethodImplOptions.AggressiveInlining)] get; [MethodImpl(MethodImplOptions.AggressiveInlining)] set; } // delta to get from last to this velocity
+        public Vector3 velocity { [MethodImpl(MethodImplOptions.AggressiveInlining)] get; [MethodImpl(MethodImplOptions.AggressiveInlining)] set; }
+
+        public Vector3 angularVelocityDelta { [MethodImpl(MethodImplOptions.AggressiveInlining)] get; [MethodImpl(MethodImplOptions.AggressiveInlining)] set; } // delta to get from last to this velocity
+        public Vector3 angularVelocity { [MethodImpl(MethodImplOptions.AggressiveInlining)] get; [MethodImpl(MethodImplOptions.AggressiveInlining)] set; }
+
+        public RigidbodyState(
+            double timestamp,
+            Vector3 positionDelta,
+            Vector3 position,
+            Quaternion rotationDelta,
+            Quaternion rotation,
+            Vector3 velocityDelta,
+            Vector3 velocity,
+            Vector3 angularVelocityDelta,
+            Vector3 angularVelocity)
+        {
+            this.timestamp     = timestamp;
+            this.positionDelta = positionDelta;
+            this.position      = position;
+            this.rotationDelta = rotationDelta;
+            this.rotation      = rotation;
+            this.velocityDelta = velocityDelta;
+            this.velocity      = velocity;
+            this.angularVelocityDelta = angularVelocityDelta;
+            this.angularVelocity      = angularVelocity;
+        }
+
+        public static RigidbodyState Interpolate(RigidbodyState a, RigidbodyState b, float t)
+        {
+            return new RigidbodyState
+            {
+                position = Vector3.Lerp(a.position, b.position, t),
+                // Quaternions always need to be normalized in order to be a valid rotation after operations
+                rotation = Quaternion.Slerp(a.rotation, b.rotation, t).normalized,
+                velocity = Vector3.Lerp(a.velocity, b.velocity, t),
+                angularVelocity = Vector3.Lerp(a.angularVelocity, b.angularVelocity, t)
+            };
+        }
+    }
+}